quadcopter_report.html

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}
.glyphicon-triangle-top:before {
  content: "\e253";
}
.glyphicon-console:before {
  content: "\e254";
}
.glyphicon-superscript:before {
  content: "\e255";
}
.glyphicon-subscript:before {
  content: "\e256";
}
.glyphicon-menu-left:before {
  content: "\e257";
}
.glyphicon-menu-right:before {
  content: "\e258";
}
.glyphicon-menu-down:before {
  content: "\e259";
}
.glyphicon-menu-up:before {
  content: "\e260";
}
* {
  -webkit-box-sizing: border-box;
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}
*:before,
*:after {
  -webkit-box-sizing: border-box;
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}
html {
  font-size: 10px;
  -webkit-tap-highlight-color: rgba(0, 0, 0, 0);
}
body {
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
  font-size: 13px;
  line-height: 1.42857143;
  color: #000;
  background-color: #fff;
}
input,
button,
select,
textarea {
  font-family: inherit;
  font-size: inherit;
  line-height: inherit;
}
a {
  color: #337ab7;
  text-decoration: none;
}
a:hover,
a:focus {
  color: #23527c;
  text-decoration: underline;
}
a:focus {
  outline: 5px auto -webkit-focus-ring-color;
  outline-offset: -2px;
}
figure {
  margin: 0;
}
img {
  vertical-align: middle;
}
.img-responsive,
.thumbnail > img,
.thumbnail a > img,
.carousel-inner > .item > img,
.carousel-inner > .item > a > img {
  display: block;
  max-width: 100%;
  height: auto;
}
.img-rounded {
  border-radius: 3px;
}
.img-thumbnail {
  padding: 4px;
  line-height: 1.42857143;
  background-color: #fff;
  border: 1px solid #ddd;
  border-radius: 2px;
  -webkit-transition: all 0.2s ease-in-out;
  -o-transition: all 0.2s ease-in-out;
  transition: all 0.2s ease-in-out;
  display: inline-block;
  max-width: 100%;
  height: auto;
}
.img-circle {
  border-radius: 50%;
}
hr {
  margin-top: 18px;
  margin-bottom: 18px;
  border: 0;
  border-top: 1px solid #eeeeee;
}
.sr-only {
  position: absolute;
  width: 1px;
  height: 1px;
  margin: -1px;
  padding: 0;
  overflow: hidden;
  clip: rect(0, 0, 0, 0);
  border: 0;
}
.sr-only-focusable:active,
.sr-only-focusable:focus {
  position: static;
  width: auto;
  height: auto;
  margin: 0;
  overflow: visible;
  clip: auto;
}
[role="button"] {
  cursor: pointer;
}
h1,
h2,
h3,
h4,
h5,
h6,
.h1,
.h2,
.h3,
.h4,
.h5,
.h6 {
  font-family: inherit;
  font-weight: 500;
  line-height: 1.1;
  color: inherit;
}
h1 small,
h2 small,
h3 small,
h4 small,
h5 small,
h6 small,
.h1 small,
.h2 small,
.h3 small,
.h4 small,
.h5 small,
.h6 small,
h1 .small,
h2 .small,
h3 .small,
h4 .small,
h5 .small,
h6 .small,
.h1 .small,
.h2 .small,
.h3 .small,
.h4 .small,
.h5 .small,
.h6 .small {
  font-weight: normal;
  line-height: 1;
  color: #777777;
}
h1,
.h1,
h2,
.h2,
h3,
.h3 {
  margin-top: 18px;
  margin-bottom: 9px;
}
h1 small,
.h1 small,
h2 small,
.h2 small,
h3 small,
.h3 small,
h1 .small,
.h1 .small,
h2 .small,
.h2 .small,
h3 .small,
.h3 .small {
  font-size: 65%;
}
h4,
.h4,
h5,
.h5,
h6,
.h6 {
  margin-top: 9px;
  margin-bottom: 9px;
}
h4 small,
.h4 small,
h5 small,
.h5 small,
h6 small,
.h6 small,
h4 .small,
.h4 .small,
h5 .small,
.h5 .small,
h6 .small,
.h6 .small {
  font-size: 75%;
}
h1,
.h1 {
  font-size: 33px;
}
h2,
.h2 {
  font-size: 27px;
}
h3,
.h3 {
  font-size: 23px;
}
h4,
.h4 {
  font-size: 17px;
}
h5,
.h5 {
  font-size: 13px;
}
h6,
.h6 {
  font-size: 12px;
}
p {
  margin: 0 0 9px;
}
.lead {
  margin-bottom: 18px;
  font-size: 14px;
  font-weight: 300;
  line-height: 1.4;
}
@media (min-width: 768px) {
  .lead {
    font-size: 19.5px;
  }
}
small,
.small {
  font-size: 92%;
}
mark,
.mark {
  background-color: #fcf8e3;
  padding: .2em;
}
.text-left {
  text-align: left;
}
.text-right {
  text-align: right;
}
.text-center {
  text-align: center;
}
.text-justify {
  text-align: justify;
}
.text-nowrap {
  white-space: nowrap;
}
.text-lowercase {
  text-transform: lowercase;
}
.text-uppercase {
  text-transform: uppercase;
}
.text-capitalize {
  text-transform: capitalize;
}
.text-muted {
  color: #777777;
}
.text-primary {
  color: #337ab7;
}
a.text-primary:hover,
a.text-primary:focus {
  color: #286090;
}
.text-success {
  color: #3c763d;
}
a.text-success:hover,
a.text-success:focus {
  color: #2b542c;
}
.text-info {
  color: #31708f;
}
a.text-info:hover,
a.text-info:focus {
  color: #245269;
}
.text-warning {
  color: #8a6d3b;
}
a.text-warning:hover,
a.text-warning:focus {
  color: #66512c;
}
.text-danger {
  color: #a94442;
}
a.text-danger:hover,
a.text-danger:focus {
  color: #843534;
}
.bg-primary {
  color: #fff;
  background-color: #337ab7;
}
a.bg-primary:hover,
a.bg-primary:focus {
  background-color: #286090;
}
.bg-success {
  background-color: #dff0d8;
}
a.bg-success:hover,
a.bg-success:focus {
  background-color: #c1e2b3;
}
.bg-info {
  background-color: #d9edf7;
}
a.bg-info:hover,
a.bg-info:focus {
  background-color: #afd9ee;
}
.bg-warning {
  background-color: #fcf8e3;
}
a.bg-warning:hover,
a.bg-warning:focus {
  background-color: #f7ecb5;
}
.bg-danger {
  background-color: #f2dede;
}
a.bg-danger:hover,
a.bg-danger:focus {
  background-color: #e4b9b9;
}
.page-header {
  padding-bottom: 8px;
  margin: 36px 0 18px;
  border-bottom: 1px solid #eeeeee;
}
ul,
ol {
  margin-top: 0;
  margin-bottom: 9px;
}
ul ul,
ol ul,
ul ol,
ol ol {
  margin-bottom: 0;
}
.list-unstyled {
  padding-left: 0;
  list-style: none;
}
.list-inline {
  padding-left: 0;
  list-style: none;
  margin-left: -5px;
}
.list-inline > li {
  display: inline-block;
  padding-left: 5px;
  padding-right: 5px;
}
dl {
  margin-top: 0;
  margin-bottom: 18px;
}
dt,
dd {
  line-height: 1.42857143;
}
dt {
  font-weight: bold;
}
dd {
  margin-left: 0;
}
@media (min-width: 541px) {
  .dl-horizontal dt {
    float: left;
    width: 160px;
    clear: left;
    text-align: right;
    overflow: hidden;
    text-overflow: ellipsis;
    white-space: nowrap;
  }
  .dl-horizontal dd {
    margin-left: 180px;
  }
}
abbr[title],
abbr[data-original-title] {
  cursor: help;
  border-bottom: 1px dotted #777777;
}
.initialism {
  font-size: 90%;
  text-transform: uppercase;
}
blockquote {
  padding: 9px 18px;
  margin: 0 0 18px;
  font-size: inherit;
  border-left: 5px solid #eeeeee;
}
blockquote p:last-child,
blockquote ul:last-child,
blockquote ol:last-child {
  margin-bottom: 0;
}
blockquote footer,
blockquote small,
blockquote .small {
  display: block;
  font-size: 80%;
  line-height: 1.42857143;
  color: #777777;
}
blockquote footer:before,
blockquote small:before,
blockquote .small:before {
  content: '\2014 \00A0';
}
.blockquote-reverse,
blockquote.pull-right {
  padding-right: 15px;
  padding-left: 0;
  border-right: 5px solid #eeeeee;
  border-left: 0;
  text-align: right;
}
.blockquote-reverse footer:before,
blockquote.pull-right footer:before,
.blockquote-reverse small:before,
blockquote.pull-right small:before,
.blockquote-reverse .small:before,
blockquote.pull-right .small:before {
  content: '';
}
.blockquote-reverse footer:after,
blockquote.pull-right footer:after,
.blockquote-reverse small:after,
blockquote.pull-right small:after,
.blockquote-reverse .small:after,
blockquote.pull-right .small:after {
  content: '\00A0 \2014';
}
address {
  margin-bottom: 18px;
  font-style: normal;
  line-height: 1.42857143;
}
code,
kbd,
pre,
samp {
  font-family: monospace;
}
code {
  padding: 2px 4px;
  font-size: 90%;
  color: #c7254e;
  background-color: #f9f2f4;
  border-radius: 2px;
}
kbd {
  padding: 2px 4px;
  font-size: 90%;
  color: #888;
  background-color: transparent;
  border-radius: 1px;
  box-shadow: inset 0 -1px 0 rgba(0, 0, 0, 0.25);
}
kbd kbd {
  padding: 0;
  font-size: 100%;
  font-weight: bold;
  box-shadow: none;
}
pre {
  display: block;
  padding: 8.5px;
  margin: 0 0 9px;
  font-size: 12px;
  line-height: 1.42857143;
  word-break: break-all;
  word-wrap: break-word;
  color: #333333;
  background-color: #f5f5f5;
  border: 1px solid #ccc;
  border-radius: 2px;
}
pre code {
  padding: 0;
  font-size: inherit;
  color: inherit;
  white-space: pre-wrap;
  background-color: transparent;
  border-radius: 0;
}
.pre-scrollable {
  max-height: 340px;
  overflow-y: scroll;
}
.container {
  margin-right: auto;
  margin-left: auto;
  padding-left: 0px;
  padding-right: 0px;
}
@media (min-width: 768px) {
  .container {
    width: 768px;
  }
}
@media (min-width: 992px) {
  .container {
    width: 940px;
  }
}
@media (min-width: 1200px) {
  .container {
    width: 1140px;
  }
}
.container-fluid {
  margin-right: auto;
  margin-left: auto;
  padding-left: 0px;
  padding-right: 0px;
}
.row {
  margin-left: 0px;
  margin-right: 0px;
}
.col-xs-1, .col-sm-1, .col-md-1, .col-lg-1, .col-xs-2, .col-sm-2, .col-md-2, .col-lg-2, .col-xs-3, .col-sm-3, .col-md-3, .col-lg-3, .col-xs-4, .col-sm-4, .col-md-4, .col-lg-4, .col-xs-5, .col-sm-5, .col-md-5, .col-lg-5, .col-xs-6, .col-sm-6, .col-md-6, .col-lg-6, .col-xs-7, .col-sm-7, .col-md-7, .col-lg-7, .col-xs-8, .col-sm-8, .col-md-8, .col-lg-8, .col-xs-9, .col-sm-9, .col-md-9, .col-lg-9, .col-xs-10, .col-sm-10, .col-md-10, .col-lg-10, .col-xs-11, .col-sm-11, .col-md-11, .col-lg-11, .col-xs-12, .col-sm-12, .col-md-12, .col-lg-12 {
  position: relative;
  min-height: 1px;
  padding-left: 0px;
  padding-right: 0px;
}
.col-xs-1, .col-xs-2, .col-xs-3, .col-xs-4, .col-xs-5, .col-xs-6, .col-xs-7, .col-xs-8, .col-xs-9, .col-xs-10, .col-xs-11, .col-xs-12 {
  float: left;
}
.col-xs-12 {
  width: 100%;
}
.col-xs-11 {
  width: 91.66666667%;
}
.col-xs-10 {
  width: 83.33333333%;
}
.col-xs-9 {
  width: 75%;
}
.col-xs-8 {
  width: 66.66666667%;
}
.col-xs-7 {
  width: 58.33333333%;
}
.col-xs-6 {
  width: 50%;
}
.col-xs-5 {
  width: 41.66666667%;
}
.col-xs-4 {
  width: 33.33333333%;
}
.col-xs-3 {
  width: 25%;
}
.col-xs-2 {
  width: 16.66666667%;
}
.col-xs-1 {
  width: 8.33333333%;
}
.col-xs-pull-12 {
  right: 100%;
}
.col-xs-pull-11 {
  right: 91.66666667%;
}
.col-xs-pull-10 {
  right: 83.33333333%;
}
.col-xs-pull-9 {
  right: 75%;
}
.col-xs-pull-8 {
  right: 66.66666667%;
}
.col-xs-pull-7 {
  right: 58.33333333%;
}
.col-xs-pull-6 {
  right: 50%;
}
.col-xs-pull-5 {
  right: 41.66666667%;
}
.col-xs-pull-4 {
  right: 33.33333333%;
}
.col-xs-pull-3 {
  right: 25%;
}
.col-xs-pull-2 {
  right: 16.66666667%;
}
.col-xs-pull-1 {
  right: 8.33333333%;
}
.col-xs-pull-0 {
  right: auto;
}
.col-xs-push-12 {
  left: 100%;
}
.col-xs-push-11 {
  left: 91.66666667%;
}
.col-xs-push-10 {
  left: 83.33333333%;
}
.col-xs-push-9 {
  left: 75%;
}
.col-xs-push-8 {
  left: 66.66666667%;
}
.col-xs-push-7 {
  left: 58.33333333%;
}
.col-xs-push-6 {
  left: 50%;
}
.col-xs-push-5 {
  left: 41.66666667%;
}
.col-xs-push-4 {
  left: 33.33333333%;
}
.col-xs-push-3 {
  left: 25%;
}
.col-xs-push-2 {
  left: 16.66666667%;
}
.col-xs-push-1 {
  left: 8.33333333%;
}
.col-xs-push-0 {
  left: auto;
}
.col-xs-offset-12 {
  margin-left: 100%;
}
.col-xs-offset-11 {
  margin-left: 91.66666667%;
}
.col-xs-offset-10 {
  margin-left: 83.33333333%;
}
.col-xs-offset-9 {
  margin-left: 75%;
}
.col-xs-offset-8 {
  margin-left: 66.66666667%;
}
.col-xs-offset-7 {
  margin-left: 58.33333333%;
}
.col-xs-offset-6 {
  margin-left: 50%;
}
.col-xs-offset-5 {
  margin-left: 41.66666667%;
}
.col-xs-offset-4 {
  margin-left: 33.33333333%;
}
.col-xs-offset-3 {
  margin-left: 25%;
}
.col-xs-offset-2 {
  margin-left: 16.66666667%;
}
.col-xs-offset-1 {
  margin-left: 8.33333333%;
}
.col-xs-offset-0 {
  margin-left: 0%;
}
@media (min-width: 768px) {
  .col-sm-1, .col-sm-2, .col-sm-3, .col-sm-4, .col-sm-5, .col-sm-6, .col-sm-7, .col-sm-8, .col-sm-9, .col-sm-10, .col-sm-11, .col-sm-12 {
    float: left;
  }
  .col-sm-12 {
    width: 100%;
  }
  .col-sm-11 {
    width: 91.66666667%;
  }
  .col-sm-10 {
    width: 83.33333333%;
  }
  .col-sm-9 {
    width: 75%;
  }
  .col-sm-8 {
    width: 66.66666667%;
  }
  .col-sm-7 {
    width: 58.33333333%;
  }
  .col-sm-6 {
    width: 50%;
  }
  .col-sm-5 {
    width: 41.66666667%;
  }
  .col-sm-4 {
    width: 33.33333333%;
  }
  .col-sm-3 {
    width: 25%;
  }
  .col-sm-2 {
    width: 16.66666667%;
  }
  .col-sm-1 {
    width: 8.33333333%;
  }
  .col-sm-pull-12 {
    right: 100%;
  }
  .col-sm-pull-11 {
    right: 91.66666667%;
  }
  .col-sm-pull-10 {
    right: 83.33333333%;
  }
  .col-sm-pull-9 {
    right: 75%;
  }
  .col-sm-pull-8 {
    right: 66.66666667%;
  }
  .col-sm-pull-7 {
    right: 58.33333333%;
  }
  .col-sm-pull-6 {
    right: 50%;
  }
  .col-sm-pull-5 {
    right: 41.66666667%;
  }
  .col-sm-pull-4 {
    right: 33.33333333%;
  }
  .col-sm-pull-3 {
    right: 25%;
  }
  .col-sm-pull-2 {
    right: 16.66666667%;
  }
  .col-sm-pull-1 {
    right: 8.33333333%;
  }
  .col-sm-pull-0 {
    right: auto;
  }
  .col-sm-push-12 {
    left: 100%;
  }
  .col-sm-push-11 {
    left: 91.66666667%;
  }
  .col-sm-push-10 {
    left: 83.33333333%;
  }
  .col-sm-push-9 {
    left: 75%;
  }
  .col-sm-push-8 {
    left: 66.66666667%;
  }
  .col-sm-push-7 {
    left: 58.33333333%;
  }
  .col-sm-push-6 {
    left: 50%;
  }
  .col-sm-push-5 {
    left: 41.66666667%;
  }
  .col-sm-push-4 {
    left: 33.33333333%;
  }
  .col-sm-push-3 {
    left: 25%;
  }
  .col-sm-push-2 {
    left: 16.66666667%;
  }
  .col-sm-push-1 {
    left: 8.33333333%;
  }
  .col-sm-push-0 {
    left: auto;
  }
  .col-sm-offset-12 {
    margin-left: 100%;
  }
  .col-sm-offset-11 {
    margin-left: 91.66666667%;
  }
  .col-sm-offset-10 {
    margin-left: 83.33333333%;
  }
  .col-sm-offset-9 {
    margin-left: 75%;
  }
  .col-sm-offset-8 {
    margin-left: 66.66666667%;
  }
  .col-sm-offset-7 {
    margin-left: 58.33333333%;
  }
  .col-sm-offset-6 {
    margin-left: 50%;
  }
  .col-sm-offset-5 {
    margin-left: 41.66666667%;
  }
  .col-sm-offset-4 {
    margin-left: 33.33333333%;
  }
  .col-sm-offset-3 {
    margin-left: 25%;
  }
  .col-sm-offset-2 {
    margin-left: 16.66666667%;
  }
  .col-sm-offset-1 {
    margin-left: 8.33333333%;
  }
  .col-sm-offset-0 {
    margin-left: 0%;
  }
}
@media (min-width: 992px) {
  .col-md-1, .col-md-2, .col-md-3, .col-md-4, .col-md-5, .col-md-6, .col-md-7, .col-md-8, .col-md-9, .col-md-10, .col-md-11, .col-md-12 {
    float: left;
  }
  .col-md-12 {
    width: 100%;
  }
  .col-md-11 {
    width: 91.66666667%;
  }
  .col-md-10 {
    width: 83.33333333%;
  }
  .col-md-9 {
    width: 75%;
  }
  .col-md-8 {
    width: 66.66666667%;
  }
  .col-md-7 {
    width: 58.33333333%;
  }
  .col-md-6 {
    width: 50%;
  }
  .col-md-5 {
    width: 41.66666667%;
  }
  .col-md-4 {
    width: 33.33333333%;
  }
  .col-md-3 {
    width: 25%;
  }
  .col-md-2 {
    width: 16.66666667%;
  }
  .col-md-1 {
    width: 8.33333333%;
  }
  .col-md-pull-12 {
    right: 100%;
  }
  .col-md-pull-11 {
    right: 91.66666667%;
  }
  .col-md-pull-10 {
    right: 83.33333333%;
  }
  .col-md-pull-9 {
    right: 75%;
  }
  .col-md-pull-8 {
    right: 66.66666667%;
  }
  .col-md-pull-7 {
    right: 58.33333333%;
  }
  .col-md-pull-6 {
    right: 50%;
  }
  .col-md-pull-5 {
    right: 41.66666667%;
  }
  .col-md-pull-4 {
    right: 33.33333333%;
  }
  .col-md-pull-3 {
    right: 25%;
  }
  .col-md-pull-2 {
    right: 16.66666667%;
  }
  .col-md-pull-1 {
    right: 8.33333333%;
  }
  .col-md-pull-0 {
    right: auto;
  }
  .col-md-push-12 {
    left: 100%;
  }
  .col-md-push-11 {
    left: 91.66666667%;
  }
  .col-md-push-10 {
    left: 83.33333333%;
  }
  .col-md-push-9 {
    left: 75%;
  }
  .col-md-push-8 {
    left: 66.66666667%;
  }
  .col-md-push-7 {
    left: 58.33333333%;
  }
  .col-md-push-6 {
    left: 50%;
  }
  .col-md-push-5 {
    left: 41.66666667%;
  }
  .col-md-push-4 {
    left: 33.33333333%;
  }
  .col-md-push-3 {
    left: 25%;
  }
  .col-md-push-2 {
    left: 16.66666667%;
  }
  .col-md-push-1 {
    left: 8.33333333%;
  }
  .col-md-push-0 {
    left: auto;
  }
  .col-md-offset-12 {
    margin-left: 100%;
  }
  .col-md-offset-11 {
    margin-left: 91.66666667%;
  }
  .col-md-offset-10 {
    margin-left: 83.33333333%;
  }
  .col-md-offset-9 {
    margin-left: 75%;
  }
  .col-md-offset-8 {
    margin-left: 66.66666667%;
  }
  .col-md-offset-7 {
    margin-left: 58.33333333%;
  }
  .col-md-offset-6 {
    margin-left: 50%;
  }
  .col-md-offset-5 {
    margin-left: 41.66666667%;
  }
  .col-md-offset-4 {
    margin-left: 33.33333333%;
  }
  .col-md-offset-3 {
    margin-left: 25%;
  }
  .col-md-offset-2 {
    margin-left: 16.66666667%;
  }
  .col-md-offset-1 {
    margin-left: 8.33333333%;
  }
  .col-md-offset-0 {
    margin-left: 0%;
  }
}
@media (min-width: 1200px) {
  .col-lg-1, .col-lg-2, .col-lg-3, .col-lg-4, .col-lg-5, .col-lg-6, .col-lg-7, .col-lg-8, .col-lg-9, .col-lg-10, .col-lg-11, .col-lg-12 {
    float: left;
  }
  .col-lg-12 {
    width: 100%;
  }
  .col-lg-11 {
    width: 91.66666667%;
  }
  .col-lg-10 {
    width: 83.33333333%;
  }
  .col-lg-9 {
    width: 75%;
  }
  .col-lg-8 {
    width: 66.66666667%;
  }
  .col-lg-7 {
    width: 58.33333333%;
  }
  .col-lg-6 {
    width: 50%;
  }
  .col-lg-5 {
    width: 41.66666667%;
  }
  .col-lg-4 {
    width: 33.33333333%;
  }
  .col-lg-3 {
    width: 25%;
  }
  .col-lg-2 {
    width: 16.66666667%;
  }
  .col-lg-1 {
    width: 8.33333333%;
  }
  .col-lg-pull-12 {
    right: 100%;
  }
  .col-lg-pull-11 {
    right: 91.66666667%;
  }
  .col-lg-pull-10 {
    right: 83.33333333%;
  }
  .col-lg-pull-9 {
    right: 75%;
  }
  .col-lg-pull-8 {
    right: 66.66666667%;
  }
  .col-lg-pull-7 {
    right: 58.33333333%;
  }
  .col-lg-pull-6 {
    right: 50%;
  }
  .col-lg-pull-5 {
    right: 41.66666667%;
  }
  .col-lg-pull-4 {
    right: 33.33333333%;
  }
  .col-lg-pull-3 {
    right: 25%;
  }
  .col-lg-pull-2 {
    right: 16.66666667%;
  }
  .col-lg-pull-1 {
    right: 8.33333333%;
  }
  .col-lg-pull-0 {
    right: auto;
  }
  .col-lg-push-12 {
    left: 100%;
  }
  .col-lg-push-11 {
    left: 91.66666667%;
  }
  .col-lg-push-10 {
    left: 83.33333333%;
  }
  .col-lg-push-9 {
    left: 75%;
  }
  .col-lg-push-8 {
    left: 66.66666667%;
  }
  .col-lg-push-7 {
    left: 58.33333333%;
  }
  .col-lg-push-6 {
    left: 50%;
  }
  .col-lg-push-5 {
    left: 41.66666667%;
  }
  .col-lg-push-4 {
    left: 33.33333333%;
  }
  .col-lg-push-3 {
    left: 25%;
  }
  .col-lg-push-2 {
    left: 16.66666667%;
  }
  .col-lg-push-1 {
    left: 8.33333333%;
  }
  .col-lg-push-0 {
    left: auto;
  }
  .col-lg-offset-12 {
    margin-left: 100%;
  }
  .col-lg-offset-11 {
    margin-left: 91.66666667%;
  }
  .col-lg-offset-10 {
    margin-left: 83.33333333%;
  }
  .col-lg-offset-9 {
    margin-left: 75%;
  }
  .col-lg-offset-8 {
    margin-left: 66.66666667%;
  }
  .col-lg-offset-7 {
    margin-left: 58.33333333%;
  }
  .col-lg-offset-6 {
    margin-left: 50%;
  }
  .col-lg-offset-5 {
    margin-left: 41.66666667%;
  }
  .col-lg-offset-4 {
    margin-left: 33.33333333%;
  }
  .col-lg-offset-3 {
    margin-left: 25%;
  }
  .col-lg-offset-2 {
    margin-left: 16.66666667%;
  }
  .col-lg-offset-1 {
    margin-left: 8.33333333%;
  }
  .col-lg-offset-0 {
    margin-left: 0%;
  }
}
table {
  background-color: transparent;
}
caption {
  padding-top: 8px;
  padding-bottom: 8px;
  color: #777777;
  text-align: left;
}
th {
  text-align: left;
}
.table {
  width: 100%;
  max-width: 100%;
  margin-bottom: 18px;
}
.table > thead > tr > th,
.table > tbody > tr > th,
.table > tfoot > tr > th,
.table > thead > tr > td,
.table > tbody > tr > td,
.table > tfoot > tr > td {
  padding: 8px;
  line-height: 1.42857143;
  vertical-align: top;
  border-top: 1px solid #ddd;
}
.table > thead > tr > th {
  vertical-align: bottom;
  border-bottom: 2px solid #ddd;
}
.table > caption + thead > tr:first-child > th,
.table > colgroup + thead > tr:first-child > th,
.table > thead:first-child > tr:first-child > th,
.table > caption + thead > tr:first-child > td,
.table > colgroup + thead > tr:first-child > td,
.table > thead:first-child > tr:first-child > td {
  border-top: 0;
}
.table > tbody + tbody {
  border-top: 2px solid #ddd;
}
.table .table {
  background-color: #fff;
}
.table-condensed > thead > tr > th,
.table-condensed > tbody > tr > th,
.table-condensed > tfoot > tr > th,
.table-condensed > thead > tr > td,
.table-condensed > tbody > tr > td,
.table-condensed > tfoot > tr > td {
  padding: 5px;
}
.table-bordered {
  border: 1px solid #ddd;
}
.table-bordered > thead > tr > th,
.table-bordered > tbody > tr > th,
.table-bordered > tfoot > tr > th,
.table-bordered > thead > tr > td,
.table-bordered > tbody > tr > td,
.table-bordered > tfoot > tr > td {
  border: 1px solid #ddd;
}
.table-bordered > thead > tr > th,
.table-bordered > thead > tr > td {
  border-bottom-width: 2px;
}
.table-striped > tbody > tr:nth-of-type(odd) {
  background-color: #f9f9f9;
}
.table-hover > tbody > tr:hover {
  background-color: #f5f5f5;
}
table col[class*="col-"] {
  position: static;
  float: none;
  display: table-column;
}
table td[class*="col-"],
table th[class*="col-"] {
  position: static;
  float: none;
  display: table-cell;
}
.table > thead > tr > td.active,
.table > tbody > tr > td.active,
.table > tfoot > tr > td.active,
.table > thead > tr > th.active,
.table > tbody > tr > th.active,
.table > tfoot > tr > th.active,
.table > thead > tr.active > td,
.table > tbody > tr.active > td,
.table > tfoot > tr.active > td,
.table > thead > tr.active > th,
.table > tbody > tr.active > th,
.table > tfoot > tr.active > th {
  background-color: #f5f5f5;
}
.table-hover > tbody > tr > td.active:hover,
.table-hover > tbody > tr > th.active:hover,
.table-hover > tbody > tr.active:hover > td,
.table-hover > tbody > tr:hover > .active,
.table-hover > tbody > tr.active:hover > th {
  background-color: #e8e8e8;
}
.table > thead > tr > td.success,
.table > tbody > tr > td.success,
.table > tfoot > tr > td.success,
.table > thead > tr > th.success,
.table > tbody > tr > th.success,
.table > tfoot > tr > th.success,
.table > thead > tr.success > td,
.table > tbody > tr.success > td,
.table > tfoot > tr.success > td,
.table > thead > tr.success > th,
.table > tbody > tr.success > th,
.table > tfoot > tr.success > th {
  background-color: #dff0d8;
}
.table-hover > tbody > tr > td.success:hover,
.table-hover > tbody > tr > th.success:hover,
.table-hover > tbody > tr.success:hover > td,
.table-hover > tbody > tr:hover > .success,
.table-hover > tbody > tr.success:hover > th {
  background-color: #d0e9c6;
}
.table > thead > tr > td.info,
.table > tbody > tr > td.info,
.table > tfoot > tr > td.info,
.table > thead > tr > th.info,
.table > tbody > tr > th.info,
.table > tfoot > tr > th.info,
.table > thead > tr.info > td,
.table > tbody > tr.info > td,
.table > tfoot > tr.info > td,
.table > thead > tr.info > th,
.table > tbody > tr.info > th,
.table > tfoot > tr.info > th {
  background-color: #d9edf7;
}
.table-hover > tbody > tr > td.info:hover,
.table-hover > tbody > tr > th.info:hover,
.table-hover > tbody > tr.info:hover > td,
.table-hover > tbody > tr:hover > .info,
.table-hover > tbody > tr.info:hover > th {
  background-color: #c4e3f3;
}
.table > thead > tr > td.warning,
.table > tbody > tr > td.warning,
.table > tfoot > tr > td.warning,
.table > thead > tr > th.warning,
.table > tbody > tr > th.warning,
.table > tfoot > tr > th.warning,
.table > thead > tr.warning > td,
.table > tbody > tr.warning > td,
.table > tfoot > tr.warning > td,
.table > thead > tr.warning > th,
.table > tbody > tr.warning > th,
.table > tfoot > tr.warning > th {
  background-color: #fcf8e3;
}
.table-hover > tbody > tr > td.warning:hover,
.table-hover > tbody > tr > th.warning:hover,
.table-hover > tbody > tr.warning:hover > td,
.table-hover > tbody > tr:hover > .warning,
.table-hover > tbody > tr.warning:hover > th {
  background-color: #faf2cc;
}
.table > thead > tr > td.danger,
.table > tbody > tr > td.danger,
.table > tfoot > tr > td.danger,
.table > thead > tr > th.danger,
.table > tbody > tr > th.danger,
.table > tfoot > tr > th.danger,
.table > thead > tr.danger > td,
.table > tbody > tr.danger > td,
.table > tfoot > tr.danger > td,
.table > thead > tr.danger > th,
.table > tbody > tr.danger > th,
.table > tfoot > tr.danger > th {
  background-color: #f2dede;
}
.table-hover > tbody > tr > td.danger:hover,
.table-hover > tbody > tr > th.danger:hover,
.table-hover > tbody > tr.danger:hover > td,
.table-hover > tbody > tr:hover > .danger,
.table-hover > tbody > tr.danger:hover > th {
  background-color: #ebcccc;
}
.table-responsive {
  overflow-x: auto;
  min-height: 0.01%;
}
@media screen and (max-width: 767px) {
  .table-responsive {
    width: 100%;
    margin-bottom: 13.5px;
    overflow-y: hidden;
    -ms-overflow-style: -ms-autohiding-scrollbar;
    border: 1px solid #ddd;
  }
  .table-responsive > .table {
    margin-bottom: 0;
  }
  .table-responsive > .table > thead > tr > th,
  .table-responsive > .table > tbody > tr > th,
  .table-responsive > .table > tfoot > tr > th,
  .table-responsive > .table > thead > tr > td,
  .table-responsive > .table > tbody > tr > td,
  .table-responsive > .table > tfoot > tr > td {
    white-space: nowrap;
  }
  .table-responsive > .table-bordered {
    border: 0;
  }
  .table-responsive > .table-bordered > thead > tr > th:first-child,
  .table-responsive > .table-bordered > tbody > tr > th:first-child,
  .table-responsive > .table-bordered > tfoot > tr > th:first-child,
  .table-responsive > .table-bordered > thead > tr > td:first-child,
  .table-responsive > .table-bordered > tbody > tr > td:first-child,
  .table-responsive > .table-bordered > tfoot > tr > td:first-child {
    border-left: 0;
  }
  .table-responsive > .table-bordered > thead > tr > th:last-child,
  .table-responsive > .table-bordered > tbody > tr > th:last-child,
  .table-responsive > .table-bordered > tfoot > tr > th:last-child,
  .table-responsive > .table-bordered > thead > tr > td:last-child,
  .table-responsive > .table-bordered > tbody > tr > td:last-child,
  .table-responsive > .table-bordered > tfoot > tr > td:last-child {
    border-right: 0;
  }
  .table-responsive > .table-bordered > tbody > tr:last-child > th,
  .table-responsive > .table-bordered > tfoot > tr:last-child > th,
  .table-responsive > .table-bordered > tbody > tr:last-child > td,
  .table-responsive > .table-bordered > tfoot > tr:last-child > td {
    border-bottom: 0;
  }
}
fieldset {
  padding: 0;
  margin: 0;
  border: 0;
  min-width: 0;
}
legend {
  display: block;
  width: 100%;
  padding: 0;
  margin-bottom: 18px;
  font-size: 19.5px;
  line-height: inherit;
  color: #333333;
  border: 0;
  border-bottom: 1px solid #e5e5e5;
}
label {
  display: inline-block;
  max-width: 100%;
  margin-bottom: 5px;
  font-weight: bold;
}
input[type="search"] {
  -webkit-box-sizing: border-box;
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}
input[type="radio"],
input[type="checkbox"] {
  margin: 4px 0 0;
  margin-top: 1px \9;
  line-height: normal;
}
input[type="file"] {
  display: block;
}
input[type="range"] {
  display: block;
  width: 100%;
}
select[multiple],
select[size] {
  height: auto;
}
input[type="file"]:focus,
input[type="radio"]:focus,
input[type="checkbox"]:focus {
  outline: 5px auto -webkit-focus-ring-color;
  outline-offset: -2px;
}
output {
  display: block;
  padding-top: 7px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
}
.form-control {
  display: block;
  width: 100%;
  height: 32px;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
  background-color: #fff;
  background-image: none;
  border: 1px solid #ccc;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  -webkit-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  -o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
}
.form-control:focus {
  border-color: #66afe9;
  outline: 0;
  -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
  box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
}
.form-control::-moz-placeholder {
  color: #999;
  opacity: 1;
}
.form-control:-ms-input-placeholder {
  color: #999;
}
.form-control::-webkit-input-placeholder {
  color: #999;
}
.form-control::-ms-expand {
  border: 0;
  background-color: transparent;
}
.form-control[disabled],
.form-control[readonly],
fieldset[disabled] .form-control {
  background-color: #eeeeee;
  opacity: 1;
}
.form-control[disabled],
fieldset[disabled] .form-control {
  cursor: not-allowed;
}
textarea.form-control {
  height: auto;
}
input[type="search"] {
  -webkit-appearance: none;
}
@media screen and (-webkit-min-device-pixel-ratio: 0) {
  input[type="date"].form-control,
  input[type="time"].form-control,
  input[type="datetime-local"].form-control,
  input[type="month"].form-control {
    line-height: 32px;
  }
  input[type="date"].input-sm,
  input[type="time"].input-sm,
  input[type="datetime-local"].input-sm,
  input[type="month"].input-sm,
  .input-group-sm input[type="date"],
  .input-group-sm input[type="time"],
  .input-group-sm input[type="datetime-local"],
  .input-group-sm input[type="month"] {
    line-height: 30px;
  }
  input[type="date"].input-lg,
  input[type="time"].input-lg,
  input[type="datetime-local"].input-lg,
  input[type="month"].input-lg,
  .input-group-lg input[type="date"],
  .input-group-lg input[type="time"],
  .input-group-lg input[type="datetime-local"],
  .input-group-lg input[type="month"] {
    line-height: 45px;
  }
}
.form-group {
  margin-bottom: 15px;
}
.radio,
.checkbox {
  position: relative;
  display: block;
  margin-top: 10px;
  margin-bottom: 10px;
}
.radio label,
.checkbox label {
  min-height: 18px;
  padding-left: 20px;
  margin-bottom: 0;
  font-weight: normal;
  cursor: pointer;
}
.radio input[type="radio"],
.radio-inline input[type="radio"],
.checkbox input[type="checkbox"],
.checkbox-inline input[type="checkbox"] {
  position: absolute;
  margin-left: -20px;
  margin-top: 4px \9;
}
.radio + .radio,
.checkbox + .checkbox {
  margin-top: -5px;
}
.radio-inline,
.checkbox-inline {
  position: relative;
  display: inline-block;
  padding-left: 20px;
  margin-bottom: 0;
  vertical-align: middle;
  font-weight: normal;
  cursor: pointer;
}
.radio-inline + .radio-inline,
.checkbox-inline + .checkbox-inline {
  margin-top: 0;
  margin-left: 10px;
}
input[type="radio"][disabled],
input[type="checkbox"][disabled],
input[type="radio"].disabled,
input[type="checkbox"].disabled,
fieldset[disabled] input[type="radio"],
fieldset[disabled] input[type="checkbox"] {
  cursor: not-allowed;
}
.radio-inline.disabled,
.checkbox-inline.disabled,
fieldset[disabled] .radio-inline,
fieldset[disabled] .checkbox-inline {
  cursor: not-allowed;
}
.radio.disabled label,
.checkbox.disabled label,
fieldset[disabled] .radio label,
fieldset[disabled] .checkbox label {
  cursor: not-allowed;
}
.form-control-static {
  padding-top: 7px;
  padding-bottom: 7px;
  margin-bottom: 0;
  min-height: 31px;
}
.form-control-static.input-lg,
.form-control-static.input-sm {
  padding-left: 0;
  padding-right: 0;
}
.input-sm {
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
select.input-sm {
  height: 30px;
  line-height: 30px;
}
textarea.input-sm,
select[multiple].input-sm {
  height: auto;
}
.form-group-sm .form-control {
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
.form-group-sm select.form-control {
  height: 30px;
  line-height: 30px;
}
.form-group-sm textarea.form-control,
.form-group-sm select[multiple].form-control {
  height: auto;
}
.form-group-sm .form-control-static {
  height: 30px;
  min-height: 30px;
  padding: 6px 10px;
  font-size: 12px;
  line-height: 1.5;
}
.input-lg {
  height: 45px;
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
select.input-lg {
  height: 45px;
  line-height: 45px;
}
textarea.input-lg,
select[multiple].input-lg {
  height: auto;
}
.form-group-lg .form-control {
  height: 45px;
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
.form-group-lg select.form-control {
  height: 45px;
  line-height: 45px;
}
.form-group-lg textarea.form-control,
.form-group-lg select[multiple].form-control {
  height: auto;
}
.form-group-lg .form-control-static {
  height: 45px;
  min-height: 35px;
  padding: 11px 16px;
  font-size: 17px;
  line-height: 1.3333333;
}
.has-feedback {
  position: relative;
}
.has-feedback .form-control {
  padding-right: 40px;
}
.form-control-feedback {
  position: absolute;
  top: 0;
  right: 0;
  z-index: 2;
  display: block;
  width: 32px;
  height: 32px;
  line-height: 32px;
  text-align: center;
  pointer-events: none;
}
.input-lg + .form-control-feedback,
.input-group-lg + .form-control-feedback,
.form-group-lg .form-control + .form-control-feedback {
  width: 45px;
  height: 45px;
  line-height: 45px;
}
.input-sm + .form-control-feedback,
.input-group-sm + .form-control-feedback,
.form-group-sm .form-control + .form-control-feedback {
  width: 30px;
  height: 30px;
  line-height: 30px;
}
.has-success .help-block,
.has-success .control-label,
.has-success .radio,
.has-success .checkbox,
.has-success .radio-inline,
.has-success .checkbox-inline,
.has-success.radio label,
.has-success.checkbox label,
.has-success.radio-inline label,
.has-success.checkbox-inline label {
  color: #3c763d;
}
.has-success .form-control {
  border-color: #3c763d;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
}
.has-success .form-control:focus {
  border-color: #2b542c;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #67b168;
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #67b168;
}
.has-success .input-group-addon {
  color: #3c763d;
  border-color: #3c763d;
  background-color: #dff0d8;
}
.has-success .form-control-feedback {
  color: #3c763d;
}
.has-warning .help-block,
.has-warning .control-label,
.has-warning .radio,
.has-warning .checkbox,
.has-warning .radio-inline,
.has-warning .checkbox-inline,
.has-warning.radio label,
.has-warning.checkbox label,
.has-warning.radio-inline label,
.has-warning.checkbox-inline label {
  color: #8a6d3b;
}
.has-warning .form-control {
  border-color: #8a6d3b;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
}
.has-warning .form-control:focus {
  border-color: #66512c;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #c0a16b;
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #c0a16b;
}
.has-warning .input-group-addon {
  color: #8a6d3b;
  border-color: #8a6d3b;
  background-color: #fcf8e3;
}
.has-warning .form-control-feedback {
  color: #8a6d3b;
}
.has-error .help-block,
.has-error .control-label,
.has-error .radio,
.has-error .checkbox,
.has-error .radio-inline,
.has-error .checkbox-inline,
.has-error.radio label,
.has-error.checkbox label,
.has-error.radio-inline label,
.has-error.checkbox-inline label {
  color: #a94442;
}
.has-error .form-control {
  border-color: #a94442;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
}
.has-error .form-control:focus {
  border-color: #843534;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #ce8483;
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #ce8483;
}
.has-error .input-group-addon {
  color: #a94442;
  border-color: #a94442;
  background-color: #f2dede;
}
.has-error .form-control-feedback {
  color: #a94442;
}
.has-feedback label ~ .form-control-feedback {
  top: 23px;
}
.has-feedback label.sr-only ~ .form-control-feedback {
  top: 0;
}
.help-block {
  display: block;
  margin-top: 5px;
  margin-bottom: 10px;
  color: #404040;
}
@media (min-width: 768px) {
  .form-inline .form-group {
    display: inline-block;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .form-inline .form-control {
    display: inline-block;
    width: auto;
    vertical-align: middle;
  }
  .form-inline .form-control-static {
    display: inline-block;
  }
  .form-inline .input-group {
    display: inline-table;
    vertical-align: middle;
  }
  .form-inline .input-group .input-group-addon,
  .form-inline .input-group .input-group-btn,
  .form-inline .input-group .form-control {
    width: auto;
  }
  .form-inline .input-group > .form-control {
    width: 100%;
  }
  .form-inline .control-label {
    margin-bottom: 0;
    vertical-align: middle;
  }
  .form-inline .radio,
  .form-inline .checkbox {
    display: inline-block;
    margin-top: 0;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .form-inline .radio label,
  .form-inline .checkbox label {
    padding-left: 0;
  }
  .form-inline .radio input[type="radio"],
  .form-inline .checkbox input[type="checkbox"] {
    position: relative;
    margin-left: 0;
  }
  .form-inline .has-feedback .form-control-feedback {
    top: 0;
  }
}
.form-horizontal .radio,
.form-horizontal .checkbox,
.form-horizontal .radio-inline,
.form-horizontal .checkbox-inline {
  margin-top: 0;
  margin-bottom: 0;
  padding-top: 7px;
}
.form-horizontal .radio,
.form-horizontal .checkbox {
  min-height: 25px;
}
.form-horizontal .form-group {
  margin-left: 0px;
  margin-right: 0px;
}
@media (min-width: 768px) {
  .form-horizontal .control-label {
    text-align: right;
    margin-bottom: 0;
    padding-top: 7px;
  }
}
.form-horizontal .has-feedback .form-control-feedback {
  right: 0px;
}
@media (min-width: 768px) {
  .form-horizontal .form-group-lg .control-label {
    padding-top: 11px;
    font-size: 17px;
  }
}
@media (min-width: 768px) {
  .form-horizontal .form-group-sm .control-label {
    padding-top: 6px;
    font-size: 12px;
  }
}
.btn {
  display: inline-block;
  margin-bottom: 0;
  font-weight: normal;
  text-align: center;
  vertical-align: middle;
  touch-action: manipulation;
  cursor: pointer;
  background-image: none;
  border: 1px solid transparent;
  white-space: nowrap;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  border-radius: 2px;
  -webkit-user-select: none;
  -moz-user-select: none;
  -ms-user-select: none;
  user-select: none;
}
.btn:focus,
.btn:active:focus,
.btn.active:focus,
.btn.focus,
.btn:active.focus,
.btn.active.focus {
  outline: 5px auto -webkit-focus-ring-color;
  outline-offset: -2px;
}
.btn:hover,
.btn:focus,
.btn.focus {
  color: #333;
  text-decoration: none;
}
.btn:active,
.btn.active {
  outline: 0;
  background-image: none;
  -webkit-box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
  box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
}
.btn.disabled,
.btn[disabled],
fieldset[disabled] .btn {
  cursor: not-allowed;
  opacity: 0.65;
  filter: alpha(opacity=65);
  -webkit-box-shadow: none;
  box-shadow: none;
}
a.btn.disabled,
fieldset[disabled] a.btn {
  pointer-events: none;
}
.btn-default {
  color: #333;
  background-color: #fff;
  border-color: #ccc;
}
.btn-default:focus,
.btn-default.focus {
  color: #333;
  background-color: #e6e6e6;
  border-color: #8c8c8c;
}
.btn-default:hover {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.btn-default:active,
.btn-default.active,
.open > .dropdown-toggle.btn-default {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.btn-default:active:hover,
.btn-default.active:hover,
.open > .dropdown-toggle.btn-default:hover,
.btn-default:active:focus,
.btn-default.active:focus,
.open > .dropdown-toggle.btn-default:focus,
.btn-default:active.focus,
.btn-default.active.focus,
.open > .dropdown-toggle.btn-default.focus {
  color: #333;
  background-color: #d4d4d4;
  border-color: #8c8c8c;
}
.btn-default:active,
.btn-default.active,
.open > .dropdown-toggle.btn-default {
  background-image: none;
}
.btn-default.disabled:hover,
.btn-default[disabled]:hover,
fieldset[disabled] .btn-default:hover,
.btn-default.disabled:focus,
.btn-default[disabled]:focus,
fieldset[disabled] .btn-default:focus,
.btn-default.disabled.focus,
.btn-default[disabled].focus,
fieldset[disabled] .btn-default.focus {
  background-color: #fff;
  border-color: #ccc;
}
.btn-default .badge {
  color: #fff;
  background-color: #333;
}
.btn-primary {
  color: #fff;
  background-color: #337ab7;
  border-color: #2e6da4;
}
.btn-primary:focus,
.btn-primary.focus {
  color: #fff;
  background-color: #286090;
  border-color: #122b40;
}
.btn-primary:hover {
  color: #fff;
  background-color: #286090;
  border-color: #204d74;
}
.btn-primary:active,
.btn-primary.active,
.open > .dropdown-toggle.btn-primary {
  color: #fff;
  background-color: #286090;
  border-color: #204d74;
}
.btn-primary:active:hover,
.btn-primary.active:hover,
.open > .dropdown-toggle.btn-primary:hover,
.btn-primary:active:focus,
.btn-primary.active:focus,
.open > .dropdown-toggle.btn-primary:focus,
.btn-primary:active.focus,
.btn-primary.active.focus,
.open > .dropdown-toggle.btn-primary.focus {
  color: #fff;
  background-color: #204d74;
  border-color: #122b40;
}
.btn-primary:active,
.btn-primary.active,
.open > .dropdown-toggle.btn-primary {
  background-image: none;
}
.btn-primary.disabled:hover,
.btn-primary[disabled]:hover,
fieldset[disabled] .btn-primary:hover,
.btn-primary.disabled:focus,
.btn-primary[disabled]:focus,
fieldset[disabled] .btn-primary:focus,
.btn-primary.disabled.focus,
.btn-primary[disabled].focus,
fieldset[disabled] .btn-primary.focus {
  background-color: #337ab7;
  border-color: #2e6da4;
}
.btn-primary .badge {
  color: #337ab7;
  background-color: #fff;
}
.btn-success {
  color: #fff;
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.btn-success:focus,
.btn-success.focus {
  color: #fff;
  background-color: #449d44;
  border-color: #255625;
}
.btn-success:hover {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.btn-success:active,
.btn-success.active,
.open > .dropdown-toggle.btn-success {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.btn-success:active:hover,
.btn-success.active:hover,
.open > .dropdown-toggle.btn-success:hover,
.btn-success:active:focus,
.btn-success.active:focus,
.open > .dropdown-toggle.btn-success:focus,
.btn-success:active.focus,
.btn-success.active.focus,
.open > .dropdown-toggle.btn-success.focus {
  color: #fff;
  background-color: #398439;
  border-color: #255625;
}
.btn-success:active,
.btn-success.active,
.open > .dropdown-toggle.btn-success {
  background-image: none;
}
.btn-success.disabled:hover,
.btn-success[disabled]:hover,
fieldset[disabled] .btn-success:hover,
.btn-success.disabled:focus,
.btn-success[disabled]:focus,
fieldset[disabled] .btn-success:focus,
.btn-success.disabled.focus,
.btn-success[disabled].focus,
fieldset[disabled] .btn-success.focus {
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.btn-success .badge {
  color: #5cb85c;
  background-color: #fff;
}
.btn-info {
  color: #fff;
  background-color: #5bc0de;
  border-color: #46b8da;
}
.btn-info:focus,
.btn-info.focus {
  color: #fff;
  background-color: #31b0d5;
  border-color: #1b6d85;
}
.btn-info:hover {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.btn-info:active,
.btn-info.active,
.open > .dropdown-toggle.btn-info {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.btn-info:active:hover,
.btn-info.active:hover,
.open > .dropdown-toggle.btn-info:hover,
.btn-info:active:focus,
.btn-info.active:focus,
.open > .dropdown-toggle.btn-info:focus,
.btn-info:active.focus,
.btn-info.active.focus,
.open > .dropdown-toggle.btn-info.focus {
  color: #fff;
  background-color: #269abc;
  border-color: #1b6d85;
}
.btn-info:active,
.btn-info.active,
.open > .dropdown-toggle.btn-info {
  background-image: none;
}
.btn-info.disabled:hover,
.btn-info[disabled]:hover,
fieldset[disabled] .btn-info:hover,
.btn-info.disabled:focus,
.btn-info[disabled]:focus,
fieldset[disabled] .btn-info:focus,
.btn-info.disabled.focus,
.btn-info[disabled].focus,
fieldset[disabled] .btn-info.focus {
  background-color: #5bc0de;
  border-color: #46b8da;
}
.btn-info .badge {
  color: #5bc0de;
  background-color: #fff;
}
.btn-warning {
  color: #fff;
  background-color: #f0ad4e;
  border-color: #eea236;
}
.btn-warning:focus,
.btn-warning.focus {
  color: #fff;
  background-color: #ec971f;
  border-color: #985f0d;
}
.btn-warning:hover {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.btn-warning:active,
.btn-warning.active,
.open > .dropdown-toggle.btn-warning {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.btn-warning:active:hover,
.btn-warning.active:hover,
.open > .dropdown-toggle.btn-warning:hover,
.btn-warning:active:focus,
.btn-warning.active:focus,
.open > .dropdown-toggle.btn-warning:focus,
.btn-warning:active.focus,
.btn-warning.active.focus,
.open > .dropdown-toggle.btn-warning.focus {
  color: #fff;
  background-color: #d58512;
  border-color: #985f0d;
}
.btn-warning:active,
.btn-warning.active,
.open > .dropdown-toggle.btn-warning {
  background-image: none;
}
.btn-warning.disabled:hover,
.btn-warning[disabled]:hover,
fieldset[disabled] .btn-warning:hover,
.btn-warning.disabled:focus,
.btn-warning[disabled]:focus,
fieldset[disabled] .btn-warning:focus,
.btn-warning.disabled.focus,
.btn-warning[disabled].focus,
fieldset[disabled] .btn-warning.focus {
  background-color: #f0ad4e;
  border-color: #eea236;
}
.btn-warning .badge {
  color: #f0ad4e;
  background-color: #fff;
}
.btn-danger {
  color: #fff;
  background-color: #d9534f;
  border-color: #d43f3a;
}
.btn-danger:focus,
.btn-danger.focus {
  color: #fff;
  background-color: #c9302c;
  border-color: #761c19;
}
.btn-danger:hover {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.btn-danger:active,
.btn-danger.active,
.open > .dropdown-toggle.btn-danger {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.btn-danger:active:hover,
.btn-danger.active:hover,
.open > .dropdown-toggle.btn-danger:hover,
.btn-danger:active:focus,
.btn-danger.active:focus,
.open > .dropdown-toggle.btn-danger:focus,
.btn-danger:active.focus,
.btn-danger.active.focus,
.open > .dropdown-toggle.btn-danger.focus {
  color: #fff;
  background-color: #ac2925;
  border-color: #761c19;
}
.btn-danger:active,
.btn-danger.active,
.open > .dropdown-toggle.btn-danger {
  background-image: none;
}
.btn-danger.disabled:hover,
.btn-danger[disabled]:hover,
fieldset[disabled] .btn-danger:hover,
.btn-danger.disabled:focus,
.btn-danger[disabled]:focus,
fieldset[disabled] .btn-danger:focus,
.btn-danger.disabled.focus,
.btn-danger[disabled].focus,
fieldset[disabled] .btn-danger.focus {
  background-color: #d9534f;
  border-color: #d43f3a;
}
.btn-danger .badge {
  color: #d9534f;
  background-color: #fff;
}
.btn-link {
  color: #337ab7;
  font-weight: normal;
  border-radius: 0;
}
.btn-link,
.btn-link:active,
.btn-link.active,
.btn-link[disabled],
fieldset[disabled] .btn-link {
  background-color: transparent;
  -webkit-box-shadow: none;
  box-shadow: none;
}
.btn-link,
.btn-link:hover,
.btn-link:focus,
.btn-link:active {
  border-color: transparent;
}
.btn-link:hover,
.btn-link:focus {
  color: #23527c;
  text-decoration: underline;
  background-color: transparent;
}
.btn-link[disabled]:hover,
fieldset[disabled] .btn-link:hover,
.btn-link[disabled]:focus,
fieldset[disabled] .btn-link:focus {
  color: #777777;
  text-decoration: none;
}
.btn-lg,
.btn-group-lg > .btn {
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
.btn-sm,
.btn-group-sm > .btn {
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
.btn-xs,
.btn-group-xs > .btn {
  padding: 1px 5px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
.btn-block {
  display: block;
  width: 100%;
}
.btn-block + .btn-block {
  margin-top: 5px;
}
input[type="submit"].btn-block,
input[type="reset"].btn-block,
input[type="button"].btn-block {
  width: 100%;
}
.fade {
  opacity: 0;
  -webkit-transition: opacity 0.15s linear;
  -o-transition: opacity 0.15s linear;
  transition: opacity 0.15s linear;
}
.fade.in {
  opacity: 1;
}
.collapse {
  display: none;
}
.collapse.in {
  display: block;
}
tr.collapse.in {
  display: table-row;
}
tbody.collapse.in {
  display: table-row-group;
}
.collapsing {
  position: relative;
  height: 0;
  overflow: hidden;
  -webkit-transition-property: height, visibility;
  transition-property: height, visibility;
  -webkit-transition-duration: 0.35s;
  transition-duration: 0.35s;
  -webkit-transition-timing-function: ease;
  transition-timing-function: ease;
}
.caret {
  display: inline-block;
  width: 0;
  height: 0;
  margin-left: 2px;
  vertical-align: middle;
  border-top: 4px dashed;
  border-top: 4px solid \9;
  border-right: 4px solid transparent;
  border-left: 4px solid transparent;
}
.dropup,
.dropdown {
  position: relative;
}
.dropdown-toggle:focus {
  outline: 0;
}
.dropdown-menu {
  position: absolute;
  top: 100%;
  left: 0;
  z-index: 1000;
  display: none;
  float: left;
  min-width: 160px;
  padding: 5px 0;
  margin: 2px 0 0;
  list-style: none;
  font-size: 13px;
  text-align: left;
  background-color: #fff;
  border: 1px solid #ccc;
  border: 1px solid rgba(0, 0, 0, 0.15);
  border-radius: 2px;
  -webkit-box-shadow: 0 6px 12px rgba(0, 0, 0, 0.175);
  box-shadow: 0 6px 12px rgba(0, 0, 0, 0.175);
  background-clip: padding-box;
}
.dropdown-menu.pull-right {
  right: 0;
  left: auto;
}
.dropdown-menu .divider {
  height: 1px;
  margin: 8px 0;
  overflow: hidden;
  background-color: #e5e5e5;
}
.dropdown-menu > li > a {
  display: block;
  padding: 3px 20px;
  clear: both;
  font-weight: normal;
  line-height: 1.42857143;
  color: #333333;
  white-space: nowrap;
}
.dropdown-menu > li > a:hover,
.dropdown-menu > li > a:focus {
  text-decoration: none;
  color: #262626;
  background-color: #f5f5f5;
}
.dropdown-menu > .active > a,
.dropdown-menu > .active > a:hover,
.dropdown-menu > .active > a:focus {
  color: #fff;
  text-decoration: none;
  outline: 0;
  background-color: #337ab7;
}
.dropdown-menu > .disabled > a,
.dropdown-menu > .disabled > a:hover,
.dropdown-menu > .disabled > a:focus {
  color: #777777;
}
.dropdown-menu > .disabled > a:hover,
.dropdown-menu > .disabled > a:focus {
  text-decoration: none;
  background-color: transparent;
  background-image: none;
  filter: progid:DXImageTransform.Microsoft.gradient(enabled = false);
  cursor: not-allowed;
}
.open > .dropdown-menu {
  display: block;
}
.open > a {
  outline: 0;
}
.dropdown-menu-right {
  left: auto;
  right: 0;
}
.dropdown-menu-left {
  left: 0;
  right: auto;
}
.dropdown-header {
  display: block;
  padding: 3px 20px;
  font-size: 12px;
  line-height: 1.42857143;
  color: #777777;
  white-space: nowrap;
}
.dropdown-backdrop {
  position: fixed;
  left: 0;
  right: 0;
  bottom: 0;
  top: 0;
  z-index: 990;
}
.pull-right > .dropdown-menu {
  right: 0;
  left: auto;
}
.dropup .caret,
.navbar-fixed-bottom .dropdown .caret {
  border-top: 0;
  border-bottom: 4px dashed;
  border-bottom: 4px solid \9;
  content: "";
}
.dropup .dropdown-menu,
.navbar-fixed-bottom .dropdown .dropdown-menu {
  top: auto;
  bottom: 100%;
  margin-bottom: 2px;
}
@media (min-width: 541px) {
  .navbar-right .dropdown-menu {
    left: auto;
    right: 0;
  }
  .navbar-right .dropdown-menu-left {
    left: 0;
    right: auto;
  }
}
.btn-group,
.btn-group-vertical {
  position: relative;
  display: inline-block;
  vertical-align: middle;
}
.btn-group > .btn,
.btn-group-vertical > .btn {
  position: relative;
  float: left;
}
.btn-group > .btn:hover,
.btn-group-vertical > .btn:hover,
.btn-group > .btn:focus,
.btn-group-vertical > .btn:focus,
.btn-group > .btn:active,
.btn-group-vertical > .btn:active,
.btn-group > .btn.active,
.btn-group-vertical > .btn.active {
  z-index: 2;
}
.btn-group .btn + .btn,
.btn-group .btn + .btn-group,
.btn-group .btn-group + .btn,
.btn-group .btn-group + .btn-group {
  margin-left: -1px;
}
.btn-toolbar {
  margin-left: -5px;
}
.btn-toolbar .btn,
.btn-toolbar .btn-group,
.btn-toolbar .input-group {
  float: left;
}
.btn-toolbar > .btn,
.btn-toolbar > .btn-group,
.btn-toolbar > .input-group {
  margin-left: 5px;
}
.btn-group > .btn:not(:first-child):not(:last-child):not(.dropdown-toggle) {
  border-radius: 0;
}
.btn-group > .btn:first-child {
  margin-left: 0;
}
.btn-group > .btn:first-child:not(:last-child):not(.dropdown-toggle) {
  border-bottom-right-radius: 0;
  border-top-right-radius: 0;
}
.btn-group > .btn:last-child:not(:first-child),
.btn-group > .dropdown-toggle:not(:first-child) {
  border-bottom-left-radius: 0;
  border-top-left-radius: 0;
}
.btn-group > .btn-group {
  float: left;
}
.btn-group > .btn-group:not(:first-child):not(:last-child) > .btn {
  border-radius: 0;
}
.btn-group > .btn-group:first-child:not(:last-child) > .btn:last-child,
.btn-group > .btn-group:first-child:not(:last-child) > .dropdown-toggle {
  border-bottom-right-radius: 0;
  border-top-right-radius: 0;
}
.btn-group > .btn-group:last-child:not(:first-child) > .btn:first-child {
  border-bottom-left-radius: 0;
  border-top-left-radius: 0;
}
.btn-group .dropdown-toggle:active,
.btn-group.open .dropdown-toggle {
  outline: 0;
}
.btn-group > .btn + .dropdown-toggle {
  padding-left: 8px;
  padding-right: 8px;
}
.btn-group > .btn-lg + .dropdown-toggle {
  padding-left: 12px;
  padding-right: 12px;
}
.btn-group.open .dropdown-toggle {
  -webkit-box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
  box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
}
.btn-group.open .dropdown-toggle.btn-link {
  -webkit-box-shadow: none;
  box-shadow: none;
}
.btn .caret {
  margin-left: 0;
}
.btn-lg .caret {
  border-width: 5px 5px 0;
  border-bottom-width: 0;
}
.dropup .btn-lg .caret {
  border-width: 0 5px 5px;
}
.btn-group-vertical > .btn,
.btn-group-vertical > .btn-group,
.btn-group-vertical > .btn-group > .btn {
  display: block;
  float: none;
  width: 100%;
  max-width: 100%;
}
.btn-group-vertical > .btn-group > .btn {
  float: none;
}
.btn-group-vertical > .btn + .btn,
.btn-group-vertical > .btn + .btn-group,
.btn-group-vertical > .btn-group + .btn,
.btn-group-vertical > .btn-group + .btn-group {
  margin-top: -1px;
  margin-left: 0;
}
.btn-group-vertical > .btn:not(:first-child):not(:last-child) {
  border-radius: 0;
}
.btn-group-vertical > .btn:first-child:not(:last-child) {
  border-top-right-radius: 2px;
  border-top-left-radius: 2px;
  border-bottom-right-radius: 0;
  border-bottom-left-radius: 0;
}
.btn-group-vertical > .btn:last-child:not(:first-child) {
  border-top-right-radius: 0;
  border-top-left-radius: 0;
  border-bottom-right-radius: 2px;
  border-bottom-left-radius: 2px;
}
.btn-group-vertical > .btn-group:not(:first-child):not(:last-child) > .btn {
  border-radius: 0;
}
.btn-group-vertical > .btn-group:first-child:not(:last-child) > .btn:last-child,
.btn-group-vertical > .btn-group:first-child:not(:last-child) > .dropdown-toggle {
  border-bottom-right-radius: 0;
  border-bottom-left-radius: 0;
}
.btn-group-vertical > .btn-group:last-child:not(:first-child) > .btn:first-child {
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.btn-group-justified {
  display: table;
  width: 100%;
  table-layout: fixed;
  border-collapse: separate;
}
.btn-group-justified > .btn,
.btn-group-justified > .btn-group {
  float: none;
  display: table-cell;
  width: 1%;
}
.btn-group-justified > .btn-group .btn {
  width: 100%;
}
.btn-group-justified > .btn-group .dropdown-menu {
  left: auto;
}
[data-toggle="buttons"] > .btn input[type="radio"],
[data-toggle="buttons"] > .btn-group > .btn input[type="radio"],
[data-toggle="buttons"] > .btn input[type="checkbox"],
[data-toggle="buttons"] > .btn-group > .btn input[type="checkbox"] {
  position: absolute;
  clip: rect(0, 0, 0, 0);
  pointer-events: none;
}
.input-group {
  position: relative;
  display: table;
  border-collapse: separate;
}
.input-group[class*="col-"] {
  float: none;
  padding-left: 0;
  padding-right: 0;
}
.input-group .form-control {
  position: relative;
  z-index: 2;
  float: left;
  width: 100%;
  margin-bottom: 0;
}
.input-group .form-control:focus {
  z-index: 3;
}
.input-group-lg > .form-control,
.input-group-lg > .input-group-addon,
.input-group-lg > .input-group-btn > .btn {
  height: 45px;
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
select.input-group-lg > .form-control,
select.input-group-lg > .input-group-addon,
select.input-group-lg > .input-group-btn > .btn {
  height: 45px;
  line-height: 45px;
}
textarea.input-group-lg > .form-control,
textarea.input-group-lg > .input-group-addon,
textarea.input-group-lg > .input-group-btn > .btn,
select[multiple].input-group-lg > .form-control,
select[multiple].input-group-lg > .input-group-addon,
select[multiple].input-group-lg > .input-group-btn > .btn {
  height: auto;
}
.input-group-sm > .form-control,
.input-group-sm > .input-group-addon,
.input-group-sm > .input-group-btn > .btn {
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
select.input-group-sm > .form-control,
select.input-group-sm > .input-group-addon,
select.input-group-sm > .input-group-btn > .btn {
  height: 30px;
  line-height: 30px;
}
textarea.input-group-sm > .form-control,
textarea.input-group-sm > .input-group-addon,
textarea.input-group-sm > .input-group-btn > .btn,
select[multiple].input-group-sm > .form-control,
select[multiple].input-group-sm > .input-group-addon,
select[multiple].input-group-sm > .input-group-btn > .btn {
  height: auto;
}
.input-group-addon,
.input-group-btn,
.input-group .form-control {
  display: table-cell;
}
.input-group-addon:not(:first-child):not(:last-child),
.input-group-btn:not(:first-child):not(:last-child),
.input-group .form-control:not(:first-child):not(:last-child) {
  border-radius: 0;
}
.input-group-addon,
.input-group-btn {
  width: 1%;
  white-space: nowrap;
  vertical-align: middle;
}
.input-group-addon {
  padding: 6px 12px;
  font-size: 13px;
  font-weight: normal;
  line-height: 1;
  color: #555555;
  text-align: center;
  background-color: #eeeeee;
  border: 1px solid #ccc;
  border-radius: 2px;
}
.input-group-addon.input-sm {
  padding: 5px 10px;
  font-size: 12px;
  border-radius: 1px;
}
.input-group-addon.input-lg {
  padding: 10px 16px;
  font-size: 17px;
  border-radius: 3px;
}
.input-group-addon input[type="radio"],
.input-group-addon input[type="checkbox"] {
  margin-top: 0;
}
.input-group .form-control:first-child,
.input-group-addon:first-child,
.input-group-btn:first-child > .btn,
.input-group-btn:first-child > .btn-group > .btn,
.input-group-btn:first-child > .dropdown-toggle,
.input-group-btn:last-child > .btn:not(:last-child):not(.dropdown-toggle),
.input-group-btn:last-child > .btn-group:not(:last-child) > .btn {
  border-bottom-right-radius: 0;
  border-top-right-radius: 0;
}
.input-group-addon:first-child {
  border-right: 0;
}
.input-group .form-control:last-child,
.input-group-addon:last-child,
.input-group-btn:last-child > .btn,
.input-group-btn:last-child > .btn-group > .btn,
.input-group-btn:last-child > .dropdown-toggle,
.input-group-btn:first-child > .btn:not(:first-child),
.input-group-btn:first-child > .btn-group:not(:first-child) > .btn {
  border-bottom-left-radius: 0;
  border-top-left-radius: 0;
}
.input-group-addon:last-child {
  border-left: 0;
}
.input-group-btn {
  position: relative;
  font-size: 0;
  white-space: nowrap;
}
.input-group-btn > .btn {
  position: relative;
}
.input-group-btn > .btn + .btn {
  margin-left: -1px;
}
.input-group-btn > .btn:hover,
.input-group-btn > .btn:focus,
.input-group-btn > .btn:active {
  z-index: 2;
}
.input-group-btn:first-child > .btn,
.input-group-btn:first-child > .btn-group {
  margin-right: -1px;
}
.input-group-btn:last-child > .btn,
.input-group-btn:last-child > .btn-group {
  z-index: 2;
  margin-left: -1px;
}
.nav {
  margin-bottom: 0;
  padding-left: 0;
  list-style: none;
}
.nav > li {
  position: relative;
  display: block;
}
.nav > li > a {
  position: relative;
  display: block;
  padding: 10px 15px;
}
.nav > li > a:hover,
.nav > li > a:focus {
  text-decoration: none;
  background-color: #eeeeee;
}
.nav > li.disabled > a {
  color: #777777;
}
.nav > li.disabled > a:hover,
.nav > li.disabled > a:focus {
  color: #777777;
  text-decoration: none;
  background-color: transparent;
  cursor: not-allowed;
}
.nav .open > a,
.nav .open > a:hover,
.nav .open > a:focus {
  background-color: #eeeeee;
  border-color: #337ab7;
}
.nav .nav-divider {
  height: 1px;
  margin: 8px 0;
  overflow: hidden;
  background-color: #e5e5e5;
}
.nav > li > a > img {
  max-width: none;
}
.nav-tabs {
  border-bottom: 1px solid #ddd;
}
.nav-tabs > li {
  float: left;
  margin-bottom: -1px;
}
.nav-tabs > li > a {
  margin-right: 2px;
  line-height: 1.42857143;
  border: 1px solid transparent;
  border-radius: 2px 2px 0 0;
}
.nav-tabs > li > a:hover {
  border-color: #eeeeee #eeeeee #ddd;
}
.nav-tabs > li.active > a,
.nav-tabs > li.active > a:hover,
.nav-tabs > li.active > a:focus {
  color: #555555;
  background-color: #fff;
  border: 1px solid #ddd;
  border-bottom-color: transparent;
  cursor: default;
}
.nav-tabs.nav-justified {
  width: 100%;
  border-bottom: 0;
}
.nav-tabs.nav-justified > li {
  float: none;
}
.nav-tabs.nav-justified > li > a {
  text-align: center;
  margin-bottom: 5px;
}
.nav-tabs.nav-justified > .dropdown .dropdown-menu {
  top: auto;
  left: auto;
}
@media (min-width: 768px) {
  .nav-tabs.nav-justified > li {
    display: table-cell;
    width: 1%;
  }
  .nav-tabs.nav-justified > li > a {
    margin-bottom: 0;
  }
}
.nav-tabs.nav-justified > li > a {
  margin-right: 0;
  border-radius: 2px;
}
.nav-tabs.nav-justified > .active > a,
.nav-tabs.nav-justified > .active > a:hover,
.nav-tabs.nav-justified > .active > a:focus {
  border: 1px solid #ddd;
}
@media (min-width: 768px) {
  .nav-tabs.nav-justified > li > a {
    border-bottom: 1px solid #ddd;
    border-radius: 2px 2px 0 0;
  }
  .nav-tabs.nav-justified > .active > a,
  .nav-tabs.nav-justified > .active > a:hover,
  .nav-tabs.nav-justified > .active > a:focus {
    border-bottom-color: #fff;
  }
}
.nav-pills > li {
  float: left;
}
.nav-pills > li > a {
  border-radius: 2px;
}
.nav-pills > li + li {
  margin-left: 2px;
}
.nav-pills > li.active > a,
.nav-pills > li.active > a:hover,
.nav-pills > li.active > a:focus {
  color: #fff;
  background-color: #337ab7;
}
.nav-stacked > li {
  float: none;
}
.nav-stacked > li + li {
  margin-top: 2px;
  margin-left: 0;
}
.nav-justified {
  width: 100%;
}
.nav-justified > li {
  float: none;
}
.nav-justified > li > a {
  text-align: center;
  margin-bottom: 5px;
}
.nav-justified > .dropdown .dropdown-menu {
  top: auto;
  left: auto;
}
@media (min-width: 768px) {
  .nav-justified > li {
    display: table-cell;
    width: 1%;
  }
  .nav-justified > li > a {
    margin-bottom: 0;
  }
}
.nav-tabs-justified {
  border-bottom: 0;
}
.nav-tabs-justified > li > a {
  margin-right: 0;
  border-radius: 2px;
}
.nav-tabs-justified > .active > a,
.nav-tabs-justified > .active > a:hover,
.nav-tabs-justified > .active > a:focus {
  border: 1px solid #ddd;
}
@media (min-width: 768px) {
  .nav-tabs-justified > li > a {
    border-bottom: 1px solid #ddd;
    border-radius: 2px 2px 0 0;
  }
  .nav-tabs-justified > .active > a,
  .nav-tabs-justified > .active > a:hover,
  .nav-tabs-justified > .active > a:focus {
    border-bottom-color: #fff;
  }
}
.tab-content > .tab-pane {
  display: none;
}
.tab-content > .active {
  display: block;
}
.nav-tabs .dropdown-menu {
  margin-top: -1px;
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.navbar {
  position: relative;
  min-height: 30px;
  margin-bottom: 18px;
  border: 1px solid transparent;
}
@media (min-width: 541px) {
  .navbar {
    border-radius: 2px;
  }
}
@media (min-width: 541px) {
  .navbar-header {
    float: left;
  }
}
.navbar-collapse {
  overflow-x: visible;
  padding-right: 0px;
  padding-left: 0px;
  border-top: 1px solid transparent;
  box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.1);
  -webkit-overflow-scrolling: touch;
}
.navbar-collapse.in {
  overflow-y: auto;
}
@media (min-width: 541px) {
  .navbar-collapse {
    width: auto;
    border-top: 0;
    box-shadow: none;
  }
  .navbar-collapse.collapse {
    display: block !important;
    height: auto !important;
    padding-bottom: 0;
    overflow: visible !important;
  }
  .navbar-collapse.in {
    overflow-y: visible;
  }
  .navbar-fixed-top .navbar-collapse,
  .navbar-static-top .navbar-collapse,
  .navbar-fixed-bottom .navbar-collapse {
    padding-left: 0;
    padding-right: 0;
  }
}
.navbar-fixed-top .navbar-collapse,
.navbar-fixed-bottom .navbar-collapse {
  max-height: 340px;
}
@media (max-device-width: 540px) and (orientation: landscape) {
  .navbar-fixed-top .navbar-collapse,
  .navbar-fixed-bottom .navbar-collapse {
    max-height: 200px;
  }
}
.container > .navbar-header,
.container-fluid > .navbar-header,
.container > .navbar-collapse,
.container-fluid > .navbar-collapse {
  margin-right: 0px;
  margin-left: 0px;
}
@media (min-width: 541px) {
  .container > .navbar-header,
  .container-fluid > .navbar-header,
  .container > .navbar-collapse,
  .container-fluid > .navbar-collapse {
    margin-right: 0;
    margin-left: 0;
  }
}
.navbar-static-top {
  z-index: 1000;
  border-width: 0 0 1px;
}
@media (min-width: 541px) {
  .navbar-static-top {
    border-radius: 0;
  }
}
.navbar-fixed-top,
.navbar-fixed-bottom {
  position: fixed;
  right: 0;
  left: 0;
  z-index: 1030;
}
@media (min-width: 541px) {
  .navbar-fixed-top,
  .navbar-fixed-bottom {
    border-radius: 0;
  }
}
.navbar-fixed-top {
  top: 0;
  border-width: 0 0 1px;
}
.navbar-fixed-bottom {
  bottom: 0;
  margin-bottom: 0;
  border-width: 1px 0 0;
}
.navbar-brand {
  float: left;
  padding: 6px 0px;
  font-size: 17px;
  line-height: 18px;
  height: 30px;
}
.navbar-brand:hover,
.navbar-brand:focus {
  text-decoration: none;
}
.navbar-brand > img {
  display: block;
}
@media (min-width: 541px) {
  .navbar > .container .navbar-brand,
  .navbar > .container-fluid .navbar-brand {
    margin-left: 0px;
  }
}
.navbar-toggle {
  position: relative;
  float: right;
  margin-right: 0px;
  padding: 9px 10px;
  margin-top: -2px;
  margin-bottom: -2px;
  background-color: transparent;
  background-image: none;
  border: 1px solid transparent;
  border-radius: 2px;
}
.navbar-toggle:focus {
  outline: 0;
}
.navbar-toggle .icon-bar {
  display: block;
  width: 22px;
  height: 2px;
  border-radius: 1px;
}
.navbar-toggle .icon-bar + .icon-bar {
  margin-top: 4px;
}
@media (min-width: 541px) {
  .navbar-toggle {
    display: none;
  }
}
.navbar-nav {
  margin: 3px 0px;
}
.navbar-nav > li > a {
  padding-top: 10px;
  padding-bottom: 10px;
  line-height: 18px;
}
@media (max-width: 540px) {
  .navbar-nav .open .dropdown-menu {
    position: static;
    float: none;
    width: auto;
    margin-top: 0;
    background-color: transparent;
    border: 0;
    box-shadow: none;
  }
  .navbar-nav .open .dropdown-menu > li > a,
  .navbar-nav .open .dropdown-menu .dropdown-header {
    padding: 5px 15px 5px 25px;
  }
  .navbar-nav .open .dropdown-menu > li > a {
    line-height: 18px;
  }
  .navbar-nav .open .dropdown-menu > li > a:hover,
  .navbar-nav .open .dropdown-menu > li > a:focus {
    background-image: none;
  }
}
@media (min-width: 541px) {
  .navbar-nav {
    float: left;
    margin: 0;
  }
  .navbar-nav > li {
    float: left;
  }
  .navbar-nav > li > a {
    padding-top: 6px;
    padding-bottom: 6px;
  }
}
.navbar-form {
  margin-left: 0px;
  margin-right: 0px;
  padding: 10px 0px;
  border-top: 1px solid transparent;
  border-bottom: 1px solid transparent;
  -webkit-box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.1), 0 1px 0 rgba(255, 255, 255, 0.1);
  box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.1), 0 1px 0 rgba(255, 255, 255, 0.1);
  margin-top: -1px;
  margin-bottom: -1px;
}
@media (min-width: 768px) {
  .navbar-form .form-group {
    display: inline-block;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .navbar-form .form-control {
    display: inline-block;
    width: auto;
    vertical-align: middle;
  }
  .navbar-form .form-control-static {
    display: inline-block;
  }
  .navbar-form .input-group {
    display: inline-table;
    vertical-align: middle;
  }
  .navbar-form .input-group .input-group-addon,
  .navbar-form .input-group .input-group-btn,
  .navbar-form .input-group .form-control {
    width: auto;
  }
  .navbar-form .input-group > .form-control {
    width: 100%;
  }
  .navbar-form .control-label {
    margin-bottom: 0;
    vertical-align: middle;
  }
  .navbar-form .radio,
  .navbar-form .checkbox {
    display: inline-block;
    margin-top: 0;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .navbar-form .radio label,
  .navbar-form .checkbox label {
    padding-left: 0;
  }
  .navbar-form .radio input[type="radio"],
  .navbar-form .checkbox input[type="checkbox"] {
    position: relative;
    margin-left: 0;
  }
  .navbar-form .has-feedback .form-control-feedback {
    top: 0;
  }
}
@media (max-width: 540px) {
  .navbar-form .form-group {
    margin-bottom: 5px;
  }
  .navbar-form .form-group:last-child {
    margin-bottom: 0;
  }
}
@media (min-width: 541px) {
  .navbar-form {
    width: auto;
    border: 0;
    margin-left: 0;
    margin-right: 0;
    padding-top: 0;
    padding-bottom: 0;
    -webkit-box-shadow: none;
    box-shadow: none;
  }
}
.navbar-nav > li > .dropdown-menu {
  margin-top: 0;
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.navbar-fixed-bottom .navbar-nav > li > .dropdown-menu {
  margin-bottom: 0;
  border-top-right-radius: 2px;
  border-top-left-radius: 2px;
  border-bottom-right-radius: 0;
  border-bottom-left-radius: 0;
}
.navbar-btn {
  margin-top: -1px;
  margin-bottom: -1px;
}
.navbar-btn.btn-sm {
  margin-top: 0px;
  margin-bottom: 0px;
}
.navbar-btn.btn-xs {
  margin-top: 4px;
  margin-bottom: 4px;
}
.navbar-text {
  margin-top: 6px;
  margin-bottom: 6px;
}
@media (min-width: 541px) {
  .navbar-text {
    float: left;
    margin-left: 0px;
    margin-right: 0px;
  }
}
@media (min-width: 541px) {
  .navbar-left {
    float: left !important;
    float: left;
  }
  .navbar-right {
    float: right !important;
    float: right;
    margin-right: 0px;
  }
  .navbar-right ~ .navbar-right {
    margin-right: 0;
  }
}
.navbar-default {
  background-color: #f8f8f8;
  border-color: #e7e7e7;
}
.navbar-default .navbar-brand {
  color: #777;
}
.navbar-default .navbar-brand:hover,
.navbar-default .navbar-brand:focus {
  color: #5e5e5e;
  background-color: transparent;
}
.navbar-default .navbar-text {
  color: #777;
}
.navbar-default .navbar-nav > li > a {
  color: #777;
}
.navbar-default .navbar-nav > li > a:hover,
.navbar-default .navbar-nav > li > a:focus {
  color: #333;
  background-color: transparent;
}
.navbar-default .navbar-nav > .active > a,
.navbar-default .navbar-nav > .active > a:hover,
.navbar-default .navbar-nav > .active > a:focus {
  color: #555;
  background-color: #e7e7e7;
}
.navbar-default .navbar-nav > .disabled > a,
.navbar-default .navbar-nav > .disabled > a:hover,
.navbar-default .navbar-nav > .disabled > a:focus {
  color: #ccc;
  background-color: transparent;
}
.navbar-default .navbar-toggle {
  border-color: #ddd;
}
.navbar-default .navbar-toggle:hover,
.navbar-default .navbar-toggle:focus {
  background-color: #ddd;
}
.navbar-default .navbar-toggle .icon-bar {
  background-color: #888;
}
.navbar-default .navbar-collapse,
.navbar-default .navbar-form {
  border-color: #e7e7e7;
}
.navbar-default .navbar-nav > .open > a,
.navbar-default .navbar-nav > .open > a:hover,
.navbar-default .navbar-nav > .open > a:focus {
  background-color: #e7e7e7;
  color: #555;
}
@media (max-width: 540px) {
  .navbar-default .navbar-nav .open .dropdown-menu > li > a {
    color: #777;
  }
  .navbar-default .navbar-nav .open .dropdown-menu > li > a:hover,
  .navbar-default .navbar-nav .open .dropdown-menu > li > a:focus {
    color: #333;
    background-color: transparent;
  }
  .navbar-default .navbar-nav .open .dropdown-menu > .active > a,
  .navbar-default .navbar-nav .open .dropdown-menu > .active > a:hover,
  .navbar-default .navbar-nav .open .dropdown-menu > .active > a:focus {
    color: #555;
    background-color: #e7e7e7;
  }
  .navbar-default .navbar-nav .open .dropdown-menu > .disabled > a,
  .navbar-default .navbar-nav .open .dropdown-menu > .disabled > a:hover,
  .navbar-default .navbar-nav .open .dropdown-menu > .disabled > a:focus {
    color: #ccc;
    background-color: transparent;
  }
}
.navbar-default .navbar-link {
  color: #777;
}
.navbar-default .navbar-link:hover {
  color: #333;
}
.navbar-default .btn-link {
  color: #777;
}
.navbar-default .btn-link:hover,
.navbar-default .btn-link:focus {
  color: #333;
}
.navbar-default .btn-link[disabled]:hover,
fieldset[disabled] .navbar-default .btn-link:hover,
.navbar-default .btn-link[disabled]:focus,
fieldset[disabled] .navbar-default .btn-link:focus {
  color: #ccc;
}
.navbar-inverse {
  background-color: #222;
  border-color: #080808;
}
.navbar-inverse .navbar-brand {
  color: #9d9d9d;
}
.navbar-inverse .navbar-brand:hover,
.navbar-inverse .navbar-brand:focus {
  color: #fff;
  background-color: transparent;
}
.navbar-inverse .navbar-text {
  color: #9d9d9d;
}
.navbar-inverse .navbar-nav > li > a {
  color: #9d9d9d;
}
.navbar-inverse .navbar-nav > li > a:hover,
.navbar-inverse .navbar-nav > li > a:focus {
  color: #fff;
  background-color: transparent;
}
.navbar-inverse .navbar-nav > .active > a,
.navbar-inverse .navbar-nav > .active > a:hover,
.navbar-inverse .navbar-nav > .active > a:focus {
  color: #fff;
  background-color: #080808;
}
.navbar-inverse .navbar-nav > .disabled > a,
.navbar-inverse .navbar-nav > .disabled > a:hover,
.navbar-inverse .navbar-nav > .disabled > a:focus {
  color: #444;
  background-color: transparent;
}
.navbar-inverse .navbar-toggle {
  border-color: #333;
}
.navbar-inverse .navbar-toggle:hover,
.navbar-inverse .navbar-toggle:focus {
  background-color: #333;
}
.navbar-inverse .navbar-toggle .icon-bar {
  background-color: #fff;
}
.navbar-inverse .navbar-collapse,
.navbar-inverse .navbar-form {
  border-color: #101010;
}
.navbar-inverse .navbar-nav > .open > a,
.navbar-inverse .navbar-nav > .open > a:hover,
.navbar-inverse .navbar-nav > .open > a:focus {
  background-color: #080808;
  color: #fff;
}
@media (max-width: 540px) {
  .navbar-inverse .navbar-nav .open .dropdown-menu > .dropdown-header {
    border-color: #080808;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu .divider {
    background-color: #080808;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > li > a {
    color: #9d9d9d;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > li > a:hover,
  .navbar-inverse .navbar-nav .open .dropdown-menu > li > a:focus {
    color: #fff;
    background-color: transparent;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > .active > a,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .active > a:hover,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .active > a:focus {
    color: #fff;
    background-color: #080808;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > .disabled > a,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .disabled > a:hover,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .disabled > a:focus {
    color: #444;
    background-color: transparent;
  }
}
.navbar-inverse .navbar-link {
  color: #9d9d9d;
}
.navbar-inverse .navbar-link:hover {
  color: #fff;
}
.navbar-inverse .btn-link {
  color: #9d9d9d;
}
.navbar-inverse .btn-link:hover,
.navbar-inverse .btn-link:focus {
  color: #fff;
}
.navbar-inverse .btn-link[disabled]:hover,
fieldset[disabled] .navbar-inverse .btn-link:hover,
.navbar-inverse .btn-link[disabled]:focus,
fieldset[disabled] .navbar-inverse .btn-link:focus {
  color: #444;
}
.breadcrumb {
  padding: 8px 15px;
  margin-bottom: 18px;
  list-style: none;
  background-color: #f5f5f5;
  border-radius: 2px;
}
.breadcrumb > li {
  display: inline-block;
}
.breadcrumb > li + li:before {
  content: "/\00a0";
  padding: 0 5px;
  color: #5e5e5e;
}
.breadcrumb > .active {
  color: #777777;
}
.pagination {
  display: inline-block;
  padding-left: 0;
  margin: 18px 0;
  border-radius: 2px;
}
.pagination > li {
  display: inline;
}
.pagination > li > a,
.pagination > li > span {
  position: relative;
  float: left;
  padding: 6px 12px;
  line-height: 1.42857143;
  text-decoration: none;
  color: #337ab7;
  background-color: #fff;
  border: 1px solid #ddd;
  margin-left: -1px;
}
.pagination > li:first-child > a,
.pagination > li:first-child > span {
  margin-left: 0;
  border-bottom-left-radius: 2px;
  border-top-left-radius: 2px;
}
.pagination > li:last-child > a,
.pagination > li:last-child > span {
  border-bottom-right-radius: 2px;
  border-top-right-radius: 2px;
}
.pagination > li > a:hover,
.pagination > li > span:hover,
.pagination > li > a:focus,
.pagination > li > span:focus {
  z-index: 2;
  color: #23527c;
  background-color: #eeeeee;
  border-color: #ddd;
}
.pagination > .active > a,
.pagination > .active > span,
.pagination > .active > a:hover,
.pagination > .active > span:hover,
.pagination > .active > a:focus,
.pagination > .active > span:focus {
  z-index: 3;
  color: #fff;
  background-color: #337ab7;
  border-color: #337ab7;
  cursor: default;
}
.pagination > .disabled > span,
.pagination > .disabled > span:hover,
.pagination > .disabled > span:focus,
.pagination > .disabled > a,
.pagination > .disabled > a:hover,
.pagination > .disabled > a:focus {
  color: #777777;
  background-color: #fff;
  border-color: #ddd;
  cursor: not-allowed;
}
.pagination-lg > li > a,
.pagination-lg > li > span {
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
}
.pagination-lg > li:first-child > a,
.pagination-lg > li:first-child > span {
  border-bottom-left-radius: 3px;
  border-top-left-radius: 3px;
}
.pagination-lg > li:last-child > a,
.pagination-lg > li:last-child > span {
  border-bottom-right-radius: 3px;
  border-top-right-radius: 3px;
}
.pagination-sm > li > a,
.pagination-sm > li > span {
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
}
.pagination-sm > li:first-child > a,
.pagination-sm > li:first-child > span {
  border-bottom-left-radius: 1px;
  border-top-left-radius: 1px;
}
.pagination-sm > li:last-child > a,
.pagination-sm > li:last-child > span {
  border-bottom-right-radius: 1px;
  border-top-right-radius: 1px;
}
.pager {
  padding-left: 0;
  margin: 18px 0;
  list-style: none;
  text-align: center;
}
.pager li {
  display: inline;
}
.pager li > a,
.pager li > span {
  display: inline-block;
  padding: 5px 14px;
  background-color: #fff;
  border: 1px solid #ddd;
  border-radius: 15px;
}
.pager li > a:hover,
.pager li > a:focus {
  text-decoration: none;
  background-color: #eeeeee;
}
.pager .next > a,
.pager .next > span {
  float: right;
}
.pager .previous > a,
.pager .previous > span {
  float: left;
}
.pager .disabled > a,
.pager .disabled > a:hover,
.pager .disabled > a:focus,
.pager .disabled > span {
  color: #777777;
  background-color: #fff;
  cursor: not-allowed;
}
.label {
  display: inline;
  padding: .2em .6em .3em;
  font-size: 75%;
  font-weight: bold;
  line-height: 1;
  color: #fff;
  text-align: center;
  white-space: nowrap;
  vertical-align: baseline;
  border-radius: .25em;
}
a.label:hover,
a.label:focus {
  color: #fff;
  text-decoration: none;
  cursor: pointer;
}
.label:empty {
  display: none;
}
.btn .label {
  position: relative;
  top: -1px;
}
.label-default {
  background-color: #777777;
}
.label-default[href]:hover,
.label-default[href]:focus {
  background-color: #5e5e5e;
}
.label-primary {
  background-color: #337ab7;
}
.label-primary[href]:hover,
.label-primary[href]:focus {
  background-color: #286090;
}
.label-success {
  background-color: #5cb85c;
}
.label-success[href]:hover,
.label-success[href]:focus {
  background-color: #449d44;
}
.label-info {
  background-color: #5bc0de;
}
.label-info[href]:hover,
.label-info[href]:focus {
  background-color: #31b0d5;
}
.label-warning {
  background-color: #f0ad4e;
}
.label-warning[href]:hover,
.label-warning[href]:focus {
  background-color: #ec971f;
}
.label-danger {
  background-color: #d9534f;
}
.label-danger[href]:hover,
.label-danger[href]:focus {
  background-color: #c9302c;
}
.badge {
  display: inline-block;
  min-width: 10px;
  padding: 3px 7px;
  font-size: 12px;
  font-weight: bold;
  color: #fff;
  line-height: 1;
  vertical-align: middle;
  white-space: nowrap;
  text-align: center;
  background-color: #777777;
  border-radius: 10px;
}
.badge:empty {
  display: none;
}
.btn .badge {
  position: relative;
  top: -1px;
}
.btn-xs .badge,
.btn-group-xs > .btn .badge {
  top: 0;
  padding: 1px 5px;
}
a.badge:hover,
a.badge:focus {
  color: #fff;
  text-decoration: none;
  cursor: pointer;
}
.list-group-item.active > .badge,
.nav-pills > .active > a > .badge {
  color: #337ab7;
  background-color: #fff;
}
.list-group-item > .badge {
  float: right;
}
.list-group-item > .badge + .badge {
  margin-right: 5px;
}
.nav-pills > li > a > .badge {
  margin-left: 3px;
}
.jumbotron {
  padding-top: 30px;
  padding-bottom: 30px;
  margin-bottom: 30px;
  color: inherit;
  background-color: #eeeeee;
}
.jumbotron h1,
.jumbotron .h1 {
  color: inherit;
}
.jumbotron p {
  margin-bottom: 15px;
  font-size: 20px;
  font-weight: 200;
}
.jumbotron > hr {
  border-top-color: #d5d5d5;
}
.container .jumbotron,
.container-fluid .jumbotron {
  border-radius: 3px;
  padding-left: 0px;
  padding-right: 0px;
}
.jumbotron .container {
  max-width: 100%;
}
@media screen and (min-width: 768px) {
  .jumbotron {
    padding-top: 48px;
    padding-bottom: 48px;
  }
  .container .jumbotron,
  .container-fluid .jumbotron {
    padding-left: 60px;
    padding-right: 60px;
  }
  .jumbotron h1,
  .jumbotron .h1 {
    font-size: 59px;
  }
}
.thumbnail {
  display: block;
  padding: 4px;
  margin-bottom: 18px;
  line-height: 1.42857143;
  background-color: #fff;
  border: 1px solid #ddd;
  border-radius: 2px;
  -webkit-transition: border 0.2s ease-in-out;
  -o-transition: border 0.2s ease-in-out;
  transition: border 0.2s ease-in-out;
}
.thumbnail > img,
.thumbnail a > img {
  margin-left: auto;
  margin-right: auto;
}
a.thumbnail:hover,
a.thumbnail:focus,
a.thumbnail.active {
  border-color: #337ab7;
}
.thumbnail .caption {
  padding: 9px;
  color: #000;
}
.alert {
  padding: 15px;
  margin-bottom: 18px;
  border: 1px solid transparent;
  border-radius: 2px;
}
.alert h4 {
  margin-top: 0;
  color: inherit;
}
.alert .alert-link {
  font-weight: bold;
}
.alert > p,
.alert > ul {
  margin-bottom: 0;
}
.alert > p + p {
  margin-top: 5px;
}
.alert-dismissable,
.alert-dismissible {
  padding-right: 35px;
}
.alert-dismissable .close,
.alert-dismissible .close {
  position: relative;
  top: -2px;
  right: -21px;
  color: inherit;
}
.alert-success {
  background-color: #dff0d8;
  border-color: #d6e9c6;
  color: #3c763d;
}
.alert-success hr {
  border-top-color: #c9e2b3;
}
.alert-success .alert-link {
  color: #2b542c;
}
.alert-info {
  background-color: #d9edf7;
  border-color: #bce8f1;
  color: #31708f;
}
.alert-info hr {
  border-top-color: #a6e1ec;
}
.alert-info .alert-link {
  color: #245269;
}
.alert-warning {
  background-color: #fcf8e3;
  border-color: #faebcc;
  color: #8a6d3b;
}
.alert-warning hr {
  border-top-color: #f7e1b5;
}
.alert-warning .alert-link {
  color: #66512c;
}
.alert-danger {
  background-color: #f2dede;
  border-color: #ebccd1;
  color: #a94442;
}
.alert-danger hr {
  border-top-color: #e4b9c0;
}
.alert-danger .alert-link {
  color: #843534;
}
@-webkit-keyframes progress-bar-stripes {
  from {
    background-position: 40px 0;
  }
  to {
    background-position: 0 0;
  }
}
@keyframes progress-bar-stripes {
  from {
    background-position: 40px 0;
  }
  to {
    background-position: 0 0;
  }
}
.progress {
  overflow: hidden;
  height: 18px;
  margin-bottom: 18px;
  background-color: #f5f5f5;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 2px rgba(0, 0, 0, 0.1);
  box-shadow: inset 0 1px 2px rgba(0, 0, 0, 0.1);
}
.progress-bar {
  float: left;
  width: 0%;
  height: 100%;
  font-size: 12px;
  line-height: 18px;
  color: #fff;
  text-align: center;
  background-color: #337ab7;
  -webkit-box-shadow: inset 0 -1px 0 rgba(0, 0, 0, 0.15);
  box-shadow: inset 0 -1px 0 rgba(0, 0, 0, 0.15);
  -webkit-transition: width 0.6s ease;
  -o-transition: width 0.6s ease;
  transition: width 0.6s ease;
}
.progress-striped .progress-bar,
.progress-bar-striped {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-size: 40px 40px;
}
.progress.active .progress-bar,
.progress-bar.active {
  -webkit-animation: progress-bar-stripes 2s linear infinite;
  -o-animation: progress-bar-stripes 2s linear infinite;
  animation: progress-bar-stripes 2s linear infinite;
}
.progress-bar-success {
  background-color: #5cb85c;
}
.progress-striped .progress-bar-success {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.progress-bar-info {
  background-color: #5bc0de;
}
.progress-striped .progress-bar-info {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.progress-bar-warning {
  background-color: #f0ad4e;
}
.progress-striped .progress-bar-warning {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.progress-bar-danger {
  background-color: #d9534f;
}
.progress-striped .progress-bar-danger {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.media {
  margin-top: 15px;
}
.media:first-child {
  margin-top: 0;
}
.media,
.media-body {
  zoom: 1;
  overflow: hidden;
}
.media-body {
  width: 10000px;
}
.media-object {
  display: block;
}
.media-object.img-thumbnail {
  max-width: none;
}
.media-right,
.media > .pull-right {
  padding-left: 10px;
}
.media-left,
.media > .pull-left {
  padding-right: 10px;
}
.media-left,
.media-right,
.media-body {
  display: table-cell;
  vertical-align: top;
}
.media-middle {
  vertical-align: middle;
}
.media-bottom {
  vertical-align: bottom;
}
.media-heading {
  margin-top: 0;
  margin-bottom: 5px;
}
.media-list {
  padding-left: 0;
  list-style: none;
}
.list-group {
  margin-bottom: 20px;
  padding-left: 0;
}
.list-group-item {
  position: relative;
  display: block;
  padding: 10px 15px;
  margin-bottom: -1px;
  background-color: #fff;
  border: 1px solid #ddd;
}
.list-group-item:first-child {
  border-top-right-radius: 2px;
  border-top-left-radius: 2px;
}
.list-group-item:last-child {
  margin-bottom: 0;
  border-bottom-right-radius: 2px;
  border-bottom-left-radius: 2px;
}
a.list-group-item,
button.list-group-item {
  color: #555;
}
a.list-group-item .list-group-item-heading,
button.list-group-item .list-group-item-heading {
  color: #333;
}
a.list-group-item:hover,
button.list-group-item:hover,
a.list-group-item:focus,
button.list-group-item:focus {
  text-decoration: none;
  color: #555;
  background-color: #f5f5f5;
}
button.list-group-item {
  width: 100%;
  text-align: left;
}
.list-group-item.disabled,
.list-group-item.disabled:hover,
.list-group-item.disabled:focus {
  background-color: #eeeeee;
  color: #777777;
  cursor: not-allowed;
}
.list-group-item.disabled .list-group-item-heading,
.list-group-item.disabled:hover .list-group-item-heading,
.list-group-item.disabled:focus .list-group-item-heading {
  color: inherit;
}
.list-group-item.disabled .list-group-item-text,
.list-group-item.disabled:hover .list-group-item-text,
.list-group-item.disabled:focus .list-group-item-text {
  color: #777777;
}
.list-group-item.active,
.list-group-item.active:hover,
.list-group-item.active:focus {
  z-index: 2;
  color: #fff;
  background-color: #337ab7;
  border-color: #337ab7;
}
.list-group-item.active .list-group-item-heading,
.list-group-item.active:hover .list-group-item-heading,
.list-group-item.active:focus .list-group-item-heading,
.list-group-item.active .list-group-item-heading > small,
.list-group-item.active:hover .list-group-item-heading > small,
.list-group-item.active:focus .list-group-item-heading > small,
.list-group-item.active .list-group-item-heading > .small,
.list-group-item.active:hover .list-group-item-heading > .small,
.list-group-item.active:focus .list-group-item-heading > .small {
  color: inherit;
}
.list-group-item.active .list-group-item-text,
.list-group-item.active:hover .list-group-item-text,
.list-group-item.active:focus .list-group-item-text {
  color: #c7ddef;
}
.list-group-item-success {
  color: #3c763d;
  background-color: #dff0d8;
}
a.list-group-item-success,
button.list-group-item-success {
  color: #3c763d;
}
a.list-group-item-success .list-group-item-heading,
button.list-group-item-success .list-group-item-heading {
  color: inherit;
}
a.list-group-item-success:hover,
button.list-group-item-success:hover,
a.list-group-item-success:focus,
button.list-group-item-success:focus {
  color: #3c763d;
  background-color: #d0e9c6;
}
a.list-group-item-success.active,
button.list-group-item-success.active,
a.list-group-item-success.active:hover,
button.list-group-item-success.active:hover,
a.list-group-item-success.active:focus,
button.list-group-item-success.active:focus {
  color: #fff;
  background-color: #3c763d;
  border-color: #3c763d;
}
.list-group-item-info {
  color: #31708f;
  background-color: #d9edf7;
}
a.list-group-item-info,
button.list-group-item-info {
  color: #31708f;
}
a.list-group-item-info .list-group-item-heading,
button.list-group-item-info .list-group-item-heading {
  color: inherit;
}
a.list-group-item-info:hover,
button.list-group-item-info:hover,
a.list-group-item-info:focus,
button.list-group-item-info:focus {
  color: #31708f;
  background-color: #c4e3f3;
}
a.list-group-item-info.active,
button.list-group-item-info.active,
a.list-group-item-info.active:hover,
button.list-group-item-info.active:hover,
a.list-group-item-info.active:focus,
button.list-group-item-info.active:focus {
  color: #fff;
  background-color: #31708f;
  border-color: #31708f;
}
.list-group-item-warning {
  color: #8a6d3b;
  background-color: #fcf8e3;
}
a.list-group-item-warning,
button.list-group-item-warning {
  color: #8a6d3b;
}
a.list-group-item-warning .list-group-item-heading,
button.list-group-item-warning .list-group-item-heading {
  color: inherit;
}
a.list-group-item-warning:hover,
button.list-group-item-warning:hover,
a.list-group-item-warning:focus,
button.list-group-item-warning:focus {
  color: #8a6d3b;
  background-color: #faf2cc;
}
a.list-group-item-warning.active,
button.list-group-item-warning.active,
a.list-group-item-warning.active:hover,
button.list-group-item-warning.active:hover,
a.list-group-item-warning.active:focus,
button.list-group-item-warning.active:focus {
  color: #fff;
  background-color: #8a6d3b;
  border-color: #8a6d3b;
}
.list-group-item-danger {
  color: #a94442;
  background-color: #f2dede;
}
a.list-group-item-danger,
button.list-group-item-danger {
  color: #a94442;
}
a.list-group-item-danger .list-group-item-heading,
button.list-group-item-danger .list-group-item-heading {
  color: inherit;
}
a.list-group-item-danger:hover,
button.list-group-item-danger:hover,
a.list-group-item-danger:focus,
button.list-group-item-danger:focus {
  color: #a94442;
  background-color: #ebcccc;
}
a.list-group-item-danger.active,
button.list-group-item-danger.active,
a.list-group-item-danger.active:hover,
button.list-group-item-danger.active:hover,
a.list-group-item-danger.active:focus,
button.list-group-item-danger.active:focus {
  color: #fff;
  background-color: #a94442;
  border-color: #a94442;
}
.list-group-item-heading {
  margin-top: 0;
  margin-bottom: 5px;
}
.list-group-item-text {
  margin-bottom: 0;
  line-height: 1.3;
}
.panel {
  margin-bottom: 18px;
  background-color: #fff;
  border: 1px solid transparent;
  border-radius: 2px;
  -webkit-box-shadow: 0 1px 1px rgba(0, 0, 0, 0.05);
  box-shadow: 0 1px 1px rgba(0, 0, 0, 0.05);
}
.panel-body {
  padding: 15px;
}
.panel-heading {
  padding: 10px 15px;
  border-bottom: 1px solid transparent;
  border-top-right-radius: 1px;
  border-top-left-radius: 1px;
}
.panel-heading > .dropdown .dropdown-toggle {
  color: inherit;
}
.panel-title {
  margin-top: 0;
  margin-bottom: 0;
  font-size: 15px;
  color: inherit;
}
.panel-title > a,
.panel-title > small,
.panel-title > .small,
.panel-title > small > a,
.panel-title > .small > a {
  color: inherit;
}
.panel-footer {
  padding: 10px 15px;
  background-color: #f5f5f5;
  border-top: 1px solid #ddd;
  border-bottom-right-radius: 1px;
  border-bottom-left-radius: 1px;
}
.panel > .list-group,
.panel > .panel-collapse > .list-group {
  margin-bottom: 0;
}
.panel > .list-group .list-group-item,
.panel > .panel-collapse > .list-group .list-group-item {
  border-width: 1px 0;
  border-radius: 0;
}
.panel > .list-group:first-child .list-group-item:first-child,
.panel > .panel-collapse > .list-group:first-child .list-group-item:first-child {
  border-top: 0;
  border-top-right-radius: 1px;
  border-top-left-radius: 1px;
}
.panel > .list-group:last-child .list-group-item:last-child,
.panel > .panel-collapse > .list-group:last-child .list-group-item:last-child {
  border-bottom: 0;
  border-bottom-right-radius: 1px;
  border-bottom-left-radius: 1px;
}
.panel > .panel-heading + .panel-collapse > .list-group .list-group-item:first-child {
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.panel-heading + .list-group .list-group-item:first-child {
  border-top-width: 0;
}
.list-group + .panel-footer {
  border-top-width: 0;
}
.panel > .table,
.panel > .table-responsive > .table,
.panel > .panel-collapse > .table {
  margin-bottom: 0;
}
.panel > .table caption,
.panel > .table-responsive > .table caption,
.panel > .panel-collapse > .table caption {
  padding-left: 15px;
  padding-right: 15px;
}
.panel > .table:first-child,
.panel > .table-responsive:first-child > .table:first-child {
  border-top-right-radius: 1px;
  border-top-left-radius: 1px;
}
.panel > .table:first-child > thead:first-child > tr:first-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child,
.panel > .table:first-child > tbody:first-child > tr:first-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child {
  border-top-left-radius: 1px;
  border-top-right-radius: 1px;
}
.panel > .table:first-child > thead:first-child > tr:first-child td:first-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child td:first-child,
.panel > .table:first-child > tbody:first-child > tr:first-child td:first-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child td:first-child,
.panel > .table:first-child > thead:first-child > tr:first-child th:first-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child th:first-child,
.panel > .table:first-child > tbody:first-child > tr:first-child th:first-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child th:first-child {
  border-top-left-radius: 1px;
}
.panel > .table:first-child > thead:first-child > tr:first-child td:last-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child td:last-child,
.panel > .table:first-child > tbody:first-child > tr:first-child td:last-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child td:last-child,
.panel > .table:first-child > thead:first-child > tr:first-child th:last-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child th:last-child,
.panel > .table:first-child > tbody:first-child > tr:first-child th:last-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child th:last-child {
  border-top-right-radius: 1px;
}
.panel > .table:last-child,
.panel > .table-responsive:last-child > .table:last-child {
  border-bottom-right-radius: 1px;
  border-bottom-left-radius: 1px;
}
.panel > .table:last-child > tbody:last-child > tr:last-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child {
  border-bottom-left-radius: 1px;
  border-bottom-right-radius: 1px;
}
.panel > .table:last-child > tbody:last-child > tr:last-child td:first-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child td:first-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child td:first-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child td:first-child,
.panel > .table:last-child > tbody:last-child > tr:last-child th:first-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child th:first-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child th:first-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child th:first-child {
  border-bottom-left-radius: 1px;
}
.panel > .table:last-child > tbody:last-child > tr:last-child td:last-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child td:last-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child td:last-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child td:last-child,
.panel > .table:last-child > tbody:last-child > tr:last-child th:last-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child th:last-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child th:last-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child th:last-child {
  border-bottom-right-radius: 1px;
}
.panel > .panel-body + .table,
.panel > .panel-body + .table-responsive,
.panel > .table + .panel-body,
.panel > .table-responsive + .panel-body {
  border-top: 1px solid #ddd;
}
.panel > .table > tbody:first-child > tr:first-child th,
.panel > .table > tbody:first-child > tr:first-child td {
  border-top: 0;
}
.panel > .table-bordered,
.panel > .table-responsive > .table-bordered {
  border: 0;
}
.panel > .table-bordered > thead > tr > th:first-child,
.panel > .table-responsive > .table-bordered > thead > tr > th:first-child,
.panel > .table-bordered > tbody > tr > th:first-child,
.panel > .table-responsive > .table-bordered > tbody > tr > th:first-child,
.panel > .table-bordered > tfoot > tr > th:first-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > th:first-child,
.panel > .table-bordered > thead > tr > td:first-child,
.panel > .table-responsive > .table-bordered > thead > tr > td:first-child,
.panel > .table-bordered > tbody > tr > td:first-child,
.panel > .table-responsive > .table-bordered > tbody > tr > td:first-child,
.panel > .table-bordered > tfoot > tr > td:first-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > td:first-child {
  border-left: 0;
}
.panel > .table-bordered > thead > tr > th:last-child,
.panel > .table-responsive > .table-bordered > thead > tr > th:last-child,
.panel > .table-bordered > tbody > tr > th:last-child,
.panel > .table-responsive > .table-bordered > tbody > tr > th:last-child,
.panel > .table-bordered > tfoot > tr > th:last-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > th:last-child,
.panel > .table-bordered > thead > tr > td:last-child,
.panel > .table-responsive > .table-bordered > thead > tr > td:last-child,
.panel > .table-bordered > tbody > tr > td:last-child,
.panel > .table-responsive > .table-bordered > tbody > tr > td:last-child,
.panel > .table-bordered > tfoot > tr > td:last-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > td:last-child {
  border-right: 0;
}
.panel > .table-bordered > thead > tr:first-child > td,
.panel > .table-responsive > .table-bordered > thead > tr:first-child > td,
.panel > .table-bordered > tbody > tr:first-child > td,
.panel > .table-responsive > .table-bordered > tbody > tr:first-child > td,
.panel > .table-bordered > thead > tr:first-child > th,
.panel > .table-responsive > .table-bordered > thead > tr:first-child > th,
.panel > .table-bordered > tbody > tr:first-child > th,
.panel > .table-responsive > .table-bordered > tbody > tr:first-child > th {
  border-bottom: 0;
}
.panel > .table-bordered > tbody > tr:last-child > td,
.panel > .table-responsive > .table-bordered > tbody > tr:last-child > td,
.panel > .table-bordered > tfoot > tr:last-child > td,
.panel > .table-responsive > .table-bordered > tfoot > tr:last-child > td,
.panel > .table-bordered > tbody > tr:last-child > th,
.panel > .table-responsive > .table-bordered > tbody > tr:last-child > th,
.panel > .table-bordered > tfoot > tr:last-child > th,
.panel > .table-responsive > .table-bordered > tfoot > tr:last-child > th {
  border-bottom: 0;
}
.panel > .table-responsive {
  border: 0;
  margin-bottom: 0;
}
.panel-group {
  margin-bottom: 18px;
}
.panel-group .panel {
  margin-bottom: 0;
  border-radius: 2px;
}
.panel-group .panel + .panel {
  margin-top: 5px;
}
.panel-group .panel-heading {
  border-bottom: 0;
}
.panel-group .panel-heading + .panel-collapse > .panel-body,
.panel-group .panel-heading + .panel-collapse > .list-group {
  border-top: 1px solid #ddd;
}
.panel-group .panel-footer {
  border-top: 0;
}
.panel-group .panel-footer + .panel-collapse .panel-body {
  border-bottom: 1px solid #ddd;
}
.panel-default {
  border-color: #ddd;
}
.panel-default > .panel-heading {
  color: #333333;
  background-color: #f5f5f5;
  border-color: #ddd;
}
.panel-default > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #ddd;
}
.panel-default > .panel-heading .badge {
  color: #f5f5f5;
  background-color: #333333;
}
.panel-default > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #ddd;
}
.panel-primary {
  border-color: #337ab7;
}
.panel-primary > .panel-heading {
  color: #fff;
  background-color: #337ab7;
  border-color: #337ab7;
}
.panel-primary > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #337ab7;
}
.panel-primary > .panel-heading .badge {
  color: #337ab7;
  background-color: #fff;
}
.panel-primary > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #337ab7;
}
.panel-success {
  border-color: #d6e9c6;
}
.panel-success > .panel-heading {
  color: #3c763d;
  background-color: #dff0d8;
  border-color: #d6e9c6;
}
.panel-success > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #d6e9c6;
}
.panel-success > .panel-heading .badge {
  color: #dff0d8;
  background-color: #3c763d;
}
.panel-success > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #d6e9c6;
}
.panel-info {
  border-color: #bce8f1;
}
.panel-info > .panel-heading {
  color: #31708f;
  background-color: #d9edf7;
  border-color: #bce8f1;
}
.panel-info > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #bce8f1;
}
.panel-info > .panel-heading .badge {
  color: #d9edf7;
  background-color: #31708f;
}
.panel-info > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #bce8f1;
}
.panel-warning {
  border-color: #faebcc;
}
.panel-warning > .panel-heading {
  color: #8a6d3b;
  background-color: #fcf8e3;
  border-color: #faebcc;
}
.panel-warning > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #faebcc;
}
.panel-warning > .panel-heading .badge {
  color: #fcf8e3;
  background-color: #8a6d3b;
}
.panel-warning > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #faebcc;
}
.panel-danger {
  border-color: #ebccd1;
}
.panel-danger > .panel-heading {
  color: #a94442;
  background-color: #f2dede;
  border-color: #ebccd1;
}
.panel-danger > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #ebccd1;
}
.panel-danger > .panel-heading .badge {
  color: #f2dede;
  background-color: #a94442;
}
.panel-danger > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #ebccd1;
}
.embed-responsive {
  position: relative;
  display: block;
  height: 0;
  padding: 0;
  overflow: hidden;
}
.embed-responsive .embed-responsive-item,
.embed-responsive iframe,
.embed-responsive embed,
.embed-responsive object,
.embed-responsive video {
  position: absolute;
  top: 0;
  left: 0;
  bottom: 0;
  height: 100%;
  width: 100%;
  border: 0;
}
.embed-responsive-16by9 {
  padding-bottom: 56.25%;
}
.embed-responsive-4by3 {
  padding-bottom: 75%;
}
.well {
  min-height: 20px;
  padding: 19px;
  margin-bottom: 20px;
  background-color: #f5f5f5;
  border: 1px solid #e3e3e3;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.05);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.05);
}
.well blockquote {
  border-color: #ddd;
  border-color: rgba(0, 0, 0, 0.15);
}
.well-lg {
  padding: 24px;
  border-radius: 3px;
}
.well-sm {
  padding: 9px;
  border-radius: 1px;
}
.close {
  float: right;
  font-size: 19.5px;
  font-weight: bold;
  line-height: 1;
  color: #000;
  text-shadow: 0 1px 0 #fff;
  opacity: 0.2;
  filter: alpha(opacity=20);
}
.close:hover,
.close:focus {
  color: #000;
  text-decoration: none;
  cursor: pointer;
  opacity: 0.5;
  filter: alpha(opacity=50);
}
button.close {
  padding: 0;
  cursor: pointer;
  background: transparent;
  border: 0;
  -webkit-appearance: none;
}
.modal-open {
  overflow: hidden;
}
.modal {
  display: none;
  overflow: hidden;
  position: fixed;
  top: 0;
  right: 0;
  bottom: 0;
  left: 0;
  z-index: 1050;
  -webkit-overflow-scrolling: touch;
  outline: 0;
}
.modal.fade .modal-dialog {
  -webkit-transform: translate(0, -25%);
  -ms-transform: translate(0, -25%);
  -o-transform: translate(0, -25%);
  transform: translate(0, -25%);
  -webkit-transition: -webkit-transform 0.3s ease-out;
  -moz-transition: -moz-transform 0.3s ease-out;
  -o-transition: -o-transform 0.3s ease-out;
  transition: transform 0.3s ease-out;
}
.modal.in .modal-dialog {
  -webkit-transform: translate(0, 0);
  -ms-transform: translate(0, 0);
  -o-transform: translate(0, 0);
  transform: translate(0, 0);
}
.modal-open .modal {
  overflow-x: hidden;
  overflow-y: auto;
}
.modal-dialog {
  position: relative;
  width: auto;
  margin: 10px;
}
.modal-content {
  position: relative;
  background-color: #fff;
  border: 1px solid #999;
  border: 1px solid rgba(0, 0, 0, 0.2);
  border-radius: 3px;
  -webkit-box-shadow: 0 3px 9px rgba(0, 0, 0, 0.5);
  box-shadow: 0 3px 9px rgba(0, 0, 0, 0.5);
  background-clip: padding-box;
  outline: 0;
}
.modal-backdrop {
  position: fixed;
  top: 0;
  right: 0;
  bottom: 0;
  left: 0;
  z-index: 1040;
  background-color: #000;
}
.modal-backdrop.fade {
  opacity: 0;
  filter: alpha(opacity=0);
}
.modal-backdrop.in {
  opacity: 0.5;
  filter: alpha(opacity=50);
}
.modal-header {
  padding: 15px;
  border-bottom: 1px solid #e5e5e5;
}
.modal-header .close {
  margin-top: -2px;
}
.modal-title {
  margin: 0;
  line-height: 1.42857143;
}
.modal-body {
  position: relative;
  padding: 15px;
}
.modal-footer {
  padding: 15px;
  text-align: right;
  border-top: 1px solid #e5e5e5;
}
.modal-footer .btn + .btn {
  margin-left: 5px;
  margin-bottom: 0;
}
.modal-footer .btn-group .btn + .btn {
  margin-left: -1px;
}
.modal-footer .btn-block + .btn-block {
  margin-left: 0;
}
.modal-scrollbar-measure {
  position: absolute;
  top: -9999px;
  width: 50px;
  height: 50px;
  overflow: scroll;
}
@media (min-width: 768px) {
  .modal-dialog {
    width: 600px;
    margin: 30px auto;
  }
  .modal-content {
    -webkit-box-shadow: 0 5px 15px rgba(0, 0, 0, 0.5);
    box-shadow: 0 5px 15px rgba(0, 0, 0, 0.5);
  }
  .modal-sm {
    width: 300px;
  }
}
@media (min-width: 992px) {
  .modal-lg {
    width: 900px;
  }
}
.tooltip {
  position: absolute;
  z-index: 1070;
  display: block;
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
  font-style: normal;
  font-weight: normal;
  letter-spacing: normal;
  line-break: auto;
  line-height: 1.42857143;
  text-align: left;
  text-align: start;
  text-decoration: none;
  text-shadow: none;
  text-transform: none;
  white-space: normal;
  word-break: normal;
  word-spacing: normal;
  word-wrap: normal;
  font-size: 12px;
  opacity: 0;
  filter: alpha(opacity=0);
}
.tooltip.in {
  opacity: 0.9;
  filter: alpha(opacity=90);
}
.tooltip.top {
  margin-top: -3px;
  padding: 5px 0;
}
.tooltip.right {
  margin-left: 3px;
  padding: 0 5px;
}
.tooltip.bottom {
  margin-top: 3px;
  padding: 5px 0;
}
.tooltip.left {
  margin-left: -3px;
  padding: 0 5px;
}
.tooltip-inner {
  max-width: 200px;
  padding: 3px 8px;
  color: #fff;
  text-align: center;
  background-color: #000;
  border-radius: 2px;
}
.tooltip-arrow {
  position: absolute;
  width: 0;
  height: 0;
  border-color: transparent;
  border-style: solid;
}
.tooltip.top .tooltip-arrow {
  bottom: 0;
  left: 50%;
  margin-left: -5px;
  border-width: 5px 5px 0;
  border-top-color: #000;
}
.tooltip.top-left .tooltip-arrow {
  bottom: 0;
  right: 5px;
  margin-bottom: -5px;
  border-width: 5px 5px 0;
  border-top-color: #000;
}
.tooltip.top-right .tooltip-arrow {
  bottom: 0;
  left: 5px;
  margin-bottom: -5px;
  border-width: 5px 5px 0;
  border-top-color: #000;
}
.tooltip.right .tooltip-arrow {
  top: 50%;
  left: 0;
  margin-top: -5px;
  border-width: 5px 5px 5px 0;
  border-right-color: #000;
}
.tooltip.left .tooltip-arrow {
  top: 50%;
  right: 0;
  margin-top: -5px;
  border-width: 5px 0 5px 5px;
  border-left-color: #000;
}
.tooltip.bottom .tooltip-arrow {
  top: 0;
  left: 50%;
  margin-left: -5px;
  border-width: 0 5px 5px;
  border-bottom-color: #000;
}
.tooltip.bottom-left .tooltip-arrow {
  top: 0;
  right: 5px;
  margin-top: -5px;
  border-width: 0 5px 5px;
  border-bottom-color: #000;
}
.tooltip.bottom-right .tooltip-arrow {
  top: 0;
  left: 5px;
  margin-top: -5px;
  border-width: 0 5px 5px;
  border-bottom-color: #000;
}
.popover {
  position: absolute;
  top: 0;
  left: 0;
  z-index: 1060;
  display: none;
  max-width: 276px;
  padding: 1px;
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
  font-style: normal;
  font-weight: normal;
  letter-spacing: normal;
  line-break: auto;
  line-height: 1.42857143;
  text-align: left;
  text-align: start;
  text-decoration: none;
  text-shadow: none;
  text-transform: none;
  white-space: normal;
  word-break: normal;
  word-spacing: normal;
  word-wrap: normal;
  font-size: 13px;
  background-color: #fff;
  background-clip: padding-box;
  border: 1px solid #ccc;
  border: 1px solid rgba(0, 0, 0, 0.2);
  border-radius: 3px;
  -webkit-box-shadow: 0 5px 10px rgba(0, 0, 0, 0.2);
  box-shadow: 0 5px 10px rgba(0, 0, 0, 0.2);
}
.popover.top {
  margin-top: -10px;
}
.popover.right {
  margin-left: 10px;
}
.popover.bottom {
  margin-top: 10px;
}
.popover.left {
  margin-left: -10px;
}
.popover-title {
  margin: 0;
  padding: 8px 14px;
  font-size: 13px;
  background-color: #f7f7f7;
  border-bottom: 1px solid #ebebeb;
  border-radius: 2px 2px 0 0;
}
.popover-content {
  padding: 9px 14px;
}
.popover > .arrow,
.popover > .arrow:after {
  position: absolute;
  display: block;
  width: 0;
  height: 0;
  border-color: transparent;
  border-style: solid;
}
.popover > .arrow {
  border-width: 11px;
}
.popover > .arrow:after {
  border-width: 10px;
  content: "";
}
.popover.top > .arrow {
  left: 50%;
  margin-left: -11px;
  border-bottom-width: 0;
  border-top-color: #999999;
  border-top-color: rgba(0, 0, 0, 0.25);
  bottom: -11px;
}
.popover.top > .arrow:after {
  content: " ";
  bottom: 1px;
  margin-left: -10px;
  border-bottom-width: 0;
  border-top-color: #fff;
}
.popover.right > .arrow {
  top: 50%;
  left: -11px;
  margin-top: -11px;
  border-left-width: 0;
  border-right-color: #999999;
  border-right-color: rgba(0, 0, 0, 0.25);
}
.popover.right > .arrow:after {
  content: " ";
  left: 1px;
  bottom: -10px;
  border-left-width: 0;
  border-right-color: #fff;
}
.popover.bottom > .arrow {
  left: 50%;
  margin-left: -11px;
  border-top-width: 0;
  border-bottom-color: #999999;
  border-bottom-color: rgba(0, 0, 0, 0.25);
  top: -11px;
}
.popover.bottom > .arrow:after {
  content: " ";
  top: 1px;
  margin-left: -10px;
  border-top-width: 0;
  border-bottom-color: #fff;
}
.popover.left > .arrow {
  top: 50%;
  right: -11px;
  margin-top: -11px;
  border-right-width: 0;
  border-left-color: #999999;
  border-left-color: rgba(0, 0, 0, 0.25);
}
.popover.left > .arrow:after {
  content: " ";
  right: 1px;
  border-right-width: 0;
  border-left-color: #fff;
  bottom: -10px;
}
.carousel {
  position: relative;
}
.carousel-inner {
  position: relative;
  overflow: hidden;
  width: 100%;
}
.carousel-inner > .item {
  display: none;
  position: relative;
  -webkit-transition: 0.6s ease-in-out left;
  -o-transition: 0.6s ease-in-out left;
  transition: 0.6s ease-in-out left;
}
.carousel-inner > .item > img,
.carousel-inner > .item > a > img {
  line-height: 1;
}
@media all and (transform-3d), (-webkit-transform-3d) {
  .carousel-inner > .item {
    -webkit-transition: -webkit-transform 0.6s ease-in-out;
    -moz-transition: -moz-transform 0.6s ease-in-out;
    -o-transition: -o-transform 0.6s ease-in-out;
    transition: transform 0.6s ease-in-out;
    -webkit-backface-visibility: hidden;
    -moz-backface-visibility: hidden;
    backface-visibility: hidden;
    -webkit-perspective: 1000px;
    -moz-perspective: 1000px;
    perspective: 1000px;
  }
  .carousel-inner > .item.next,
  .carousel-inner > .item.active.right {
    -webkit-transform: translate3d(100%, 0, 0);
    transform: translate3d(100%, 0, 0);
    left: 0;
  }
  .carousel-inner > .item.prev,
  .carousel-inner > .item.active.left {
    -webkit-transform: translate3d(-100%, 0, 0);
    transform: translate3d(-100%, 0, 0);
    left: 0;
  }
  .carousel-inner > .item.next.left,
  .carousel-inner > .item.prev.right,
  .carousel-inner > .item.active {
    -webkit-transform: translate3d(0, 0, 0);
    transform: translate3d(0, 0, 0);
    left: 0;
  }
}
.carousel-inner > .active,
.carousel-inner > .next,
.carousel-inner > .prev {
  display: block;
}
.carousel-inner > .active {
  left: 0;
}
.carousel-inner > .next,
.carousel-inner > .prev {
  position: absolute;
  top: 0;
  width: 100%;
}
.carousel-inner > .next {
  left: 100%;
}
.carousel-inner > .prev {
  left: -100%;
}
.carousel-inner > .next.left,
.carousel-inner > .prev.right {
  left: 0;
}
.carousel-inner > .active.left {
  left: -100%;
}
.carousel-inner > .active.right {
  left: 100%;
}
.carousel-control {
  position: absolute;
  top: 0;
  left: 0;
  bottom: 0;
  width: 15%;
  opacity: 0.5;
  filter: alpha(opacity=50);
  font-size: 20px;
  color: #fff;
  text-align: center;
  text-shadow: 0 1px 2px rgba(0, 0, 0, 0.6);
  background-color: rgba(0, 0, 0, 0);
}
.carousel-control.left {
  background-image: -webkit-linear-gradient(left, rgba(0, 0, 0, 0.5) 0%, rgba(0, 0, 0, 0.0001) 100%);
  background-image: -o-linear-gradient(left, rgba(0, 0, 0, 0.5) 0%, rgba(0, 0, 0, 0.0001) 100%);
  background-image: linear-gradient(to right, rgba(0, 0, 0, 0.5) 0%, rgba(0, 0, 0, 0.0001) 100%);
  background-repeat: repeat-x;
  filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#80000000', endColorstr='#00000000', GradientType=1);
}
.carousel-control.right {
  left: auto;
  right: 0;
  background-image: -webkit-linear-gradient(left, rgba(0, 0, 0, 0.0001) 0%, rgba(0, 0, 0, 0.5) 100%);
  background-image: -o-linear-gradient(left, rgba(0, 0, 0, 0.0001) 0%, rgba(0, 0, 0, 0.5) 100%);
  background-image: linear-gradient(to right, rgba(0, 0, 0, 0.0001) 0%, rgba(0, 0, 0, 0.5) 100%);
  background-repeat: repeat-x;
  filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#00000000', endColorstr='#80000000', GradientType=1);
}
.carousel-control:hover,
.carousel-control:focus {
  outline: 0;
  color: #fff;
  text-decoration: none;
  opacity: 0.9;
  filter: alpha(opacity=90);
}
.carousel-control .icon-prev,
.carousel-control .icon-next,
.carousel-control .glyphicon-chevron-left,
.carousel-control .glyphicon-chevron-right {
  position: absolute;
  top: 50%;
  margin-top: -10px;
  z-index: 5;
  display: inline-block;
}
.carousel-control .icon-prev,
.carousel-control .glyphicon-chevron-left {
  left: 50%;
  margin-left: -10px;
}
.carousel-control .icon-next,
.carousel-control .glyphicon-chevron-right {
  right: 50%;
  margin-right: -10px;
}
.carousel-control .icon-prev,
.carousel-control .icon-next {
  width: 20px;
  height: 20px;
  line-height: 1;
  font-family: serif;
}
.carousel-control .icon-prev:before {
  content: '\2039';
}
.carousel-control .icon-next:before {
  content: '\203a';
}
.carousel-indicators {
  position: absolute;
  bottom: 10px;
  left: 50%;
  z-index: 15;
  width: 60%;
  margin-left: -30%;
  padding-left: 0;
  list-style: none;
  text-align: center;
}
.carousel-indicators li {
  display: inline-block;
  width: 10px;
  height: 10px;
  margin: 1px;
  text-indent: -999px;
  border: 1px solid #fff;
  border-radius: 10px;
  cursor: pointer;
  background-color: #000 \9;
  background-color: rgba(0, 0, 0, 0);
}
.carousel-indicators .active {
  margin: 0;
  width: 12px;
  height: 12px;
  background-color: #fff;
}
.carousel-caption {
  position: absolute;
  left: 15%;
  right: 15%;
  bottom: 20px;
  z-index: 10;
  padding-top: 20px;
  padding-bottom: 20px;
  color: #fff;
  text-align: center;
  text-shadow: 0 1px 2px rgba(0, 0, 0, 0.6);
}
.carousel-caption .btn {
  text-shadow: none;
}
@media screen and (min-width: 768px) {
  .carousel-control .glyphicon-chevron-left,
  .carousel-control .glyphicon-chevron-right,
  .carousel-control .icon-prev,
  .carousel-control .icon-next {
    width: 30px;
    height: 30px;
    margin-top: -10px;
    font-size: 30px;
  }
  .carousel-control .glyphicon-chevron-left,
  .carousel-control .icon-prev {
    margin-left: -10px;
  }
  .carousel-control .glyphicon-chevron-right,
  .carousel-control .icon-next {
    margin-right: -10px;
  }
  .carousel-caption {
    left: 20%;
    right: 20%;
    padding-bottom: 30px;
  }
  .carousel-indicators {
    bottom: 20px;
  }
}
.clearfix:before,
.clearfix:after,
.dl-horizontal dd:before,
.dl-horizontal dd:after,
.container:before,
.container:after,
.container-fluid:before,
.container-fluid:after,
.row:before,
.row:after,
.form-horizontal .form-group:before,
.form-horizontal .form-group:after,
.btn-toolbar:before,
.btn-toolbar:after,
.btn-group-vertical > .btn-group:before,
.btn-group-vertical > .btn-group:after,
.nav:before,
.nav:after,
.navbar:before,
.navbar:after,
.navbar-header:before,
.navbar-header:after,
.navbar-collapse:before,
.navbar-collapse:after,
.pager:before,
.pager:after,
.panel-body:before,
.panel-body:after,
.modal-header:before,
.modal-header:after,
.modal-footer:before,
.modal-footer:after,
.item_buttons:before,
.item_buttons:after {
  content: " ";
  display: table;
}
.clearfix:after,
.dl-horizontal dd:after,
.container:after,
.container-fluid:after,
.row:after,
.form-horizontal .form-group:after,
.btn-toolbar:after,
.btn-group-vertical > .btn-group:after,
.nav:after,
.navbar:after,
.navbar-header:after,
.navbar-collapse:after,
.pager:after,
.panel-body:after,
.modal-header:after,
.modal-footer:after,
.item_buttons:after {
  clear: both;
}
.center-block {
  display: block;
  margin-left: auto;
  margin-right: auto;
}
.pull-right {
  float: right !important;
}
.pull-left {
  float: left !important;
}
.hide {
  display: none !important;
}
.show {
  display: block !important;
}
.invisible {
  visibility: hidden;
}
.text-hide {
  font: 0/0 a;
  color: transparent;
  text-shadow: none;
  background-color: transparent;
  border: 0;
}
.hidden {
  display: none !important;
}
.affix {
  position: fixed;
}
@-ms-viewport {
  width: device-width;
}
.visible-xs,
.visible-sm,
.visible-md,
.visible-lg {
  display: none !important;
}
.visible-xs-block,
.visible-xs-inline,
.visible-xs-inline-block,
.visible-sm-block,
.visible-sm-inline,
.visible-sm-inline-block,
.visible-md-block,
.visible-md-inline,
.visible-md-inline-block,
.visible-lg-block,
.visible-lg-inline,
.visible-lg-inline-block {
  display: none !important;
}
@media (max-width: 767px) {
  .visible-xs {
    display: block !important;
  }
  table.visible-xs {
    display: table !important;
  }
  tr.visible-xs {
    display: table-row !important;
  }
  th.visible-xs,
  td.visible-xs {
    display: table-cell !important;
  }
}
@media (max-width: 767px) {
  .visible-xs-block {
    display: block !important;
  }
}
@media (max-width: 767px) {
  .visible-xs-inline {
    display: inline !important;
  }
}
@media (max-width: 767px) {
  .visible-xs-inline-block {
    display: inline-block !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm {
    display: block !important;
  }
  table.visible-sm {
    display: table !important;
  }
  tr.visible-sm {
    display: table-row !important;
  }
  th.visible-sm,
  td.visible-sm {
    display: table-cell !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm-block {
    display: block !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm-inline {
    display: inline !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm-inline-block {
    display: inline-block !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md {
    display: block !important;
  }
  table.visible-md {
    display: table !important;
  }
  tr.visible-md {
    display: table-row !important;
  }
  th.visible-md,
  td.visible-md {
    display: table-cell !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md-block {
    display: block !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md-inline {
    display: inline !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md-inline-block {
    display: inline-block !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg {
    display: block !important;
  }
  table.visible-lg {
    display: table !important;
  }
  tr.visible-lg {
    display: table-row !important;
  }
  th.visible-lg,
  td.visible-lg {
    display: table-cell !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg-block {
    display: block !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg-inline {
    display: inline !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg-inline-block {
    display: inline-block !important;
  }
}
@media (max-width: 767px) {
  .hidden-xs {
    display: none !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .hidden-sm {
    display: none !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .hidden-md {
    display: none !important;
  }
}
@media (min-width: 1200px) {
  .hidden-lg {
    display: none !important;
  }
}
.visible-print {
  display: none !important;
}
@media print {
  .visible-print {
    display: block !important;
  }
  table.visible-print {
    display: table !important;
  }
  tr.visible-print {
    display: table-row !important;
  }
  th.visible-print,
  td.visible-print {
    display: table-cell !important;
  }
}
.visible-print-block {
  display: none !important;
}
@media print {
  .visible-print-block {
    display: block !important;
  }
}
.visible-print-inline {
  display: none !important;
}
@media print {
  .visible-print-inline {
    display: inline !important;
  }
}
.visible-print-inline-block {
  display: none !important;
}
@media print {
  .visible-print-inline-block {
    display: inline-block !important;
  }
}
@media print {
  .hidden-print {
    display: none !important;
  }
}
/*!
*
* Font Awesome
*
*/
/*!
 *  Font Awesome 4.7.0 by @davegandy - http://fontawesome.io - @fontawesome
 *  License - http://fontawesome.io/license (Font: SIL OFL 1.1, CSS: MIT License)
 */
/* FONT PATH
 * -------------------------- */
@font-face {
  font-family: 'FontAwesome';
  src: url('../components/font-awesome/fonts/fontawesome-webfont.eot?v=4.7.0');
  src: url('../components/font-awesome/fonts/fontawesome-webfont.eot?#iefix&v=4.7.0') format('embedded-opentype'), url('../components/font-awesome/fonts/fontawesome-webfont.woff2?v=4.7.0') format('woff2'), url('../components/font-awesome/fonts/fontawesome-webfont.woff?v=4.7.0') format('woff'), url('../components/font-awesome/fonts/fontawesome-webfont.ttf?v=4.7.0') format('truetype'), url('../components/font-awesome/fonts/fontawesome-webfont.svg?v=4.7.0#fontawesomeregular') format('svg');
  font-weight: normal;
  font-style: normal;
}
.fa {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
}
/* makes the font 33% larger relative to the icon container */
.fa-lg {
  font-size: 1.33333333em;
  line-height: 0.75em;
  vertical-align: -15%;
}
.fa-2x {
  font-size: 2em;
}
.fa-3x {
  font-size: 3em;
}
.fa-4x {
  font-size: 4em;
}
.fa-5x {
  font-size: 5em;
}
.fa-fw {
  width: 1.28571429em;
  text-align: center;
}
.fa-ul {
  padding-left: 0;
  margin-left: 2.14285714em;
  list-style-type: none;
}
.fa-ul > li {
  position: relative;
}
.fa-li {
  position: absolute;
  left: -2.14285714em;
  width: 2.14285714em;
  top: 0.14285714em;
  text-align: center;
}
.fa-li.fa-lg {
  left: -1.85714286em;
}
.fa-border {
  padding: .2em .25em .15em;
  border: solid 0.08em #eee;
  border-radius: .1em;
}
.fa-pull-left {
  float: left;
}
.fa-pull-right {
  float: right;
}
.fa.fa-pull-left {
  margin-right: .3em;
}
.fa.fa-pull-right {
  margin-left: .3em;
}
/* Deprecated as of 4.4.0 */
.pull-right {
  float: right;
}
.pull-left {
  float: left;
}
.fa.pull-left {
  margin-right: .3em;
}
.fa.pull-right {
  margin-left: .3em;
}
.fa-spin {
  -webkit-animation: fa-spin 2s infinite linear;
  animation: fa-spin 2s infinite linear;
}
.fa-pulse {
  -webkit-animation: fa-spin 1s infinite steps(8);
  animation: fa-spin 1s infinite steps(8);
}
@-webkit-keyframes fa-spin {
  0% {
    -webkit-transform: rotate(0deg);
    transform: rotate(0deg);
  }
  100% {
    -webkit-transform: rotate(359deg);
    transform: rotate(359deg);
  }
}
@keyframes fa-spin {
  0% {
    -webkit-transform: rotate(0deg);
    transform: rotate(0deg);
  }
  100% {
    -webkit-transform: rotate(359deg);
    transform: rotate(359deg);
  }
}
.fa-rotate-90 {
  -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=1)";
  -webkit-transform: rotate(90deg);
  -ms-transform: rotate(90deg);
  transform: rotate(90deg);
}
.fa-rotate-180 {
  -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=2)";
  -webkit-transform: rotate(180deg);
  -ms-transform: rotate(180deg);
  transform: rotate(180deg);
}
.fa-rotate-270 {
  -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=3)";
  -webkit-transform: rotate(270deg);
  -ms-transform: rotate(270deg);
  transform: rotate(270deg);
}
.fa-flip-horizontal {
  -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=0, mirror=1)";
  -webkit-transform: scale(-1, 1);
  -ms-transform: scale(-1, 1);
  transform: scale(-1, 1);
}
.fa-flip-vertical {
  -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=2, mirror=1)";
  -webkit-transform: scale(1, -1);
  -ms-transform: scale(1, -1);
  transform: scale(1, -1);
}
:root .fa-rotate-90,
:root .fa-rotate-180,
:root .fa-rotate-270,
:root .fa-flip-horizontal,
:root .fa-flip-vertical {
  filter: none;
}
.fa-stack {
  position: relative;
  display: inline-block;
  width: 2em;
  height: 2em;
  line-height: 2em;
  vertical-align: middle;
}
.fa-stack-1x,
.fa-stack-2x {
  position: absolute;
  left: 0;
  width: 100%;
  text-align: center;
}
.fa-stack-1x {
  line-height: inherit;
}
.fa-stack-2x {
  font-size: 2em;
}
.fa-inverse {
  color: #fff;
}
/* Font Awesome uses the Unicode Private Use Area (PUA) to ensure screen
   readers do not read off random characters that represent icons */
.fa-glass:before {
  content: "\f000";
}
.fa-music:before {
  content: "\f001";
}
.fa-search:before {
  content: "\f002";
}
.fa-envelope-o:before {
  content: "\f003";
}
.fa-heart:before {
  content: "\f004";
}
.fa-star:before {
  content: "\f005";
}
.fa-star-o:before {
  content: "\f006";
}
.fa-user:before {
  content: "\f007";
}
.fa-film:before {
  content: "\f008";
}
.fa-th-large:before {
  content: "\f009";
}
.fa-th:before {
  content: "\f00a";
}
.fa-th-list:before {
  content: "\f00b";
}
.fa-check:before {
  content: "\f00c";
}
.fa-remove:before,
.fa-close:before,
.fa-times:before {
  content: "\f00d";
}
.fa-search-plus:before {
  content: "\f00e";
}
.fa-search-minus:before {
  content: "\f010";
}
.fa-power-off:before {
  content: "\f011";
}
.fa-signal:before {
  content: "\f012";
}
.fa-gear:before,
.fa-cog:before {
  content: "\f013";
}
.fa-trash-o:before {
  content: "\f014";
}
.fa-home:before {
  content: "\f015";
}
.fa-file-o:before {
  content: "\f016";
}
.fa-clock-o:before {
  content: "\f017";
}
.fa-road:before {
  content: "\f018";
}
.fa-download:before {
  content: "\f019";
}
.fa-arrow-circle-o-down:before {
  content: "\f01a";
}
.fa-arrow-circle-o-up:before {
  content: "\f01b";
}
.fa-inbox:before {
  content: "\f01c";
}
.fa-play-circle-o:before {
  content: "\f01d";
}
.fa-rotate-right:before,
.fa-repeat:before {
  content: "\f01e";
}
.fa-refresh:before {
  content: "\f021";
}
.fa-list-alt:before {
  content: "\f022";
}
.fa-lock:before {
  content: "\f023";
}
.fa-flag:before {
  content: "\f024";
}
.fa-headphones:before {
  content: "\f025";
}
.fa-volume-off:before {
  content: "\f026";
}
.fa-volume-down:before {
  content: "\f027";
}
.fa-volume-up:before {
  content: "\f028";
}
.fa-qrcode:before {
  content: "\f029";
}
.fa-barcode:before {
  content: "\f02a";
}
.fa-tag:before {
  content: "\f02b";
}
.fa-tags:before {
  content: "\f02c";
}
.fa-book:before {
  content: "\f02d";
}
.fa-bookmark:before {
  content: "\f02e";
}
.fa-print:before {
  content: "\f02f";
}
.fa-camera:before {
  content: "\f030";
}
.fa-font:before {
  content: "\f031";
}
.fa-bold:before {
  content: "\f032";
}
.fa-italic:before {
  content: "\f033";
}
.fa-text-height:before {
  content: "\f034";
}
.fa-text-width:before {
  content: "\f035";
}
.fa-align-left:before {
  content: "\f036";
}
.fa-align-center:before {
  content: "\f037";
}
.fa-align-right:before {
  content: "\f038";
}
.fa-align-justify:before {
  content: "\f039";
}
.fa-list:before {
  content: "\f03a";
}
.fa-dedent:before,
.fa-outdent:before {
  content: "\f03b";
}
.fa-indent:before {
  content: "\f03c";
}
.fa-video-camera:before {
  content: "\f03d";
}
.fa-photo:before,
.fa-image:before,
.fa-picture-o:before {
  content: "\f03e";
}
.fa-pencil:before {
  content: "\f040";
}
.fa-map-marker:before {
  content: "\f041";
}
.fa-adjust:before {
  content: "\f042";
}
.fa-tint:before {
  content: "\f043";
}
.fa-edit:before,
.fa-pencil-square-o:before {
  content: "\f044";
}
.fa-share-square-o:before {
  content: "\f045";
}
.fa-check-square-o:before {
  content: "\f046";
}
.fa-arrows:before {
  content: "\f047";
}
.fa-step-backward:before {
  content: "\f048";
}
.fa-fast-backward:before {
  content: "\f049";
}
.fa-backward:before {
  content: "\f04a";
}
.fa-play:before {
  content: "\f04b";
}
.fa-pause:before {
  content: "\f04c";
}
.fa-stop:before {
  content: "\f04d";
}
.fa-forward:before {
  content: "\f04e";
}
.fa-fast-forward:before {
  content: "\f050";
}
.fa-step-forward:before {
  content: "\f051";
}
.fa-eject:before {
  content: "\f052";
}
.fa-chevron-left:before {
  content: "\f053";
}
.fa-chevron-right:before {
  content: "\f054";
}
.fa-plus-circle:before {
  content: "\f055";
}
.fa-minus-circle:before {
  content: "\f056";
}
.fa-times-circle:before {
  content: "\f057";
}
.fa-check-circle:before {
  content: "\f058";
}
.fa-question-circle:before {
  content: "\f059";
}
.fa-info-circle:before {
  content: "\f05a";
}
.fa-crosshairs:before {
  content: "\f05b";
}
.fa-times-circle-o:before {
  content: "\f05c";
}
.fa-check-circle-o:before {
  content: "\f05d";
}
.fa-ban:before {
  content: "\f05e";
}
.fa-arrow-left:before {
  content: "\f060";
}
.fa-arrow-right:before {
  content: "\f061";
}
.fa-arrow-up:before {
  content: "\f062";
}
.fa-arrow-down:before {
  content: "\f063";
}
.fa-mail-forward:before,
.fa-share:before {
  content: "\f064";
}
.fa-expand:before {
  content: "\f065";
}
.fa-compress:before {
  content: "\f066";
}
.fa-plus:before {
  content: "\f067";
}
.fa-minus:before {
  content: "\f068";
}
.fa-asterisk:before {
  content: "\f069";
}
.fa-exclamation-circle:before {
  content: "\f06a";
}
.fa-gift:before {
  content: "\f06b";
}
.fa-leaf:before {
  content: "\f06c";
}
.fa-fire:before {
  content: "\f06d";
}
.fa-eye:before {
  content: "\f06e";
}
.fa-eye-slash:before {
  content: "\f070";
}
.fa-warning:before,
.fa-exclamation-triangle:before {
  content: "\f071";
}
.fa-plane:before {
  content: "\f072";
}
.fa-calendar:before {
  content: "\f073";
}
.fa-random:before {
  content: "\f074";
}
.fa-comment:before {
  content: "\f075";
}
.fa-magnet:before {
  content: "\f076";
}
.fa-chevron-up:before {
  content: "\f077";
}
.fa-chevron-down:before {
  content: "\f078";
}
.fa-retweet:before {
  content: "\f079";
}
.fa-shopping-cart:before {
  content: "\f07a";
}
.fa-folder:before {
  content: "\f07b";
}
.fa-folder-open:before {
  content: "\f07c";
}
.fa-arrows-v:before {
  content: "\f07d";
}
.fa-arrows-h:before {
  content: "\f07e";
}
.fa-bar-chart-o:before,
.fa-bar-chart:before {
  content: "\f080";
}
.fa-twitter-square:before {
  content: "\f081";
}
.fa-facebook-square:before {
  content: "\f082";
}
.fa-camera-retro:before {
  content: "\f083";
}
.fa-key:before {
  content: "\f084";
}
.fa-gears:before,
.fa-cogs:before {
  content: "\f085";
}
.fa-comments:before {
  content: "\f086";
}
.fa-thumbs-o-up:before {
  content: "\f087";
}
.fa-thumbs-o-down:before {
  content: "\f088";
}
.fa-star-half:before {
  content: "\f089";
}
.fa-heart-o:before {
  content: "\f08a";
}
.fa-sign-out:before {
  content: "\f08b";
}
.fa-linkedin-square:before {
  content: "\f08c";
}
.fa-thumb-tack:before {
  content: "\f08d";
}
.fa-external-link:before {
  content: "\f08e";
}
.fa-sign-in:before {
  content: "\f090";
}
.fa-trophy:before {
  content: "\f091";
}
.fa-github-square:before {
  content: "\f092";
}
.fa-upload:before {
  content: "\f093";
}
.fa-lemon-o:before {
  content: "\f094";
}
.fa-phone:before {
  content: "\f095";
}
.fa-square-o:before {
  content: "\f096";
}
.fa-bookmark-o:before {
  content: "\f097";
}
.fa-phone-square:before {
  content: "\f098";
}
.fa-twitter:before {
  content: "\f099";
}
.fa-facebook-f:before,
.fa-facebook:before {
  content: "\f09a";
}
.fa-github:before {
  content: "\f09b";
}
.fa-unlock:before {
  content: "\f09c";
}
.fa-credit-card:before {
  content: "\f09d";
}
.fa-feed:before,
.fa-rss:before {
  content: "\f09e";
}
.fa-hdd-o:before {
  content: "\f0a0";
}
.fa-bullhorn:before {
  content: "\f0a1";
}
.fa-bell:before {
  content: "\f0f3";
}
.fa-certificate:before {
  content: "\f0a3";
}
.fa-hand-o-right:before {
  content: "\f0a4";
}
.fa-hand-o-left:before {
  content: "\f0a5";
}
.fa-hand-o-up:before {
  content: "\f0a6";
}
.fa-hand-o-down:before {
  content: "\f0a7";
}
.fa-arrow-circle-left:before {
  content: "\f0a8";
}
.fa-arrow-circle-right:before {
  content: "\f0a9";
}
.fa-arrow-circle-up:before {
  content: "\f0aa";
}
.fa-arrow-circle-down:before {
  content: "\f0ab";
}
.fa-globe:before {
  content: "\f0ac";
}
.fa-wrench:before {
  content: "\f0ad";
}
.fa-tasks:before {
  content: "\f0ae";
}
.fa-filter:before {
  content: "\f0b0";
}
.fa-briefcase:before {
  content: "\f0b1";
}
.fa-arrows-alt:before {
  content: "\f0b2";
}
.fa-group:before,
.fa-users:before {
  content: "\f0c0";
}
.fa-chain:before,
.fa-link:before {
  content: "\f0c1";
}
.fa-cloud:before {
  content: "\f0c2";
}
.fa-flask:before {
  content: "\f0c3";
}
.fa-cut:before,
.fa-scissors:before {
  content: "\f0c4";
}
.fa-copy:before,
.fa-files-o:before {
  content: "\f0c5";
}
.fa-paperclip:before {
  content: "\f0c6";
}
.fa-save:before,
.fa-floppy-o:before {
  content: "\f0c7";
}
.fa-square:before {
  content: "\f0c8";
}
.fa-navicon:before,
.fa-reorder:before,
.fa-bars:before {
  content: "\f0c9";
}
.fa-list-ul:before {
  content: "\f0ca";
}
.fa-list-ol:before {
  content: "\f0cb";
}
.fa-strikethrough:before {
  content: "\f0cc";
}
.fa-underline:before {
  content: "\f0cd";
}
.fa-table:before {
  content: "\f0ce";
}
.fa-magic:before {
  content: "\f0d0";
}
.fa-truck:before {
  content: "\f0d1";
}
.fa-pinterest:before {
  content: "\f0d2";
}
.fa-pinterest-square:before {
  content: "\f0d3";
}
.fa-google-plus-square:before {
  content: "\f0d4";
}
.fa-google-plus:before {
  content: "\f0d5";
}
.fa-money:before {
  content: "\f0d6";
}
.fa-caret-down:before {
  content: "\f0d7";
}
.fa-caret-up:before {
  content: "\f0d8";
}
.fa-caret-left:before {
  content: "\f0d9";
}
.fa-caret-right:before {
  content: "\f0da";
}
.fa-columns:before {
  content: "\f0db";
}
.fa-unsorted:before,
.fa-sort:before {
  content: "\f0dc";
}
.fa-sort-down:before,
.fa-sort-desc:before {
  content: "\f0dd";
}
.fa-sort-up:before,
.fa-sort-asc:before {
  content: "\f0de";
}
.fa-envelope:before {
  content: "\f0e0";
}
.fa-linkedin:before {
  content: "\f0e1";
}
.fa-rotate-left:before,
.fa-undo:before {
  content: "\f0e2";
}
.fa-legal:before,
.fa-gavel:before {
  content: "\f0e3";
}
.fa-dashboard:before,
.fa-tachometer:before {
  content: "\f0e4";
}
.fa-comment-o:before {
  content: "\f0e5";
}
.fa-comments-o:before {
  content: "\f0e6";
}
.fa-flash:before,
.fa-bolt:before {
  content: "\f0e7";
}
.fa-sitemap:before {
  content: "\f0e8";
}
.fa-umbrella:before {
  content: "\f0e9";
}
.fa-paste:before,
.fa-clipboard:before {
  content: "\f0ea";
}
.fa-lightbulb-o:before {
  content: "\f0eb";
}
.fa-exchange:before {
  content: "\f0ec";
}
.fa-cloud-download:before {
  content: "\f0ed";
}
.fa-cloud-upload:before {
  content: "\f0ee";
}
.fa-user-md:before {
  content: "\f0f0";
}
.fa-stethoscope:before {
  content: "\f0f1";
}
.fa-suitcase:before {
  content: "\f0f2";
}
.fa-bell-o:before {
  content: "\f0a2";
}
.fa-coffee:before {
  content: "\f0f4";
}
.fa-cutlery:before {
  content: "\f0f5";
}
.fa-file-text-o:before {
  content: "\f0f6";
}
.fa-building-o:before {
  content: "\f0f7";
}
.fa-hospital-o:before {
  content: "\f0f8";
}
.fa-ambulance:before {
  content: "\f0f9";
}
.fa-medkit:before {
  content: "\f0fa";
}
.fa-fighter-jet:before {
  content: "\f0fb";
}
.fa-beer:before {
  content: "\f0fc";
}
.fa-h-square:before {
  content: "\f0fd";
}
.fa-plus-square:before {
  content: "\f0fe";
}
.fa-angle-double-left:before {
  content: "\f100";
}
.fa-angle-double-right:before {
  content: "\f101";
}
.fa-angle-double-up:before {
  content: "\f102";
}
.fa-angle-double-down:before {
  content: "\f103";
}
.fa-angle-left:before {
  content: "\f104";
}
.fa-angle-right:before {
  content: "\f105";
}
.fa-angle-up:before {
  content: "\f106";
}
.fa-angle-down:before {
  content: "\f107";
}
.fa-desktop:before {
  content: "\f108";
}
.fa-laptop:before {
  content: "\f109";
}
.fa-tablet:before {
  content: "\f10a";
}
.fa-mobile-phone:before,
.fa-mobile:before {
  content: "\f10b";
}
.fa-circle-o:before {
  content: "\f10c";
}
.fa-quote-left:before {
  content: "\f10d";
}
.fa-quote-right:before {
  content: "\f10e";
}
.fa-spinner:before {
  content: "\f110";
}
.fa-circle:before {
  content: "\f111";
}
.fa-mail-reply:before,
.fa-reply:before {
  content: "\f112";
}
.fa-github-alt:before {
  content: "\f113";
}
.fa-folder-o:before {
  content: "\f114";
}
.fa-folder-open-o:before {
  content: "\f115";
}
.fa-smile-o:before {
  content: "\f118";
}
.fa-frown-o:before {
  content: "\f119";
}
.fa-meh-o:before {
  content: "\f11a";
}
.fa-gamepad:before {
  content: "\f11b";
}
.fa-keyboard-o:before {
  content: "\f11c";
}
.fa-flag-o:before {
  content: "\f11d";
}
.fa-flag-checkered:before {
  content: "\f11e";
}
.fa-terminal:before {
  content: "\f120";
}
.fa-code:before {
  content: "\f121";
}
.fa-mail-reply-all:before,
.fa-reply-all:before {
  content: "\f122";
}
.fa-star-half-empty:before,
.fa-star-half-full:before,
.fa-star-half-o:before {
  content: "\f123";
}
.fa-location-arrow:before {
  content: "\f124";
}
.fa-crop:before {
  content: "\f125";
}
.fa-code-fork:before {
  content: "\f126";
}
.fa-unlink:before,
.fa-chain-broken:before {
  content: "\f127";
}
.fa-question:before {
  content: "\f128";
}
.fa-info:before {
  content: "\f129";
}
.fa-exclamation:before {
  content: "\f12a";
}
.fa-superscript:before {
  content: "\f12b";
}
.fa-subscript:before {
  content: "\f12c";
}
.fa-eraser:before {
  content: "\f12d";
}
.fa-puzzle-piece:before {
  content: "\f12e";
}
.fa-microphone:before {
  content: "\f130";
}
.fa-microphone-slash:before {
  content: "\f131";
}
.fa-shield:before {
  content: "\f132";
}
.fa-calendar-o:before {
  content: "\f133";
}
.fa-fire-extinguisher:before {
  content: "\f134";
}
.fa-rocket:before {
  content: "\f135";
}
.fa-maxcdn:before {
  content: "\f136";
}
.fa-chevron-circle-left:before {
  content: "\f137";
}
.fa-chevron-circle-right:before {
  content: "\f138";
}
.fa-chevron-circle-up:before {
  content: "\f139";
}
.fa-chevron-circle-down:before {
  content: "\f13a";
}
.fa-html5:before {
  content: "\f13b";
}
.fa-css3:before {
  content: "\f13c";
}
.fa-anchor:before {
  content: "\f13d";
}
.fa-unlock-alt:before {
  content: "\f13e";
}
.fa-bullseye:before {
  content: "\f140";
}
.fa-ellipsis-h:before {
  content: "\f141";
}
.fa-ellipsis-v:before {
  content: "\f142";
}
.fa-rss-square:before {
  content: "\f143";
}
.fa-play-circle:before {
  content: "\f144";
}
.fa-ticket:before {
  content: "\f145";
}
.fa-minus-square:before {
  content: "\f146";
}
.fa-minus-square-o:before {
  content: "\f147";
}
.fa-level-up:before {
  content: "\f148";
}
.fa-level-down:before {
  content: "\f149";
}
.fa-check-square:before {
  content: "\f14a";
}
.fa-pencil-square:before {
  content: "\f14b";
}
.fa-external-link-square:before {
  content: "\f14c";
}
.fa-share-square:before {
  content: "\f14d";
}
.fa-compass:before {
  content: "\f14e";
}
.fa-toggle-down:before,
.fa-caret-square-o-down:before {
  content: "\f150";
}
.fa-toggle-up:before,
.fa-caret-square-o-up:before {
  content: "\f151";
}
.fa-toggle-right:before,
.fa-caret-square-o-right:before {
  content: "\f152";
}
.fa-euro:before,
.fa-eur:before {
  content: "\f153";
}
.fa-gbp:before {
  content: "\f154";
}
.fa-dollar:before,
.fa-usd:before {
  content: "\f155";
}
.fa-rupee:before,
.fa-inr:before {
  content: "\f156";
}
.fa-cny:before,
.fa-rmb:before,
.fa-yen:before,
.fa-jpy:before {
  content: "\f157";
}
.fa-ruble:before,
.fa-rouble:before,
.fa-rub:before {
  content: "\f158";
}
.fa-won:before,
.fa-krw:before {
  content: "\f159";
}
.fa-bitcoin:before,
.fa-btc:before {
  content: "\f15a";
}
.fa-file:before {
  content: "\f15b";
}
.fa-file-text:before {
  content: "\f15c";
}
.fa-sort-alpha-asc:before {
  content: "\f15d";
}
.fa-sort-alpha-desc:before {
  content: "\f15e";
}
.fa-sort-amount-asc:before {
  content: "\f160";
}
.fa-sort-amount-desc:before {
  content: "\f161";
}
.fa-sort-numeric-asc:before {
  content: "\f162";
}
.fa-sort-numeric-desc:before {
  content: "\f163";
}
.fa-thumbs-up:before {
  content: "\f164";
}
.fa-thumbs-down:before {
  content: "\f165";
}
.fa-youtube-square:before {
  content: "\f166";
}
.fa-youtube:before {
  content: "\f167";
}
.fa-xing:before {
  content: "\f168";
}
.fa-xing-square:before {
  content: "\f169";
}
.fa-youtube-play:before {
  content: "\f16a";
}
.fa-dropbox:before {
  content: "\f16b";
}
.fa-stack-overflow:before {
  content: "\f16c";
}
.fa-instagram:before {
  content: "\f16d";
}
.fa-flickr:before {
  content: "\f16e";
}
.fa-adn:before {
  content: "\f170";
}
.fa-bitbucket:before {
  content: "\f171";
}
.fa-bitbucket-square:before {
  content: "\f172";
}
.fa-tumblr:before {
  content: "\f173";
}
.fa-tumblr-square:before {
  content: "\f174";
}
.fa-long-arrow-down:before {
  content: "\f175";
}
.fa-long-arrow-up:before {
  content: "\f176";
}
.fa-long-arrow-left:before {
  content: "\f177";
}
.fa-long-arrow-right:before {
  content: "\f178";
}
.fa-apple:before {
  content: "\f179";
}
.fa-windows:before {
  content: "\f17a";
}
.fa-android:before {
  content: "\f17b";
}
.fa-linux:before {
  content: "\f17c";
}
.fa-dribbble:before {
  content: "\f17d";
}
.fa-skype:before {
  content: "\f17e";
}
.fa-foursquare:before {
  content: "\f180";
}
.fa-trello:before {
  content: "\f181";
}
.fa-female:before {
  content: "\f182";
}
.fa-male:before {
  content: "\f183";
}
.fa-gittip:before,
.fa-gratipay:before {
  content: "\f184";
}
.fa-sun-o:before {
  content: "\f185";
}
.fa-moon-o:before {
  content: "\f186";
}
.fa-archive:before {
  content: "\f187";
}
.fa-bug:before {
  content: "\f188";
}
.fa-vk:before {
  content: "\f189";
}
.fa-weibo:before {
  content: "\f18a";
}
.fa-renren:before {
  content: "\f18b";
}
.fa-pagelines:before {
  content: "\f18c";
}
.fa-stack-exchange:before {
  content: "\f18d";
}
.fa-arrow-circle-o-right:before {
  content: "\f18e";
}
.fa-arrow-circle-o-left:before {
  content: "\f190";
}
.fa-toggle-left:before,
.fa-caret-square-o-left:before {
  content: "\f191";
}
.fa-dot-circle-o:before {
  content: "\f192";
}
.fa-wheelchair:before {
  content: "\f193";
}
.fa-vimeo-square:before {
  content: "\f194";
}
.fa-turkish-lira:before,
.fa-try:before {
  content: "\f195";
}
.fa-plus-square-o:before {
  content: "\f196";
}
.fa-space-shuttle:before {
  content: "\f197";
}
.fa-slack:before {
  content: "\f198";
}
.fa-envelope-square:before {
  content: "\f199";
}
.fa-wordpress:before {
  content: "\f19a";
}
.fa-openid:before {
  content: "\f19b";
}
.fa-institution:before,
.fa-bank:before,
.fa-university:before {
  content: "\f19c";
}
.fa-mortar-board:before,
.fa-graduation-cap:before {
  content: "\f19d";
}
.fa-yahoo:before {
  content: "\f19e";
}
.fa-google:before {
  content: "\f1a0";
}
.fa-reddit:before {
  content: "\f1a1";
}
.fa-reddit-square:before {
  content: "\f1a2";
}
.fa-stumbleupon-circle:before {
  content: "\f1a3";
}
.fa-stumbleupon:before {
  content: "\f1a4";
}
.fa-delicious:before {
  content: "\f1a5";
}
.fa-digg:before {
  content: "\f1a6";
}
.fa-pied-piper-pp:before {
  content: "\f1a7";
}
.fa-pied-piper-alt:before {
  content: "\f1a8";
}
.fa-drupal:before {
  content: "\f1a9";
}
.fa-joomla:before {
  content: "\f1aa";
}
.fa-language:before {
  content: "\f1ab";
}
.fa-fax:before {
  content: "\f1ac";
}
.fa-building:before {
  content: "\f1ad";
}
.fa-child:before {
  content: "\f1ae";
}
.fa-paw:before {
  content: "\f1b0";
}
.fa-spoon:before {
  content: "\f1b1";
}
.fa-cube:before {
  content: "\f1b2";
}
.fa-cubes:before {
  content: "\f1b3";
}
.fa-behance:before {
  content: "\f1b4";
}
.fa-behance-square:before {
  content: "\f1b5";
}
.fa-steam:before {
  content: "\f1b6";
}
.fa-steam-square:before {
  content: "\f1b7";
}
.fa-recycle:before {
  content: "\f1b8";
}
.fa-automobile:before,
.fa-car:before {
  content: "\f1b9";
}
.fa-cab:before,
.fa-taxi:before {
  content: "\f1ba";
}
.fa-tree:before {
  content: "\f1bb";
}
.fa-spotify:before {
  content: "\f1bc";
}
.fa-deviantart:before {
  content: "\f1bd";
}
.fa-soundcloud:before {
  content: "\f1be";
}
.fa-database:before {
  content: "\f1c0";
}
.fa-file-pdf-o:before {
  content: "\f1c1";
}
.fa-file-word-o:before {
  content: "\f1c2";
}
.fa-file-excel-o:before {
  content: "\f1c3";
}
.fa-file-powerpoint-o:before {
  content: "\f1c4";
}
.fa-file-photo-o:before,
.fa-file-picture-o:before,
.fa-file-image-o:before {
  content: "\f1c5";
}
.fa-file-zip-o:before,
.fa-file-archive-o:before {
  content: "\f1c6";
}
.fa-file-sound-o:before,
.fa-file-audio-o:before {
  content: "\f1c7";
}
.fa-file-movie-o:before,
.fa-file-video-o:before {
  content: "\f1c8";
}
.fa-file-code-o:before {
  content: "\f1c9";
}
.fa-vine:before {
  content: "\f1ca";
}
.fa-codepen:before {
  content: "\f1cb";
}
.fa-jsfiddle:before {
  content: "\f1cc";
}
.fa-life-bouy:before,
.fa-life-buoy:before,
.fa-life-saver:before,
.fa-support:before,
.fa-life-ring:before {
  content: "\f1cd";
}
.fa-circle-o-notch:before {
  content: "\f1ce";
}
.fa-ra:before,
.fa-resistance:before,
.fa-rebel:before {
  content: "\f1d0";
}
.fa-ge:before,
.fa-empire:before {
  content: "\f1d1";
}
.fa-git-square:before {
  content: "\f1d2";
}
.fa-git:before {
  content: "\f1d3";
}
.fa-y-combinator-square:before,
.fa-yc-square:before,
.fa-hacker-news:before {
  content: "\f1d4";
}
.fa-tencent-weibo:before {
  content: "\f1d5";
}
.fa-qq:before {
  content: "\f1d6";
}
.fa-wechat:before,
.fa-weixin:before {
  content: "\f1d7";
}
.fa-send:before,
.fa-paper-plane:before {
  content: "\f1d8";
}
.fa-send-o:before,
.fa-paper-plane-o:before {
  content: "\f1d9";
}
.fa-history:before {
  content: "\f1da";
}
.fa-circle-thin:before {
  content: "\f1db";
}
.fa-header:before {
  content: "\f1dc";
}
.fa-paragraph:before {
  content: "\f1dd";
}
.fa-sliders:before {
  content: "\f1de";
}
.fa-share-alt:before {
  content: "\f1e0";
}
.fa-share-alt-square:before {
  content: "\f1e1";
}
.fa-bomb:before {
  content: "\f1e2";
}
.fa-soccer-ball-o:before,
.fa-futbol-o:before {
  content: "\f1e3";
}
.fa-tty:before {
  content: "\f1e4";
}
.fa-binoculars:before {
  content: "\f1e5";
}
.fa-plug:before {
  content: "\f1e6";
}
.fa-slideshare:before {
  content: "\f1e7";
}
.fa-twitch:before {
  content: "\f1e8";
}
.fa-yelp:before {
  content: "\f1e9";
}
.fa-newspaper-o:before {
  content: "\f1ea";
}
.fa-wifi:before {
  content: "\f1eb";
}
.fa-calculator:before {
  content: "\f1ec";
}
.fa-paypal:before {
  content: "\f1ed";
}
.fa-google-wallet:before {
  content: "\f1ee";
}
.fa-cc-visa:before {
  content: "\f1f0";
}
.fa-cc-mastercard:before {
  content: "\f1f1";
}
.fa-cc-discover:before {
  content: "\f1f2";
}
.fa-cc-amex:before {
  content: "\f1f3";
}
.fa-cc-paypal:before {
  content: "\f1f4";
}
.fa-cc-stripe:before {
  content: "\f1f5";
}
.fa-bell-slash:before {
  content: "\f1f6";
}
.fa-bell-slash-o:before {
  content: "\f1f7";
}
.fa-trash:before {
  content: "\f1f8";
}
.fa-copyright:before {
  content: "\f1f9";
}
.fa-at:before {
  content: "\f1fa";
}
.fa-eyedropper:before {
  content: "\f1fb";
}
.fa-paint-brush:before {
  content: "\f1fc";
}
.fa-birthday-cake:before {
  content: "\f1fd";
}
.fa-area-chart:before {
  content: "\f1fe";
}
.fa-pie-chart:before {
  content: "\f200";
}
.fa-line-chart:before {
  content: "\f201";
}
.fa-lastfm:before {
  content: "\f202";
}
.fa-lastfm-square:before {
  content: "\f203";
}
.fa-toggle-off:before {
  content: "\f204";
}
.fa-toggle-on:before {
  content: "\f205";
}
.fa-bicycle:before {
  content: "\f206";
}
.fa-bus:before {
  content: "\f207";
}
.fa-ioxhost:before {
  content: "\f208";
}
.fa-angellist:before {
  content: "\f209";
}
.fa-cc:before {
  content: "\f20a";
}
.fa-shekel:before,
.fa-sheqel:before,
.fa-ils:before {
  content: "\f20b";
}
.fa-meanpath:before {
  content: "\f20c";
}
.fa-buysellads:before {
  content: "\f20d";
}
.fa-connectdevelop:before {
  content: "\f20e";
}
.fa-dashcube:before {
  content: "\f210";
}
.fa-forumbee:before {
  content: "\f211";
}
.fa-leanpub:before {
  content: "\f212";
}
.fa-sellsy:before {
  content: "\f213";
}
.fa-shirtsinbulk:before {
  content: "\f214";
}
.fa-simplybuilt:before {
  content: "\f215";
}
.fa-skyatlas:before {
  content: "\f216";
}
.fa-cart-plus:before {
  content: "\f217";
}
.fa-cart-arrow-down:before {
  content: "\f218";
}
.fa-diamond:before {
  content: "\f219";
}
.fa-ship:before {
  content: "\f21a";
}
.fa-user-secret:before {
  content: "\f21b";
}
.fa-motorcycle:before {
  content: "\f21c";
}
.fa-street-view:before {
  content: "\f21d";
}
.fa-heartbeat:before {
  content: "\f21e";
}
.fa-venus:before {
  content: "\f221";
}
.fa-mars:before {
  content: "\f222";
}
.fa-mercury:before {
  content: "\f223";
}
.fa-intersex:before,
.fa-transgender:before {
  content: "\f224";
}
.fa-transgender-alt:before {
  content: "\f225";
}
.fa-venus-double:before {
  content: "\f226";
}
.fa-mars-double:before {
  content: "\f227";
}
.fa-venus-mars:before {
  content: "\f228";
}
.fa-mars-stroke:before {
  content: "\f229";
}
.fa-mars-stroke-v:before {
  content: "\f22a";
}
.fa-mars-stroke-h:before {
  content: "\f22b";
}
.fa-neuter:before {
  content: "\f22c";
}
.fa-genderless:before {
  content: "\f22d";
}
.fa-facebook-official:before {
  content: "\f230";
}
.fa-pinterest-p:before {
  content: "\f231";
}
.fa-whatsapp:before {
  content: "\f232";
}
.fa-server:before {
  content: "\f233";
}
.fa-user-plus:before {
  content: "\f234";
}
.fa-user-times:before {
  content: "\f235";
}
.fa-hotel:before,
.fa-bed:before {
  content: "\f236";
}
.fa-viacoin:before {
  content: "\f237";
}
.fa-train:before {
  content: "\f238";
}
.fa-subway:before {
  content: "\f239";
}
.fa-medium:before {
  content: "\f23a";
}
.fa-yc:before,
.fa-y-combinator:before {
  content: "\f23b";
}
.fa-optin-monster:before {
  content: "\f23c";
}
.fa-opencart:before {
  content: "\f23d";
}
.fa-expeditedssl:before {
  content: "\f23e";
}
.fa-battery-4:before,
.fa-battery:before,
.fa-battery-full:before {
  content: "\f240";
}
.fa-battery-3:before,
.fa-battery-three-quarters:before {
  content: "\f241";
}
.fa-battery-2:before,
.fa-battery-half:before {
  content: "\f242";
}
.fa-battery-1:before,
.fa-battery-quarter:before {
  content: "\f243";
}
.fa-battery-0:before,
.fa-battery-empty:before {
  content: "\f244";
}
.fa-mouse-pointer:before {
  content: "\f245";
}
.fa-i-cursor:before {
  content: "\f246";
}
.fa-object-group:before {
  content: "\f247";
}
.fa-object-ungroup:before {
  content: "\f248";
}
.fa-sticky-note:before {
  content: "\f249";
}
.fa-sticky-note-o:before {
  content: "\f24a";
}
.fa-cc-jcb:before {
  content: "\f24b";
}
.fa-cc-diners-club:before {
  content: "\f24c";
}
.fa-clone:before {
  content: "\f24d";
}
.fa-balance-scale:before {
  content: "\f24e";
}
.fa-hourglass-o:before {
  content: "\f250";
}
.fa-hourglass-1:before,
.fa-hourglass-start:before {
  content: "\f251";
}
.fa-hourglass-2:before,
.fa-hourglass-half:before {
  content: "\f252";
}
.fa-hourglass-3:before,
.fa-hourglass-end:before {
  content: "\f253";
}
.fa-hourglass:before {
  content: "\f254";
}
.fa-hand-grab-o:before,
.fa-hand-rock-o:before {
  content: "\f255";
}
.fa-hand-stop-o:before,
.fa-hand-paper-o:before {
  content: "\f256";
}
.fa-hand-scissors-o:before {
  content: "\f257";
}
.fa-hand-lizard-o:before {
  content: "\f258";
}
.fa-hand-spock-o:before {
  content: "\f259";
}
.fa-hand-pointer-o:before {
  content: "\f25a";
}
.fa-hand-peace-o:before {
  content: "\f25b";
}
.fa-trademark:before {
  content: "\f25c";
}
.fa-registered:before {
  content: "\f25d";
}
.fa-creative-commons:before {
  content: "\f25e";
}
.fa-gg:before {
  content: "\f260";
}
.fa-gg-circle:before {
  content: "\f261";
}
.fa-tripadvisor:before {
  content: "\f262";
}
.fa-odnoklassniki:before {
  content: "\f263";
}
.fa-odnoklassniki-square:before {
  content: "\f264";
}
.fa-get-pocket:before {
  content: "\f265";
}
.fa-wikipedia-w:before {
  content: "\f266";
}
.fa-safari:before {
  content: "\f267";
}
.fa-chrome:before {
  content: "\f268";
}
.fa-firefox:before {
  content: "\f269";
}
.fa-opera:before {
  content: "\f26a";
}
.fa-internet-explorer:before {
  content: "\f26b";
}
.fa-tv:before,
.fa-television:before {
  content: "\f26c";
}
.fa-contao:before {
  content: "\f26d";
}
.fa-500px:before {
  content: "\f26e";
}
.fa-amazon:before {
  content: "\f270";
}
.fa-calendar-plus-o:before {
  content: "\f271";
}
.fa-calendar-minus-o:before {
  content: "\f272";
}
.fa-calendar-times-o:before {
  content: "\f273";
}
.fa-calendar-check-o:before {
  content: "\f274";
}
.fa-industry:before {
  content: "\f275";
}
.fa-map-pin:before {
  content: "\f276";
}
.fa-map-signs:before {
  content: "\f277";
}
.fa-map-o:before {
  content: "\f278";
}
.fa-map:before {
  content: "\f279";
}
.fa-commenting:before {
  content: "\f27a";
}
.fa-commenting-o:before {
  content: "\f27b";
}
.fa-houzz:before {
  content: "\f27c";
}
.fa-vimeo:before {
  content: "\f27d";
}
.fa-black-tie:before {
  content: "\f27e";
}
.fa-fonticons:before {
  content: "\f280";
}
.fa-reddit-alien:before {
  content: "\f281";
}
.fa-edge:before {
  content: "\f282";
}
.fa-credit-card-alt:before {
  content: "\f283";
}
.fa-codiepie:before {
  content: "\f284";
}
.fa-modx:before {
  content: "\f285";
}
.fa-fort-awesome:before {
  content: "\f286";
}
.fa-usb:before {
  content: "\f287";
}
.fa-product-hunt:before {
  content: "\f288";
}
.fa-mixcloud:before {
  content: "\f289";
}
.fa-scribd:before {
  content: "\f28a";
}
.fa-pause-circle:before {
  content: "\f28b";
}
.fa-pause-circle-o:before {
  content: "\f28c";
}
.fa-stop-circle:before {
  content: "\f28d";
}
.fa-stop-circle-o:before {
  content: "\f28e";
}
.fa-shopping-bag:before {
  content: "\f290";
}
.fa-shopping-basket:before {
  content: "\f291";
}
.fa-hashtag:before {
  content: "\f292";
}
.fa-bluetooth:before {
  content: "\f293";
}
.fa-bluetooth-b:before {
  content: "\f294";
}
.fa-percent:before {
  content: "\f295";
}
.fa-gitlab:before {
  content: "\f296";
}
.fa-wpbeginner:before {
  content: "\f297";
}
.fa-wpforms:before {
  content: "\f298";
}
.fa-envira:before {
  content: "\f299";
}
.fa-universal-access:before {
  content: "\f29a";
}
.fa-wheelchair-alt:before {
  content: "\f29b";
}
.fa-question-circle-o:before {
  content: "\f29c";
}
.fa-blind:before {
  content: "\f29d";
}
.fa-audio-description:before {
  content: "\f29e";
}
.fa-volume-control-phone:before {
  content: "\f2a0";
}
.fa-braille:before {
  content: "\f2a1";
}
.fa-assistive-listening-systems:before {
  content: "\f2a2";
}
.fa-asl-interpreting:before,
.fa-american-sign-language-interpreting:before {
  content: "\f2a3";
}
.fa-deafness:before,
.fa-hard-of-hearing:before,
.fa-deaf:before {
  content: "\f2a4";
}
.fa-glide:before {
  content: "\f2a5";
}
.fa-glide-g:before {
  content: "\f2a6";
}
.fa-signing:before,
.fa-sign-language:before {
  content: "\f2a7";
}
.fa-low-vision:before {
  content: "\f2a8";
}
.fa-viadeo:before {
  content: "\f2a9";
}
.fa-viadeo-square:before {
  content: "\f2aa";
}
.fa-snapchat:before {
  content: "\f2ab";
}
.fa-snapchat-ghost:before {
  content: "\f2ac";
}
.fa-snapchat-square:before {
  content: "\f2ad";
}
.fa-pied-piper:before {
  content: "\f2ae";
}
.fa-first-order:before {
  content: "\f2b0";
}
.fa-yoast:before {
  content: "\f2b1";
}
.fa-themeisle:before {
  content: "\f2b2";
}
.fa-google-plus-circle:before,
.fa-google-plus-official:before {
  content: "\f2b3";
}
.fa-fa:before,
.fa-font-awesome:before {
  content: "\f2b4";
}
.fa-handshake-o:before {
  content: "\f2b5";
}
.fa-envelope-open:before {
  content: "\f2b6";
}
.fa-envelope-open-o:before {
  content: "\f2b7";
}
.fa-linode:before {
  content: "\f2b8";
}
.fa-address-book:before {
  content: "\f2b9";
}
.fa-address-book-o:before {
  content: "\f2ba";
}
.fa-vcard:before,
.fa-address-card:before {
  content: "\f2bb";
}
.fa-vcard-o:before,
.fa-address-card-o:before {
  content: "\f2bc";
}
.fa-user-circle:before {
  content: "\f2bd";
}
.fa-user-circle-o:before {
  content: "\f2be";
}
.fa-user-o:before {
  content: "\f2c0";
}
.fa-id-badge:before {
  content: "\f2c1";
}
.fa-drivers-license:before,
.fa-id-card:before {
  content: "\f2c2";
}
.fa-drivers-license-o:before,
.fa-id-card-o:before {
  content: "\f2c3";
}
.fa-quora:before {
  content: "\f2c4";
}
.fa-free-code-camp:before {
  content: "\f2c5";
}
.fa-telegram:before {
  content: "\f2c6";
}
.fa-thermometer-4:before,
.fa-thermometer:before,
.fa-thermometer-full:before {
  content: "\f2c7";
}
.fa-thermometer-3:before,
.fa-thermometer-three-quarters:before {
  content: "\f2c8";
}
.fa-thermometer-2:before,
.fa-thermometer-half:before {
  content: "\f2c9";
}
.fa-thermometer-1:before,
.fa-thermometer-quarter:before {
  content: "\f2ca";
}
.fa-thermometer-0:before,
.fa-thermometer-empty:before {
  content: "\f2cb";
}
.fa-shower:before {
  content: "\f2cc";
}
.fa-bathtub:before,
.fa-s15:before,
.fa-bath:before {
  content: "\f2cd";
}
.fa-podcast:before {
  content: "\f2ce";
}
.fa-window-maximize:before {
  content: "\f2d0";
}
.fa-window-minimize:before {
  content: "\f2d1";
}
.fa-window-restore:before {
  content: "\f2d2";
}
.fa-times-rectangle:before,
.fa-window-close:before {
  content: "\f2d3";
}
.fa-times-rectangle-o:before,
.fa-window-close-o:before {
  content: "\f2d4";
}
.fa-bandcamp:before {
  content: "\f2d5";
}
.fa-grav:before {
  content: "\f2d6";
}
.fa-etsy:before {
  content: "\f2d7";
}
.fa-imdb:before {
  content: "\f2d8";
}
.fa-ravelry:before {
  content: "\f2d9";
}
.fa-eercast:before {
  content: "\f2da";
}
.fa-microchip:before {
  content: "\f2db";
}
.fa-snowflake-o:before {
  content: "\f2dc";
}
.fa-superpowers:before {
  content: "\f2dd";
}
.fa-wpexplorer:before {
  content: "\f2de";
}
.fa-meetup:before {
  content: "\f2e0";
}
.sr-only {
  position: absolute;
  width: 1px;
  height: 1px;
  padding: 0;
  margin: -1px;
  overflow: hidden;
  clip: rect(0, 0, 0, 0);
  border: 0;
}
.sr-only-focusable:active,
.sr-only-focusable:focus {
  position: static;
  width: auto;
  height: auto;
  margin: 0;
  overflow: visible;
  clip: auto;
}
.sr-only-focusable:active,
.sr-only-focusable:focus {
  position: static;
  width: auto;
  height: auto;
  margin: 0;
  overflow: visible;
  clip: auto;
}
/*!
*
* IPython base
*
*/
.modal.fade .modal-dialog {
  -webkit-transform: translate(0, 0);
  -ms-transform: translate(0, 0);
  -o-transform: translate(0, 0);
  transform: translate(0, 0);
}
code {
  color: #000;
}
pre {
  font-size: inherit;
  line-height: inherit;
}
label {
  font-weight: normal;
}
/* Make the page background atleast 100% the height of the view port */
/* Make the page itself atleast 70% the height of the view port */
.border-box-sizing {
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
.corner-all {
  border-radius: 2px;
}
.no-padding {
  padding: 0px;
}
/* Flexible box model classes */
/* Taken from Alex Russell http://infrequently.org/2009/08/css-3-progress/ */
/* This file is a compatability layer.  It allows the usage of flexible box 
model layouts accross multiple browsers, including older browsers.  The newest,
universal implementation of the flexible box model is used when available (see
`Modern browsers` comments below).  Browsers that are known to implement this 
new spec completely include:

    Firefox 28.0+
    Chrome 29.0+
    Internet Explorer 11+ 
    Opera 17.0+

Browsers not listed, including Safari, are supported via the styling under the
`Old browsers` comments below.
*/
.hbox {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
.hbox > * {
  /* Old browsers */
  -webkit-box-flex: 0;
  -moz-box-flex: 0;
  box-flex: 0;
  /* Modern browsers */
  flex: none;
}
.vbox {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
}
.vbox > * {
  /* Old browsers */
  -webkit-box-flex: 0;
  -moz-box-flex: 0;
  box-flex: 0;
  /* Modern browsers */
  flex: none;
}
.hbox.reverse,
.vbox.reverse,
.reverse {
  /* Old browsers */
  -webkit-box-direction: reverse;
  -moz-box-direction: reverse;
  box-direction: reverse;
  /* Modern browsers */
  flex-direction: row-reverse;
}
.hbox.box-flex0,
.vbox.box-flex0,
.box-flex0 {
  /* Old browsers */
  -webkit-box-flex: 0;
  -moz-box-flex: 0;
  box-flex: 0;
  /* Modern browsers */
  flex: none;
  width: auto;
}
.hbox.box-flex1,
.vbox.box-flex1,
.box-flex1 {
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
.hbox.box-flex,
.vbox.box-flex,
.box-flex {
  /* Old browsers */
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
.hbox.box-flex2,
.vbox.box-flex2,
.box-flex2 {
  /* Old browsers */
  -webkit-box-flex: 2;
  -moz-box-flex: 2;
  box-flex: 2;
  /* Modern browsers */
  flex: 2;
}
.box-group1 {
  /*  Deprecated */
  -webkit-box-flex-group: 1;
  -moz-box-flex-group: 1;
  box-flex-group: 1;
}
.box-group2 {
  /* Deprecated */
  -webkit-box-flex-group: 2;
  -moz-box-flex-group: 2;
  box-flex-group: 2;
}
.hbox.start,
.vbox.start,
.start {
  /* Old browsers */
  -webkit-box-pack: start;
  -moz-box-pack: start;
  box-pack: start;
  /* Modern browsers */
  justify-content: flex-start;
}
.hbox.end,
.vbox.end,
.end {
  /* Old browsers */
  -webkit-box-pack: end;
  -moz-box-pack: end;
  box-pack: end;
  /* Modern browsers */
  justify-content: flex-end;
}
.hbox.center,
.vbox.center,
.center {
  /* Old browsers */
  -webkit-box-pack: center;
  -moz-box-pack: center;
  box-pack: center;
  /* Modern browsers */
  justify-content: center;
}
.hbox.baseline,
.vbox.baseline,
.baseline {
  /* Old browsers */
  -webkit-box-pack: baseline;
  -moz-box-pack: baseline;
  box-pack: baseline;
  /* Modern browsers */
  justify-content: baseline;
}
.hbox.stretch,
.vbox.stretch,
.stretch {
  /* Old browsers */
  -webkit-box-pack: stretch;
  -moz-box-pack: stretch;
  box-pack: stretch;
  /* Modern browsers */
  justify-content: stretch;
}
.hbox.align-start,
.vbox.align-start,
.align-start {
  /* Old browsers */
  -webkit-box-align: start;
  -moz-box-align: start;
  box-align: start;
  /* Modern browsers */
  align-items: flex-start;
}
.hbox.align-end,
.vbox.align-end,
.align-end {
  /* Old browsers */
  -webkit-box-align: end;
  -moz-box-align: end;
  box-align: end;
  /* Modern browsers */
  align-items: flex-end;
}
.hbox.align-center,
.vbox.align-center,
.align-center {
  /* Old browsers */
  -webkit-box-align: center;
  -moz-box-align: center;
  box-align: center;
  /* Modern browsers */
  align-items: center;
}
.hbox.align-baseline,
.vbox.align-baseline,
.align-baseline {
  /* Old browsers */
  -webkit-box-align: baseline;
  -moz-box-align: baseline;
  box-align: baseline;
  /* Modern browsers */
  align-items: baseline;
}
.hbox.align-stretch,
.vbox.align-stretch,
.align-stretch {
  /* Old browsers */
  -webkit-box-align: stretch;
  -moz-box-align: stretch;
  box-align: stretch;
  /* Modern browsers */
  align-items: stretch;
}
div.error {
  margin: 2em;
  text-align: center;
}
div.error > h1 {
  font-size: 500%;
  line-height: normal;
}
div.error > p {
  font-size: 200%;
  line-height: normal;
}
div.traceback-wrapper {
  text-align: left;
  max-width: 800px;
  margin: auto;
}
div.traceback-wrapper pre.traceback {
  max-height: 600px;
  overflow: auto;
}
/**
 * Primary styles
 *
 * Author: Jupyter Development Team
 */
body {
  background-color: #fff;
  /* This makes sure that the body covers the entire window and needs to
       be in a different element than the display: box in wrapper below */
  position: absolute;
  left: 0px;
  right: 0px;
  top: 0px;
  bottom: 0px;
  overflow: visible;
}
body > #header {
  /* Initially hidden to prevent FLOUC */
  display: none;
  background-color: #fff;
  /* Display over codemirror */
  position: relative;
  z-index: 100;
}
body > #header #header-container {
  display: flex;
  flex-direction: row;
  justify-content: space-between;
  padding: 5px;
  padding-bottom: 5px;
  padding-top: 5px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
body > #header .header-bar {
  width: 100%;
  height: 1px;
  background: #e7e7e7;
  margin-bottom: -1px;
}
@media print {
  body > #header {
    display: none !important;
  }
}
#header-spacer {
  width: 100%;
  visibility: hidden;
}
@media print {
  #header-spacer {
    display: none;
  }
}
#ipython_notebook {
  padding-left: 0px;
  padding-top: 1px;
  padding-bottom: 1px;
}
[dir="rtl"] #ipython_notebook {
  margin-right: 10px;
  margin-left: 0;
}
[dir="rtl"] #ipython_notebook.pull-left {
  float: right !important;
  float: right;
}
.flex-spacer {
  flex: 1;
}
#noscript {
  width: auto;
  padding-top: 16px;
  padding-bottom: 16px;
  text-align: center;
  font-size: 22px;
  color: red;
  font-weight: bold;
}
#ipython_notebook img {
  height: 28px;
}
#site {
  width: 100%;
  display: none;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  overflow: auto;
}
@media print {
  #site {
    height: auto !important;
  }
}
/* Smaller buttons */
.ui-button .ui-button-text {
  padding: 0.2em 0.8em;
  font-size: 77%;
}
input.ui-button {
  padding: 0.3em 0.9em;
}
span#kernel_logo_widget {
  margin: 0 10px;
}
span#login_widget {
  float: right;
}
[dir="rtl"] span#login_widget {
  float: left;
}
span#login_widget > .button,
#logout {
  color: #333;
  background-color: #fff;
  border-color: #ccc;
}
span#login_widget > .button:focus,
#logout:focus,
span#login_widget > .button.focus,
#logout.focus {
  color: #333;
  background-color: #e6e6e6;
  border-color: #8c8c8c;
}
span#login_widget > .button:hover,
#logout:hover {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
span#login_widget > .button:active,
#logout:active,
span#login_widget > .button.active,
#logout.active,
.open > .dropdown-togglespan#login_widget > .button,
.open > .dropdown-toggle#logout {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
span#login_widget > .button:active:hover,
#logout:active:hover,
span#login_widget > .button.active:hover,
#logout.active:hover,
.open > .dropdown-togglespan#login_widget > .button:hover,
.open > .dropdown-toggle#logout:hover,
span#login_widget > .button:active:focus,
#logout:active:focus,
span#login_widget > .button.active:focus,
#logout.active:focus,
.open > .dropdown-togglespan#login_widget > .button:focus,
.open > .dropdown-toggle#logout:focus,
span#login_widget > .button:active.focus,
#logout:active.focus,
span#login_widget > .button.active.focus,
#logout.active.focus,
.open > .dropdown-togglespan#login_widget > .button.focus,
.open > .dropdown-toggle#logout.focus {
  color: #333;
  background-color: #d4d4d4;
  border-color: #8c8c8c;
}
span#login_widget > .button:active,
#logout:active,
span#login_widget > .button.active,
#logout.active,
.open > .dropdown-togglespan#login_widget > .button,
.open > .dropdown-toggle#logout {
  background-image: none;
}
span#login_widget > .button.disabled:hover,
#logout.disabled:hover,
span#login_widget > .button[disabled]:hover,
#logout[disabled]:hover,
fieldset[disabled] span#login_widget > .button:hover,
fieldset[disabled] #logout:hover,
span#login_widget > .button.disabled:focus,
#logout.disabled:focus,
span#login_widget > .button[disabled]:focus,
#logout[disabled]:focus,
fieldset[disabled] span#login_widget > .button:focus,
fieldset[disabled] #logout:focus,
span#login_widget > .button.disabled.focus,
#logout.disabled.focus,
span#login_widget > .button[disabled].focus,
#logout[disabled].focus,
fieldset[disabled] span#login_widget > .button.focus,
fieldset[disabled] #logout.focus {
  background-color: #fff;
  border-color: #ccc;
}
span#login_widget > .button .badge,
#logout .badge {
  color: #fff;
  background-color: #333;
}
.nav-header {
  text-transform: none;
}
#header > span {
  margin-top: 10px;
}
.modal_stretch .modal-dialog {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  min-height: 80vh;
}
.modal_stretch .modal-dialog .modal-body {
  max-height: calc(100vh - 200px);
  overflow: auto;
  flex: 1;
}
.modal-header {
  cursor: move;
}
@media (min-width: 768px) {
  .modal .modal-dialog {
    width: 700px;
  }
}
@media (min-width: 768px) {
  select.form-control {
    margin-left: 12px;
    margin-right: 12px;
  }
}
/*!
*
* IPython auth
*
*/
.center-nav {
  display: inline-block;
  margin-bottom: -4px;
}
[dir="rtl"] .center-nav form.pull-left {
  float: right !important;
  float: right;
}
[dir="rtl"] .center-nav .navbar-text {
  float: right;
}
[dir="rtl"] .navbar-inner {
  text-align: right;
}
[dir="rtl"] div.text-left {
  text-align: right;
}
/*!
*
* IPython tree view
*
*/
/* We need an invisible input field on top of the sentense*/
/* "Drag file onto the list ..." */
.alternate_upload {
  background-color: none;
  display: inline;
}
.alternate_upload.form {
  padding: 0;
  margin: 0;
}
.alternate_upload input.fileinput {
  position: absolute;
  display: block;
  width: 100%;
  height: 100%;
  overflow: hidden;
  cursor: pointer;
  opacity: 0;
  z-index: 2;
}
.alternate_upload .btn-xs > input.fileinput {
  margin: -1px -5px;
}
.alternate_upload .btn-upload {
  position: relative;
  height: 22px;
}
::-webkit-file-upload-button {
  cursor: pointer;
}
/**
 * Primary styles
 *
 * Author: Jupyter Development Team
 */
ul#tabs {
  margin-bottom: 4px;
}
ul#tabs a {
  padding-top: 6px;
  padding-bottom: 4px;
}
[dir="rtl"] ul#tabs.nav-tabs > li {
  float: right;
}
[dir="rtl"] ul#tabs.nav.nav-tabs {
  padding-right: 0;
}
ul.breadcrumb a:focus,
ul.breadcrumb a:hover {
  text-decoration: none;
}
ul.breadcrumb i.icon-home {
  font-size: 16px;
  margin-right: 4px;
}
ul.breadcrumb span {
  color: #5e5e5e;
}
.list_toolbar {
  padding: 4px 0 4px 0;
  vertical-align: middle;
}
.list_toolbar .tree-buttons {
  padding-top: 1px;
}
[dir="rtl"] .list_toolbar .tree-buttons .pull-right {
  float: left !important;
  float: left;
}
[dir="rtl"] .list_toolbar .col-sm-4,
[dir="rtl"] .list_toolbar .col-sm-8 {
  float: right;
}
.dynamic-buttons {
  padding-top: 3px;
  display: inline-block;
}
.list_toolbar [class*="span"] {
  min-height: 24px;
}
.list_header {
  font-weight: bold;
  background-color: #EEE;
}
.list_placeholder {
  font-weight: bold;
  padding-top: 4px;
  padding-bottom: 4px;
  padding-left: 7px;
  padding-right: 7px;
}
.list_container {
  margin-top: 4px;
  margin-bottom: 20px;
  border: 1px solid #ddd;
  border-radius: 2px;
}
.list_container > div {
  border-bottom: 1px solid #ddd;
}
.list_container > div:hover .list-item {
  background-color: red;
}
.list_container > div:last-child {
  border: none;
}
.list_item:hover .list_item {
  background-color: #ddd;
}
.list_item a {
  text-decoration: none;
}
.list_item:hover {
  background-color: #fafafa;
}
.list_header > div,
.list_item > div {
  padding-top: 4px;
  padding-bottom: 4px;
  padding-left: 7px;
  padding-right: 7px;
  line-height: 22px;
}
.list_header > div input,
.list_item > div input {
  margin-right: 7px;
  margin-left: 14px;
  vertical-align: text-bottom;
  line-height: 22px;
  position: relative;
  top: -1px;
}
.list_header > div .item_link,
.list_item > div .item_link {
  margin-left: -1px;
  vertical-align: baseline;
  line-height: 22px;
}
[dir="rtl"] .list_item > div input {
  margin-right: 0;
}
.new-file input[type=checkbox] {
  visibility: hidden;
}
.item_name {
  line-height: 22px;
  height: 24px;
}
.item_icon {
  font-size: 14px;
  color: #5e5e5e;
  margin-right: 7px;
  margin-left: 7px;
  line-height: 22px;
  vertical-align: baseline;
}
.item_modified {
  margin-right: 7px;
  margin-left: 7px;
}
[dir="rtl"] .item_modified.pull-right {
  float: left !important;
  float: left;
}
.item_buttons {
  line-height: 1em;
  margin-left: -5px;
}
.item_buttons .btn,
.item_buttons .btn-group,
.item_buttons .input-group {
  float: left;
}
.item_buttons > .btn,
.item_buttons > .btn-group,
.item_buttons > .input-group {
  margin-left: 5px;
}
.item_buttons .btn {
  min-width: 13ex;
}
.item_buttons .running-indicator {
  padding-top: 4px;
  color: #5cb85c;
}
.item_buttons .kernel-name {
  padding-top: 4px;
  color: #5bc0de;
  margin-right: 7px;
  float: left;
}
[dir="rtl"] .item_buttons.pull-right {
  float: left !important;
  float: left;
}
[dir="rtl"] .item_buttons .kernel-name {
  margin-left: 7px;
  float: right;
}
.toolbar_info {
  height: 24px;
  line-height: 24px;
}
.list_item input:not([type=checkbox]) {
  padding-top: 3px;
  padding-bottom: 3px;
  height: 22px;
  line-height: 14px;
  margin: 0px;
}
.highlight_text {
  color: blue;
}
#project_name {
  display: inline-block;
  padding-left: 7px;
  margin-left: -2px;
}
#project_name > .breadcrumb {
  padding: 0px;
  margin-bottom: 0px;
  background-color: transparent;
  font-weight: bold;
}
.sort_button {
  display: inline-block;
  padding-left: 7px;
}
[dir="rtl"] .sort_button.pull-right {
  float: left !important;
  float: left;
}
#tree-selector {
  padding-right: 0px;
}
#button-select-all {
  min-width: 50px;
}
[dir="rtl"] #button-select-all.btn {
  float: right ;
}
#select-all {
  margin-left: 7px;
  margin-right: 2px;
  margin-top: 2px;
  height: 16px;
}
[dir="rtl"] #select-all.pull-left {
  float: right !important;
  float: right;
}
.menu_icon {
  margin-right: 2px;
}
.tab-content .row {
  margin-left: 0px;
  margin-right: 0px;
}
.folder_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f114";
}
.folder_icon:before.fa-pull-left {
  margin-right: .3em;
}
.folder_icon:before.fa-pull-right {
  margin-left: .3em;
}
.folder_icon:before.pull-left {
  margin-right: .3em;
}
.folder_icon:before.pull-right {
  margin-left: .3em;
}
.notebook_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f02d";
  position: relative;
  top: -1px;
}
.notebook_icon:before.fa-pull-left {
  margin-right: .3em;
}
.notebook_icon:before.fa-pull-right {
  margin-left: .3em;
}
.notebook_icon:before.pull-left {
  margin-right: .3em;
}
.notebook_icon:before.pull-right {
  margin-left: .3em;
}
.running_notebook_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f02d";
  position: relative;
  top: -1px;
  color: #5cb85c;
}
.running_notebook_icon:before.fa-pull-left {
  margin-right: .3em;
}
.running_notebook_icon:before.fa-pull-right {
  margin-left: .3em;
}
.running_notebook_icon:before.pull-left {
  margin-right: .3em;
}
.running_notebook_icon:before.pull-right {
  margin-left: .3em;
}
.file_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f016";
  position: relative;
  top: -2px;
}
.file_icon:before.fa-pull-left {
  margin-right: .3em;
}
.file_icon:before.fa-pull-right {
  margin-left: .3em;
}
.file_icon:before.pull-left {
  margin-right: .3em;
}
.file_icon:before.pull-right {
  margin-left: .3em;
}
#notebook_toolbar .pull-right {
  padding-top: 0px;
  margin-right: -1px;
}
ul#new-menu {
  left: auto;
  right: 0;
}
#new-menu .dropdown-header {
  font-size: 10px;
  border-bottom: 1px solid #e5e5e5;
  padding: 0 0 3px;
  margin: -3px 20px 0;
}
.kernel-menu-icon {
  padding-right: 12px;
  width: 24px;
  content: "\f096";
}
.kernel-menu-icon:before {
  content: "\f096";
}
.kernel-menu-icon-current:before {
  content: "\f00c";
}
#tab_content {
  padding-top: 20px;
}
#running .panel-group .panel {
  margin-top: 3px;
  margin-bottom: 1em;
}
#running .panel-group .panel .panel-heading {
  background-color: #EEE;
  padding-top: 4px;
  padding-bottom: 4px;
  padding-left: 7px;
  padding-right: 7px;
  line-height: 22px;
}
#running .panel-group .panel .panel-heading a:focus,
#running .panel-group .panel .panel-heading a:hover {
  text-decoration: none;
}
#running .panel-group .panel .panel-body {
  padding: 0px;
}
#running .panel-group .panel .panel-body .list_container {
  margin-top: 0px;
  margin-bottom: 0px;
  border: 0px;
  border-radius: 0px;
}
#running .panel-group .panel .panel-body .list_container .list_item {
  border-bottom: 1px solid #ddd;
}
#running .panel-group .panel .panel-body .list_container .list_item:last-child {
  border-bottom: 0px;
}
.delete-button {
  display: none;
}
.duplicate-button {
  display: none;
}
.rename-button {
  display: none;
}
.move-button {
  display: none;
}
.download-button {
  display: none;
}
.shutdown-button {
  display: none;
}
.dynamic-instructions {
  display: inline-block;
  padding-top: 4px;
}
/*!
*
* IPython text editor webapp
*
*/
.selected-keymap i.fa {
  padding: 0px 5px;
}
.selected-keymap i.fa:before {
  content: "\f00c";
}
#mode-menu {
  overflow: auto;
  max-height: 20em;
}
.edit_app #header {
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
}
.edit_app #menubar .navbar {
  /* Use a negative 1 bottom margin, so the border overlaps the border of the
    header */
  margin-bottom: -1px;
}
.dirty-indicator {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  width: 20px;
}
.dirty-indicator.fa-pull-left {
  margin-right: .3em;
}
.dirty-indicator.fa-pull-right {
  margin-left: .3em;
}
.dirty-indicator.pull-left {
  margin-right: .3em;
}
.dirty-indicator.pull-right {
  margin-left: .3em;
}
.dirty-indicator-dirty {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  width: 20px;
}
.dirty-indicator-dirty.fa-pull-left {
  margin-right: .3em;
}
.dirty-indicator-dirty.fa-pull-right {
  margin-left: .3em;
}
.dirty-indicator-dirty.pull-left {
  margin-right: .3em;
}
.dirty-indicator-dirty.pull-right {
  margin-left: .3em;
}
.dirty-indicator-clean {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  width: 20px;
}
.dirty-indicator-clean.fa-pull-left {
  margin-right: .3em;
}
.dirty-indicator-clean.fa-pull-right {
  margin-left: .3em;
}
.dirty-indicator-clean.pull-left {
  margin-right: .3em;
}
.dirty-indicator-clean.pull-right {
  margin-left: .3em;
}
.dirty-indicator-clean:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f00c";
}
.dirty-indicator-clean:before.fa-pull-left {
  margin-right: .3em;
}
.dirty-indicator-clean:before.fa-pull-right {
  margin-left: .3em;
}
.dirty-indicator-clean:before.pull-left {
  margin-right: .3em;
}
.dirty-indicator-clean:before.pull-right {
  margin-left: .3em;
}
#filename {
  font-size: 16pt;
  display: table;
  padding: 0px 5px;
}
#current-mode {
  padding-left: 5px;
  padding-right: 5px;
}
#texteditor-backdrop {
  padding-top: 20px;
  padding-bottom: 20px;
}
@media not print {
  #texteditor-backdrop {
    background-color: #EEE;
  }
}
@media print {
  #texteditor-backdrop #texteditor-container .CodeMirror-gutter,
  #texteditor-backdrop #texteditor-container .CodeMirror-gutters {
    background-color: #fff;
  }
}
@media not print {
  #texteditor-backdrop #texteditor-container .CodeMirror-gutter,
  #texteditor-backdrop #texteditor-container .CodeMirror-gutters {
    background-color: #fff;
  }
}
@media not print {
  #texteditor-backdrop #texteditor-container {
    padding: 0px;
    background-color: #fff;
    -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
    box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  }
}
.CodeMirror-dialog {
  background-color: #fff;
}
/*!
*
* IPython notebook
*
*/
/* CSS font colors for translated ANSI escape sequences */
/* The color values are a mix of
   http://www.xcolors.net/dl/baskerville-ivorylight and
   http://www.xcolors.net/dl/euphrasia */
.ansi-black-fg {
  color: #3E424D;
}
.ansi-black-bg {
  background-color: #3E424D;
}
.ansi-black-intense-fg {
  color: #282C36;
}
.ansi-black-intense-bg {
  background-color: #282C36;
}
.ansi-red-fg {
  color: #E75C58;
}
.ansi-red-bg {
  background-color: #E75C58;
}
.ansi-red-intense-fg {
  color: #B22B31;
}
.ansi-red-intense-bg {
  background-color: #B22B31;
}
.ansi-green-fg {
  color: #00A250;
}
.ansi-green-bg {
  background-color: #00A250;
}
.ansi-green-intense-fg {
  color: #007427;
}
.ansi-green-intense-bg {
  background-color: #007427;
}
.ansi-yellow-fg {
  color: #DDB62B;
}
.ansi-yellow-bg {
  background-color: #DDB62B;
}
.ansi-yellow-intense-fg {
  color: #B27D12;
}
.ansi-yellow-intense-bg {
  background-color: #B27D12;
}
.ansi-blue-fg {
  color: #208FFB;
}
.ansi-blue-bg {
  background-color: #208FFB;
}
.ansi-blue-intense-fg {
  color: #0065CA;
}
.ansi-blue-intense-bg {
  background-color: #0065CA;
}
.ansi-magenta-fg {
  color: #D160C4;
}
.ansi-magenta-bg {
  background-color: #D160C4;
}
.ansi-magenta-intense-fg {
  color: #A03196;
}
.ansi-magenta-intense-bg {
  background-color: #A03196;
}
.ansi-cyan-fg {
  color: #60C6C8;
}
.ansi-cyan-bg {
  background-color: #60C6C8;
}
.ansi-cyan-intense-fg {
  color: #258F8F;
}
.ansi-cyan-intense-bg {
  background-color: #258F8F;
}
.ansi-white-fg {
  color: #C5C1B4;
}
.ansi-white-bg {
  background-color: #C5C1B4;
}
.ansi-white-intense-fg {
  color: #A1A6B2;
}
.ansi-white-intense-bg {
  background-color: #A1A6B2;
}
.ansi-default-inverse-fg {
  color: #FFFFFF;
}
.ansi-default-inverse-bg {
  background-color: #000000;
}
.ansi-bold {
  font-weight: bold;
}
.ansi-underline {
  text-decoration: underline;
}
/* The following styles are deprecated an will be removed in a future version */
.ansibold {
  font-weight: bold;
}
.ansi-inverse {
  outline: 0.5px dotted;
}
/* use dark versions for foreground, to improve visibility */
.ansiblack {
  color: black;
}
.ansired {
  color: darkred;
}
.ansigreen {
  color: darkgreen;
}
.ansiyellow {
  color: #c4a000;
}
.ansiblue {
  color: darkblue;
}
.ansipurple {
  color: darkviolet;
}
.ansicyan {
  color: steelblue;
}
.ansigray {
  color: gray;
}
/* and light for background, for the same reason */
.ansibgblack {
  background-color: black;
}
.ansibgred {
  background-color: red;
}
.ansibggreen {
  background-color: green;
}
.ansibgyellow {
  background-color: yellow;
}
.ansibgblue {
  background-color: blue;
}
.ansibgpurple {
  background-color: magenta;
}
.ansibgcyan {
  background-color: cyan;
}
.ansibggray {
  background-color: gray;
}
div.cell {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  border-radius: 2px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  border-width: 1px;
  border-style: solid;
  border-color: transparent;
  width: 100%;
  padding: 5px;
  /* This acts as a spacer between cells, that is outside the border */
  margin: 0px;
  outline: none;
  position: relative;
  overflow: visible;
}
div.cell:before {
  position: absolute;
  display: block;
  top: -1px;
  left: -1px;
  width: 5px;
  height: calc(100% +  2px);
  content: '';
  background: transparent;
}
div.cell.jupyter-soft-selected {
  border-left-color: #E3F2FD;
  border-left-width: 1px;
  padding-left: 5px;
  border-right-color: #E3F2FD;
  border-right-width: 1px;
  background: #E3F2FD;
}
@media print {
  div.cell.jupyter-soft-selected {
    border-color: transparent;
  }
}
div.cell.selected,
div.cell.selected.jupyter-soft-selected {
  border-color: #ababab;
}
div.cell.selected:before,
div.cell.selected.jupyter-soft-selected:before {
  position: absolute;
  display: block;
  top: -1px;
  left: -1px;
  width: 5px;
  height: calc(100% +  2px);
  content: '';
  background: #42A5F5;
}
@media print {
  div.cell.selected,
  div.cell.selected.jupyter-soft-selected {
    border-color: transparent;
  }
}
.edit_mode div.cell.selected {
  border-color: #66BB6A;
}
.edit_mode div.cell.selected:before {
  position: absolute;
  display: block;
  top: -1px;
  left: -1px;
  width: 5px;
  height: calc(100% +  2px);
  content: '';
  background: #66BB6A;
}
@media print {
  .edit_mode div.cell.selected {
    border-color: transparent;
  }
}
.prompt {
  /* This needs to be wide enough for 3 digit prompt numbers: In[100]: */
  min-width: 14ex;
  /* This padding is tuned to match the padding on the CodeMirror editor. */
  padding: 0.4em;
  margin: 0px;
  font-family: monospace;
  text-align: right;
  /* This has to match that of the the CodeMirror class line-height below */
  line-height: 1.21429em;
  /* Don't highlight prompt number selection */
  -webkit-touch-callout: none;
  -webkit-user-select: none;
  -khtml-user-select: none;
  -moz-user-select: none;
  -ms-user-select: none;
  user-select: none;
  /* Use default cursor */
  cursor: default;
}
@media (max-width: 540px) {
  .prompt {
    text-align: left;
  }
}
div.inner_cell {
  min-width: 0;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
/* input_area and input_prompt must match in top border and margin for alignment */
div.input_area {
  border: 1px solid #cfcfcf;
  border-radius: 2px;
  background: #f7f7f7;
  line-height: 1.21429em;
}
/* This is needed so that empty prompt areas can collapse to zero height when there
   is no content in the output_subarea and the prompt. The main purpose of this is
   to make sure that empty JavaScript output_subareas have no height. */
div.prompt:empty {
  padding-top: 0;
  padding-bottom: 0;
}
div.unrecognized_cell {
  padding: 5px 5px 5px 0px;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
div.unrecognized_cell .inner_cell {
  border-radius: 2px;
  padding: 5px;
  font-weight: bold;
  color: red;
  border: 1px solid #cfcfcf;
  background: #eaeaea;
}
div.unrecognized_cell .inner_cell a {
  color: inherit;
  text-decoration: none;
}
div.unrecognized_cell .inner_cell a:hover {
  color: inherit;
  text-decoration: none;
}
@media (max-width: 540px) {
  div.unrecognized_cell > div.prompt {
    display: none;
  }
}
div.code_cell {
  /* avoid page breaking on code cells when printing */
}
@media print {
  div.code_cell {
    page-break-inside: avoid;
  }
}
/* any special styling for code cells that are currently running goes here */
div.input {
  page-break-inside: avoid;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
@media (max-width: 540px) {
  div.input {
    /* Old browsers */
    display: -webkit-box;
    -webkit-box-orient: vertical;
    -webkit-box-align: stretch;
    display: -moz-box;
    -moz-box-orient: vertical;
    -moz-box-align: stretch;
    display: box;
    box-orient: vertical;
    box-align: stretch;
    /* Modern browsers */
    display: flex;
    flex-direction: column;
    align-items: stretch;
  }
}
/* input_area and input_prompt must match in top border and margin for alignment */
div.input_prompt {
  color: #303F9F;
  border-top: 1px solid transparent;
}
div.input_area > div.highlight {
  margin: 0.4em;
  border: none;
  padding: 0px;
  background-color: transparent;
}
div.input_area > div.highlight > pre {
  margin: 0px;
  border: none;
  padding: 0px;
  background-color: transparent;
}
/* The following gets added to the <head> if it is detected that the user has a
 * monospace font with inconsistent normal/bold/italic height.  See
 * notebookmain.js.  Such fonts will have keywords vertically offset with
 * respect to the rest of the text.  The user should select a better font.
 * See: https://github.com/ipython/ipython/issues/1503
 *
 * .CodeMirror span {
 *      vertical-align: bottom;
 * }
 */
.CodeMirror {
  line-height: 1.21429em;
  /* Changed from 1em to our global default */
  font-size: 14px;
  height: auto;
  /* Changed to auto to autogrow */
  background: none;
  /* Changed from white to allow our bg to show through */
}
.CodeMirror-scroll {
  /*  The CodeMirror docs are a bit fuzzy on if overflow-y should be hidden or visible.*/
  /*  We have found that if it is visible, vertical scrollbars appear with font size changes.*/
  overflow-y: hidden;
  overflow-x: auto;
}
.CodeMirror-lines {
  /* In CM2, this used to be 0.4em, but in CM3 it went to 4px. We need the em value because */
  /* we have set a different line-height and want this to scale with that. */
  /* Note that this should set vertical padding only, since CodeMirror assumes
       that horizontal padding will be set on CodeMirror pre */
  padding: 0.4em 0;
}
.CodeMirror-linenumber {
  padding: 0 8px 0 4px;
}
.CodeMirror-gutters {
  border-bottom-left-radius: 2px;
  border-top-left-radius: 2px;
}
.CodeMirror pre {
  /* In CM3 this went to 4px from 0 in CM2. This sets horizontal padding only,
    use .CodeMirror-lines for vertical */
  padding: 0 0.4em;
  border: 0;
  border-radius: 0;
}
.CodeMirror-cursor {
  border-left: 1.4px solid black;
}
@media screen and (min-width: 2138px) and (max-width: 4319px) {
  .CodeMirror-cursor {
    border-left: 2px solid black;
  }
}
@media screen and (min-width: 4320px) {
  .CodeMirror-cursor {
    border-left: 4px solid black;
  }
}
/*

Original style from softwaremaniacs.org (c) Ivan Sagalaev <Maniac@SoftwareManiacs.Org>
Adapted from GitHub theme

*/
.highlight-base {
  color: #000;
}
.highlight-variable {
  color: #000;
}
.highlight-variable-2 {
  color: #1a1a1a;
}
.highlight-variable-3 {
  color: #333333;
}
.highlight-string {
  color: #BA2121;
}
.highlight-comment {
  color: #408080;
  font-style: italic;
}
.highlight-number {
  color: #080;
}
.highlight-atom {
  color: #88F;
}
.highlight-keyword {
  color: #008000;
  font-weight: bold;
}
.highlight-builtin {
  color: #008000;
}
.highlight-error {
  color: #f00;
}
.highlight-operator {
  color: #AA22FF;
  font-weight: bold;
}
.highlight-meta {
  color: #AA22FF;
}
/* previously not defined, copying from default codemirror */
.highlight-def {
  color: #00f;
}
.highlight-string-2 {
  color: #f50;
}
.highlight-qualifier {
  color: #555;
}
.highlight-bracket {
  color: #997;
}
.highlight-tag {
  color: #170;
}
.highlight-attribute {
  color: #00c;
}
.highlight-header {
  color: blue;
}
.highlight-quote {
  color: #090;
}
.highlight-link {
  color: #00c;
}
/* apply the same style to codemirror */
.cm-s-ipython span.cm-keyword {
  color: #008000;
  font-weight: bold;
}
.cm-s-ipython span.cm-atom {
  color: #88F;
}
.cm-s-ipython span.cm-number {
  color: #080;
}
.cm-s-ipython span.cm-def {
  color: #00f;
}
.cm-s-ipython span.cm-variable {
  color: #000;
}
.cm-s-ipython span.cm-operator {
  color: #AA22FF;
  font-weight: bold;
}
.cm-s-ipython span.cm-variable-2 {
  color: #1a1a1a;
}
.cm-s-ipython span.cm-variable-3 {
  color: #333333;
}
.cm-s-ipython span.cm-comment {
  color: #408080;
  font-style: italic;
}
.cm-s-ipython span.cm-string {
  color: #BA2121;
}
.cm-s-ipython span.cm-string-2 {
  color: #f50;
}
.cm-s-ipython span.cm-meta {
  color: #AA22FF;
}
.cm-s-ipython span.cm-qualifier {
  color: #555;
}
.cm-s-ipython span.cm-builtin {
  color: #008000;
}
.cm-s-ipython span.cm-bracket {
  color: #997;
}
.cm-s-ipython span.cm-tag {
  color: #170;
}
.cm-s-ipython span.cm-attribute {
  color: #00c;
}
.cm-s-ipython span.cm-header {
  color: blue;
}
.cm-s-ipython span.cm-quote {
  color: #090;
}
.cm-s-ipython span.cm-link {
  color: #00c;
}
.cm-s-ipython span.cm-error {
  color: #f00;
}
.cm-s-ipython span.cm-tab {
  background: url(data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAAMCAYAAAAkuj5RAAAAAXNSR0IArs4c6QAAAGFJREFUSMft1LsRQFAQheHPowAKoACx3IgEKtaEHujDjORSgWTH/ZOdnZOcM/sgk/kFFWY0qV8foQwS4MKBCS3qR6ixBJvElOobYAtivseIE120FaowJPN75GMu8j/LfMwNjh4HUpwg4LUAAAAASUVORK5CYII=);
  background-position: right;
  background-repeat: no-repeat;
}
div.output_wrapper {
  /* this position must be relative to enable descendents to be absolute within it */
  position: relative;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  z-index: 1;
}
/* class for the output area when it should be height-limited */
div.output_scroll {
  /* ideally, this would be max-height, but FF barfs all over that */
  height: 24em;
  /* FF needs this *and the wrapper* to specify full width, or it will shrinkwrap */
  width: 100%;
  overflow: auto;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 2px 8px rgba(0, 0, 0, 0.8);
  box-shadow: inset 0 2px 8px rgba(0, 0, 0, 0.8);
  display: block;
}
/* output div while it is collapsed */
div.output_collapsed {
  margin: 0px;
  padding: 0px;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
}
div.out_prompt_overlay {
  height: 100%;
  padding: 0px 0.4em;
  position: absolute;
  border-radius: 2px;
}
div.out_prompt_overlay:hover {
  /* use inner shadow to get border that is computed the same on WebKit/FF */
  -webkit-box-shadow: inset 0 0 1px #000;
  box-shadow: inset 0 0 1px #000;
  background: rgba(240, 240, 240, 0.5);
}
div.output_prompt {
  color: #D84315;
}
/* This class is the outer container of all output sections. */
div.output_area {
  padding: 0px;
  page-break-inside: avoid;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
div.output_area .MathJax_Display {
  text-align: left !important;
}
div.output_area .rendered_html table {
  margin-left: 0;
  margin-right: 0;
}
div.output_area .rendered_html img {
  margin-left: 0;
  margin-right: 0;
}
div.output_area img,
div.output_area svg {
  max-width: 100%;
  height: auto;
}
div.output_area img.unconfined,
div.output_area svg.unconfined {
  max-width: none;
}
div.output_area .mglyph > img {
  max-width: none;
}
/* This is needed to protect the pre formating from global settings such
   as that of bootstrap */
.output {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
}
@media (max-width: 540px) {
  div.output_area {
    /* Old browsers */
    display: -webkit-box;
    -webkit-box-orient: vertical;
    -webkit-box-align: stretch;
    display: -moz-box;
    -moz-box-orient: vertical;
    -moz-box-align: stretch;
    display: box;
    box-orient: vertical;
    box-align: stretch;
    /* Modern browsers */
    display: flex;
    flex-direction: column;
    align-items: stretch;
  }
}
div.output_area pre {
  margin: 0;
  padding: 1px 0 1px 0;
  border: 0;
  vertical-align: baseline;
  color: black;
  background-color: transparent;
  border-radius: 0;
}
/* This class is for the output subarea inside the output_area and after
   the prompt div. */
div.output_subarea {
  overflow-x: auto;
  padding: 0.4em;
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
  max-width: calc(100% - 14ex);
}
div.output_scroll div.output_subarea {
  overflow-x: visible;
}
/* The rest of the output_* classes are for special styling of the different
   output types */
/* all text output has this class: */
div.output_text {
  text-align: left;
  color: #000;
  /* This has to match that of the the CodeMirror class line-height below */
  line-height: 1.21429em;
}
/* stdout/stderr are 'text' as well as 'stream', but execute_result/error are *not* streams */
div.output_stderr {
  background: #fdd;
  /* very light red background for stderr */
}
div.output_latex {
  text-align: left;
}
/* Empty output_javascript divs should have no height */
div.output_javascript:empty {
  padding: 0;
}
.js-error {
  color: darkred;
}
/* raw_input styles */
div.raw_input_container {
  line-height: 1.21429em;
  padding-top: 5px;
}
pre.raw_input_prompt {
  /* nothing needed here. */
}
input.raw_input {
  font-family: monospace;
  font-size: inherit;
  color: inherit;
  width: auto;
  /* make sure input baseline aligns with prompt */
  vertical-align: baseline;
  /* padding + margin = 0.5em between prompt and cursor */
  padding: 0em 0.25em;
  margin: 0em 0.25em;
}
input.raw_input:focus {
  box-shadow: none;
}
p.p-space {
  margin-bottom: 10px;
}
div.output_unrecognized {
  padding: 5px;
  font-weight: bold;
  color: red;
}
div.output_unrecognized a {
  color: inherit;
  text-decoration: none;
}
div.output_unrecognized a:hover {
  color: inherit;
  text-decoration: none;
}
.rendered_html {
  color: #000;
  /* any extras will just be numbers: */
}
.rendered_html em {
  font-style: italic;
}
.rendered_html strong {
  font-weight: bold;
}
.rendered_html u {
  text-decoration: underline;
}
.rendered_html :link {
  text-decoration: underline;
}
.rendered_html :visited {
  text-decoration: underline;
}
.rendered_html h1 {
  font-size: 185.7%;
  margin: 1.08em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h2 {
  font-size: 157.1%;
  margin: 1.27em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h3 {
  font-size: 128.6%;
  margin: 1.55em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h4 {
  font-size: 100%;
  margin: 2em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h5 {
  font-size: 100%;
  margin: 2em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
  font-style: italic;
}
.rendered_html h6 {
  font-size: 100%;
  margin: 2em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
  font-style: italic;
}
.rendered_html h1:first-child {
  margin-top: 0.538em;
}
.rendered_html h2:first-child {
  margin-top: 0.636em;
}
.rendered_html h3:first-child {
  margin-top: 0.777em;
}
.rendered_html h4:first-child {
  margin-top: 1em;
}
.rendered_html h5:first-child {
  margin-top: 1em;
}
.rendered_html h6:first-child {
  margin-top: 1em;
}
.rendered_html ul:not(.list-inline),
.rendered_html ol:not(.list-inline) {
  padding-left: 2em;
}
.rendered_html ul {
  list-style: disc;
}
.rendered_html ul ul {
  list-style: square;
  margin-top: 0;
}
.rendered_html ul ul ul {
  list-style: circle;
}
.rendered_html ol {
  list-style: decimal;
}
.rendered_html ol ol {
  list-style: upper-alpha;
  margin-top: 0;
}
.rendered_html ol ol ol {
  list-style: lower-alpha;
}
.rendered_html ol ol ol ol {
  list-style: lower-roman;
}
.rendered_html ol ol ol ol ol {
  list-style: decimal;
}
.rendered_html * + ul {
  margin-top: 1em;
}
.rendered_html * + ol {
  margin-top: 1em;
}
.rendered_html hr {
  color: black;
  background-color: black;
}
.rendered_html pre {
  margin: 1em 2em;
  padding: 0px;
  background-color: #fff;
}
.rendered_html code {
  background-color: #eff0f1;
}
.rendered_html p code {
  padding: 1px 5px;
}
.rendered_html pre code {
  background-color: #fff;
}
.rendered_html pre,
.rendered_html code {
  border: 0;
  color: #000;
  font-size: 100%;
}
.rendered_html blockquote {
  margin: 1em 2em;
}
.rendered_html table {
  margin-left: auto;
  margin-right: auto;
  border: none;
  border-collapse: collapse;
  border-spacing: 0;
  color: black;
  font-size: 12px;
  table-layout: fixed;
}
.rendered_html thead {
  border-bottom: 1px solid black;
  vertical-align: bottom;
}
.rendered_html tr,
.rendered_html th,
.rendered_html td {
  text-align: right;
  vertical-align: middle;
  padding: 0.5em 0.5em;
  line-height: normal;
  white-space: normal;
  max-width: none;
  border: none;
}
.rendered_html th {
  font-weight: bold;
}
.rendered_html tbody tr:nth-child(odd) {
  background: #f5f5f5;
}
.rendered_html tbody tr:hover {
  background: rgba(66, 165, 245, 0.2);
}
.rendered_html * + table {
  margin-top: 1em;
}
.rendered_html p {
  text-align: left;
}
.rendered_html * + p {
  margin-top: 1em;
}
.rendered_html img {
  display: block;
  margin-left: auto;
  margin-right: auto;
}
.rendered_html * + img {
  margin-top: 1em;
}
.rendered_html img,
.rendered_html svg {
  max-width: 100%;
  height: auto;
}
.rendered_html img.unconfined,
.rendered_html svg.unconfined {
  max-width: none;
}
.rendered_html .alert {
  margin-bottom: initial;
}
.rendered_html * + .alert {
  margin-top: 1em;
}
[dir="rtl"] .rendered_html p {
  text-align: right;
}
div.text_cell {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
@media (max-width: 540px) {
  div.text_cell > div.prompt {
    display: none;
  }
}
div.text_cell_render {
  /*font-family: "Helvetica Neue", Arial, Helvetica, Geneva, sans-serif;*/
  outline: none;
  resize: none;
  width: inherit;
  border-style: none;
  padding: 0.5em 0.5em 0.5em 0.4em;
  color: #000;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
a.anchor-link:link {
  text-decoration: none;
  padding: 0px 20px;
  visibility: hidden;
}
h1:hover .anchor-link,
h2:hover .anchor-link,
h3:hover .anchor-link,
h4:hover .anchor-link,
h5:hover .anchor-link,
h6:hover .anchor-link {
  visibility: visible;
}
.text_cell.rendered .input_area {
  display: none;
}
.text_cell.rendered .rendered_html {
  overflow-x: auto;
  overflow-y: hidden;
}
.text_cell.rendered .rendered_html tr,
.text_cell.rendered .rendered_html th,
.text_cell.rendered .rendered_html td {
  max-width: none;
}
.text_cell.unrendered .text_cell_render {
  display: none;
}
.text_cell .dropzone .input_area {
  border: 2px dashed #bababa;
  margin: -1px;
}
.cm-header-1,
.cm-header-2,
.cm-header-3,
.cm-header-4,
.cm-header-5,
.cm-header-6 {
  font-weight: bold;
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
}
.cm-header-1 {
  font-size: 185.7%;
}
.cm-header-2 {
  font-size: 157.1%;
}
.cm-header-3 {
  font-size: 128.6%;
}
.cm-header-4 {
  font-size: 110%;
}
.cm-header-5 {
  font-size: 100%;
  font-style: italic;
}
.cm-header-6 {
  font-size: 100%;
  font-style: italic;
}
/*!
*
* IPython notebook webapp
*
*/
@media (max-width: 767px) {
  .notebook_app {
    padding-left: 0px;
    padding-right: 0px;
  }
}
#ipython-main-app {
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  height: 100%;
}
div#notebook_panel {
  margin: 0px;
  padding: 0px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  height: 100%;
}
div#notebook {
  font-size: 14px;
  line-height: 20px;
  overflow-y: hidden;
  overflow-x: auto;
  width: 100%;
  /* This spaces the page away from the edge of the notebook area */
  padding-top: 20px;
  margin: 0px;
  outline: none;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  min-height: 100%;
}
@media not print {
  #notebook-container {
    padding: 15px;
    background-color: #fff;
    min-height: 0;
    -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
    box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  }
}
@media print {
  #notebook-container {
    width: 100%;
  }
}
div.ui-widget-content {
  border: 1px solid #ababab;
  outline: none;
}
pre.dialog {
  background-color: #f7f7f7;
  border: 1px solid #ddd;
  border-radius: 2px;
  padding: 0.4em;
  padding-left: 2em;
}
p.dialog {
  padding: 0.2em;
}
/* Word-wrap output correctly.  This is the CSS3 spelling, though Firefox seems
   to not honor it correctly.  Webkit browsers (Chrome, rekonq, Safari) do.
 */
pre,
code,
kbd,
samp {
  white-space: pre-wrap;
}
#fonttest {
  font-family: monospace;
}
p {
  margin-bottom: 0;
}
.end_space {
  min-height: 100px;
  transition: height .2s ease;
}
.notebook_app > #header {
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
}
@media not print {
  .notebook_app {
    background-color: #EEE;
  }
}
kbd {
  border-style: solid;
  border-width: 1px;
  box-shadow: none;
  margin: 2px;
  padding-left: 2px;
  padding-right: 2px;
  padding-top: 1px;
  padding-bottom: 1px;
}
.jupyter-keybindings {
  padding: 1px;
  line-height: 24px;
  border-bottom: 1px solid gray;
}
.jupyter-keybindings input {
  margin: 0;
  padding: 0;
  border: none;
}
.jupyter-keybindings i {
  padding: 6px;
}
.well code {
  background-color: #ffffff;
  border-color: #ababab;
  border-width: 1px;
  border-style: solid;
  padding: 2px;
  padding-top: 1px;
  padding-bottom: 1px;
}
/* CSS for the cell toolbar */
.celltoolbar {
  border: thin solid #CFCFCF;
  border-bottom: none;
  background: #EEE;
  border-radius: 2px 2px 0px 0px;
  width: 100%;
  height: 29px;
  padding-right: 4px;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
  /* Old browsers */
  -webkit-box-pack: end;
  -moz-box-pack: end;
  box-pack: end;
  /* Modern browsers */
  justify-content: flex-end;
  display: -webkit-flex;
}
@media print {
  .celltoolbar {
    display: none;
  }
}
.ctb_hideshow {
  display: none;
  vertical-align: bottom;
}
/* ctb_show is added to the ctb_hideshow div to show the cell toolbar.
   Cell toolbars are only shown when the ctb_global_show class is also set.
*/
.ctb_global_show .ctb_show.ctb_hideshow {
  display: block;
}
.ctb_global_show .ctb_show + .input_area,
.ctb_global_show .ctb_show + div.text_cell_input,
.ctb_global_show .ctb_show ~ div.text_cell_render {
  border-top-right-radius: 0px;
  border-top-left-radius: 0px;
}
.ctb_global_show .ctb_show ~ div.text_cell_render {
  border: 1px solid #cfcfcf;
}
.celltoolbar {
  font-size: 87%;
  padding-top: 3px;
}
.celltoolbar select {
  display: block;
  width: 100%;
  height: 32px;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
  background-color: #fff;
  background-image: none;
  border: 1px solid #ccc;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  -webkit-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  -o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
  width: inherit;
  font-size: inherit;
  height: 22px;
  padding: 0px;
  display: inline-block;
}
.celltoolbar select:focus {
  border-color: #66afe9;
  outline: 0;
  -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
  box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
}
.celltoolbar select::-moz-placeholder {
  color: #999;
  opacity: 1;
}
.celltoolbar select:-ms-input-placeholder {
  color: #999;
}
.celltoolbar select::-webkit-input-placeholder {
  color: #999;
}
.celltoolbar select::-ms-expand {
  border: 0;
  background-color: transparent;
}
.celltoolbar select[disabled],
.celltoolbar select[readonly],
fieldset[disabled] .celltoolbar select {
  background-color: #eeeeee;
  opacity: 1;
}
.celltoolbar select[disabled],
fieldset[disabled] .celltoolbar select {
  cursor: not-allowed;
}
textarea.celltoolbar select {
  height: auto;
}
select.celltoolbar select {
  height: 30px;
  line-height: 30px;
}
textarea.celltoolbar select,
select[multiple].celltoolbar select {
  height: auto;
}
.celltoolbar label {
  margin-left: 5px;
  margin-right: 5px;
}
.tags_button_container {
  width: 100%;
  display: flex;
}
.tag-container {
  display: flex;
  flex-direction: row;
  flex-grow: 1;
  overflow: hidden;
  position: relative;
}
.tag-container > * {
  margin: 0 4px;
}
.remove-tag-btn {
  margin-left: 4px;
}
.tags-input {
  display: flex;
}
.cell-tag:last-child:after {
  content: "";
  position: absolute;
  right: 0;
  width: 40px;
  height: 100%;
  /* Fade to background color of cell toolbar */
  background: linear-gradient(to right, rgba(0, 0, 0, 0), #EEE);
}
.tags-input > * {
  margin-left: 4px;
}
.cell-tag,
.tags-input input,
.tags-input button {
  display: block;
  width: 100%;
  height: 32px;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
  background-color: #fff;
  background-image: none;
  border: 1px solid #ccc;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  -webkit-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  -o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
  box-shadow: none;
  width: inherit;
  font-size: inherit;
  height: 22px;
  line-height: 22px;
  padding: 0px 4px;
  display: inline-block;
}
.cell-tag:focus,
.tags-input input:focus,
.tags-input button:focus {
  border-color: #66afe9;
  outline: 0;
  -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
  box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
}
.cell-tag::-moz-placeholder,
.tags-input input::-moz-placeholder,
.tags-input button::-moz-placeholder {
  color: #999;
  opacity: 1;
}
.cell-tag:-ms-input-placeholder,
.tags-input input:-ms-input-placeholder,
.tags-input button:-ms-input-placeholder {
  color: #999;
}
.cell-tag::-webkit-input-placeholder,
.tags-input input::-webkit-input-placeholder,
.tags-input button::-webkit-input-placeholder {
  color: #999;
}
.cell-tag::-ms-expand,
.tags-input input::-ms-expand,
.tags-input button::-ms-expand {
  border: 0;
  background-color: transparent;
}
.cell-tag[disabled],
.tags-input input[disabled],
.tags-input button[disabled],
.cell-tag[readonly],
.tags-input input[readonly],
.tags-input button[readonly],
fieldset[disabled] .cell-tag,
fieldset[disabled] .tags-input input,
fieldset[disabled] .tags-input button {
  background-color: #eeeeee;
  opacity: 1;
}
.cell-tag[disabled],
.tags-input input[disabled],
.tags-input button[disabled],
fieldset[disabled] .cell-tag,
fieldset[disabled] .tags-input input,
fieldset[disabled] .tags-input button {
  cursor: not-allowed;
}
textarea.cell-tag,
textarea.tags-input input,
textarea.tags-input button {
  height: auto;
}
select.cell-tag,
select.tags-input input,
select.tags-input button {
  height: 30px;
  line-height: 30px;
}
textarea.cell-tag,
textarea.tags-input input,
textarea.tags-input button,
select[multiple].cell-tag,
select[multiple].tags-input input,
select[multiple].tags-input button {
  height: auto;
}
.cell-tag,
.tags-input button {
  padding: 0px 4px;
}
.cell-tag {
  background-color: #fff;
  white-space: nowrap;
}
.tags-input input[type=text]:focus {
  outline: none;
  box-shadow: none;
  border-color: #ccc;
}
.completions {
  position: absolute;
  z-index: 110;
  overflow: hidden;
  border: 1px solid #ababab;
  border-radius: 2px;
  -webkit-box-shadow: 0px 6px 10px -1px #adadad;
  box-shadow: 0px 6px 10px -1px #adadad;
  line-height: 1;
}
.completions select {
  background: white;
  outline: none;
  border: none;
  padding: 0px;
  margin: 0px;
  overflow: auto;
  font-family: monospace;
  font-size: 110%;
  color: #000;
  width: auto;
}
.completions select option.context {
  color: #286090;
}
#kernel_logo_widget .current_kernel_logo {
  display: none;
  margin-top: -1px;
  margin-bottom: -1px;
  width: 32px;
  height: 32px;
}
[dir="rtl"] #kernel_logo_widget {
  float: left !important;
  float: left;
}
.modal .modal-body .move-path {
  display: flex;
  flex-direction: row;
  justify-content: space;
  align-items: center;
}
.modal .modal-body .move-path .server-root {
  padding-right: 20px;
}
.modal .modal-body .move-path .path-input {
  flex: 1;
}
#menubar {
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  margin-top: 1px;
}
#menubar .navbar {
  border-top: 1px;
  border-radius: 0px 0px 2px 2px;
  margin-bottom: 0px;
}
#menubar .navbar-toggle {
  float: left;
  padding-top: 7px;
  padding-bottom: 7px;
  border: none;
}
#menubar .navbar-collapse {
  clear: left;
}
[dir="rtl"] #menubar .navbar-toggle {
  float: right;
}
[dir="rtl"] #menubar .navbar-collapse {
  clear: right;
}
[dir="rtl"] #menubar .navbar-nav {
  float: right;
}
[dir="rtl"] #menubar .nav {
  padding-right: 0px;
}
[dir="rtl"] #menubar .navbar-nav > li {
  float: right;
}
[dir="rtl"] #menubar .navbar-right {
  float: left !important;
}
[dir="rtl"] ul.dropdown-menu {
  text-align: right;
  left: auto;
}
[dir="rtl"] ul#new-menu.dropdown-menu {
  right: auto;
  left: 0;
}
.nav-wrapper {
  border-bottom: 1px solid #e7e7e7;
}
i.menu-icon {
  padding-top: 4px;
}
[dir="rtl"] i.menu-icon.pull-right {
  float: left !important;
  float: left;
}
ul#help_menu li a {
  overflow: hidden;
  padding-right: 2.2em;
}
ul#help_menu li a i {
  margin-right: -1.2em;
}
[dir="rtl"] ul#help_menu li a {
  padding-left: 2.2em;
}
[dir="rtl"] ul#help_menu li a i {
  margin-right: 0;
  margin-left: -1.2em;
}
[dir="rtl"] ul#help_menu li a i.pull-right {
  float: left !important;
  float: left;
}
.dropdown-submenu {
  position: relative;
}
.dropdown-submenu > .dropdown-menu {
  top: 0;
  left: 100%;
  margin-top: -6px;
  margin-left: -1px;
}
[dir="rtl"] .dropdown-submenu > .dropdown-menu {
  right: 100%;
  margin-right: -1px;
}
.dropdown-submenu:hover > .dropdown-menu {
  display: block;
}
.dropdown-submenu > a:after {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  display: block;
  content: "\f0da";
  float: right;
  color: #333333;
  margin-top: 2px;
  margin-right: -10px;
}
.dropdown-submenu > a:after.fa-pull-left {
  margin-right: .3em;
}
.dropdown-submenu > a:after.fa-pull-right {
  margin-left: .3em;
}
.dropdown-submenu > a:after.pull-left {
  margin-right: .3em;
}
.dropdown-submenu > a:after.pull-right {
  margin-left: .3em;
}
[dir="rtl"] .dropdown-submenu > a:after {
  float: left;
  content: "\f0d9";
  margin-right: 0;
  margin-left: -10px;
}
.dropdown-submenu:hover > a:after {
  color: #262626;
}
.dropdown-submenu.pull-left {
  float: none;
}
.dropdown-submenu.pull-left > .dropdown-menu {
  left: -100%;
  margin-left: 10px;
}
#notification_area {
  float: right !important;
  float: right;
  z-index: 10;
}
[dir="rtl"] #notification_area {
  float: left !important;
  float: left;
}
.indicator_area {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
}
[dir="rtl"] .indicator_area {
  float: left !important;
  float: left;
}
#kernel_indicator {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
  border-left: 1px solid;
}
#kernel_indicator .kernel_indicator_name {
  padding-left: 5px;
  padding-right: 5px;
}
[dir="rtl"] #kernel_indicator {
  float: left !important;
  float: left;
  border-left: 0;
  border-right: 1px solid;
}
#modal_indicator {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
}
[dir="rtl"] #modal_indicator {
  float: left !important;
  float: left;
}
#readonly-indicator {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
  margin-top: 2px;
  margin-bottom: 0px;
  margin-left: 0px;
  margin-right: 0px;
  display: none;
}
.modal_indicator:before {
  width: 1.28571429em;
  text-align: center;
}
.edit_mode .modal_indicator:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f040";
}
.edit_mode .modal_indicator:before.fa-pull-left {
  margin-right: .3em;
}
.edit_mode .modal_indicator:before.fa-pull-right {
  margin-left: .3em;
}
.edit_mode .modal_indicator:before.pull-left {
  margin-right: .3em;
}
.edit_mode .modal_indicator:before.pull-right {
  margin-left: .3em;
}
.command_mode .modal_indicator:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: ' ';
}
.command_mode .modal_indicator:before.fa-pull-left {
  margin-right: .3em;
}
.command_mode .modal_indicator:before.fa-pull-right {
  margin-left: .3em;
}
.command_mode .modal_indicator:before.pull-left {
  margin-right: .3em;
}
.command_mode .modal_indicator:before.pull-right {
  margin-left: .3em;
}
.kernel_idle_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f10c";
}
.kernel_idle_icon:before.fa-pull-left {
  margin-right: .3em;
}
.kernel_idle_icon:before.fa-pull-right {
  margin-left: .3em;
}
.kernel_idle_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_idle_icon:before.pull-right {
  margin-left: .3em;
}
.kernel_busy_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f111";
}
.kernel_busy_icon:before.fa-pull-left {
  margin-right: .3em;
}
.kernel_busy_icon:before.fa-pull-right {
  margin-left: .3em;
}
.kernel_busy_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_busy_icon:before.pull-right {
  margin-left: .3em;
}
.kernel_dead_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f1e2";
}
.kernel_dead_icon:before.fa-pull-left {
  margin-right: .3em;
}
.kernel_dead_icon:before.fa-pull-right {
  margin-left: .3em;
}
.kernel_dead_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_dead_icon:before.pull-right {
  margin-left: .3em;
}
.kernel_disconnected_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f127";
}
.kernel_disconnected_icon:before.fa-pull-left {
  margin-right: .3em;
}
.kernel_disconnected_icon:before.fa-pull-right {
  margin-left: .3em;
}
.kernel_disconnected_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_disconnected_icon:before.pull-right {
  margin-left: .3em;
}
.notification_widget {
  color: #777;
  z-index: 10;
  background: rgba(240, 240, 240, 0.5);
  margin-right: 4px;
  color: #333;
  background-color: #fff;
  border-color: #ccc;
}
.notification_widget:focus,
.notification_widget.focus {
  color: #333;
  background-color: #e6e6e6;
  border-color: #8c8c8c;
}
.notification_widget:hover {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.notification_widget:active,
.notification_widget.active,
.open > .dropdown-toggle.notification_widget {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.notification_widget:active:hover,
.notification_widget.active:hover,
.open > .dropdown-toggle.notification_widget:hover,
.notification_widget:active:focus,
.notification_widget.active:focus,
.open > .dropdown-toggle.notification_widget:focus,
.notification_widget:active.focus,
.notification_widget.active.focus,
.open > .dropdown-toggle.notification_widget.focus {
  color: #333;
  background-color: #d4d4d4;
  border-color: #8c8c8c;
}
.notification_widget:active,
.notification_widget.active,
.open > .dropdown-toggle.notification_widget {
  background-image: none;
}
.notification_widget.disabled:hover,
.notification_widget[disabled]:hover,
fieldset[disabled] .notification_widget:hover,
.notification_widget.disabled:focus,
.notification_widget[disabled]:focus,
fieldset[disabled] .notification_widget:focus,
.notification_widget.disabled.focus,
.notification_widget[disabled].focus,
fieldset[disabled] .notification_widget.focus {
  background-color: #fff;
  border-color: #ccc;
}
.notification_widget .badge {
  color: #fff;
  background-color: #333;
}
.notification_widget.warning {
  color: #fff;
  background-color: #f0ad4e;
  border-color: #eea236;
}
.notification_widget.warning:focus,
.notification_widget.warning.focus {
  color: #fff;
  background-color: #ec971f;
  border-color: #985f0d;
}
.notification_widget.warning:hover {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.notification_widget.warning:active,
.notification_widget.warning.active,
.open > .dropdown-toggle.notification_widget.warning {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.notification_widget.warning:active:hover,
.notification_widget.warning.active:hover,
.open > .dropdown-toggle.notification_widget.warning:hover,
.notification_widget.warning:active:focus,
.notification_widget.warning.active:focus,
.open > .dropdown-toggle.notification_widget.warning:focus,
.notification_widget.warning:active.focus,
.notification_widget.warning.active.focus,
.open > .dropdown-toggle.notification_widget.warning.focus {
  color: #fff;
  background-color: #d58512;
  border-color: #985f0d;
}
.notification_widget.warning:active,
.notification_widget.warning.active,
.open > .dropdown-toggle.notification_widget.warning {
  background-image: none;
}
.notification_widget.warning.disabled:hover,
.notification_widget.warning[disabled]:hover,
fieldset[disabled] .notification_widget.warning:hover,
.notification_widget.warning.disabled:focus,
.notification_widget.warning[disabled]:focus,
fieldset[disabled] .notification_widget.warning:focus,
.notification_widget.warning.disabled.focus,
.notification_widget.warning[disabled].focus,
fieldset[disabled] .notification_widget.warning.focus {
  background-color: #f0ad4e;
  border-color: #eea236;
}
.notification_widget.warning .badge {
  color: #f0ad4e;
  background-color: #fff;
}
.notification_widget.success {
  color: #fff;
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.notification_widget.success:focus,
.notification_widget.success.focus {
  color: #fff;
  background-color: #449d44;
  border-color: #255625;
}
.notification_widget.success:hover {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.notification_widget.success:active,
.notification_widget.success.active,
.open > .dropdown-toggle.notification_widget.success {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.notification_widget.success:active:hover,
.notification_widget.success.active:hover,
.open > .dropdown-toggle.notification_widget.success:hover,
.notification_widget.success:active:focus,
.notification_widget.success.active:focus,
.open > .dropdown-toggle.notification_widget.success:focus,
.notification_widget.success:active.focus,
.notification_widget.success.active.focus,
.open > .dropdown-toggle.notification_widget.success.focus {
  color: #fff;
  background-color: #398439;
  border-color: #255625;
}
.notification_widget.success:active,
.notification_widget.success.active,
.open > .dropdown-toggle.notification_widget.success {
  background-image: none;
}
.notification_widget.success.disabled:hover,
.notification_widget.success[disabled]:hover,
fieldset[disabled] .notification_widget.success:hover,
.notification_widget.success.disabled:focus,
.notification_widget.success[disabled]:focus,
fieldset[disabled] .notification_widget.success:focus,
.notification_widget.success.disabled.focus,
.notification_widget.success[disabled].focus,
fieldset[disabled] .notification_widget.success.focus {
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.notification_widget.success .badge {
  color: #5cb85c;
  background-color: #fff;
}
.notification_widget.info {
  color: #fff;
  background-color: #5bc0de;
  border-color: #46b8da;
}
.notification_widget.info:focus,
.notification_widget.info.focus {
  color: #fff;
  background-color: #31b0d5;
  border-color: #1b6d85;
}
.notification_widget.info:hover {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.notification_widget.info:active,
.notification_widget.info.active,
.open > .dropdown-toggle.notification_widget.info {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.notification_widget.info:active:hover,
.notification_widget.info.active:hover,
.open > .dropdown-toggle.notification_widget.info:hover,
.notification_widget.info:active:focus,
.notification_widget.info.active:focus,
.open > .dropdown-toggle.notification_widget.info:focus,
.notification_widget.info:active.focus,
.notification_widget.info.active.focus,
.open > .dropdown-toggle.notification_widget.info.focus {
  color: #fff;
  background-color: #269abc;
  border-color: #1b6d85;
}
.notification_widget.info:active,
.notification_widget.info.active,
.open > .dropdown-toggle.notification_widget.info {
  background-image: none;
}
.notification_widget.info.disabled:hover,
.notification_widget.info[disabled]:hover,
fieldset[disabled] .notification_widget.info:hover,
.notification_widget.info.disabled:focus,
.notification_widget.info[disabled]:focus,
fieldset[disabled] .notification_widget.info:focus,
.notification_widget.info.disabled.focus,
.notification_widget.info[disabled].focus,
fieldset[disabled] .notification_widget.info.focus {
  background-color: #5bc0de;
  border-color: #46b8da;
}
.notification_widget.info .badge {
  color: #5bc0de;
  background-color: #fff;
}
.notification_widget.danger {
  color: #fff;
  background-color: #d9534f;
  border-color: #d43f3a;
}
.notification_widget.danger:focus,
.notification_widget.danger.focus {
  color: #fff;
  background-color: #c9302c;
  border-color: #761c19;
}
.notification_widget.danger:hover {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.notification_widget.danger:active,
.notification_widget.danger.active,
.open > .dropdown-toggle.notification_widget.danger {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.notification_widget.danger:active:hover,
.notification_widget.danger.active:hover,
.open > .dropdown-toggle.notification_widget.danger:hover,
.notification_widget.danger:active:focus,
.notification_widget.danger.active:focus,
.open > .dropdown-toggle.notification_widget.danger:focus,
.notification_widget.danger:active.focus,
.notification_widget.danger.active.focus,
.open > .dropdown-toggle.notification_widget.danger.focus {
  color: #fff;
  background-color: #ac2925;
  border-color: #761c19;
}
.notification_widget.danger:active,
.notification_widget.danger.active,
.open > .dropdown-toggle.notification_widget.danger {
  background-image: none;
}
.notification_widget.danger.disabled:hover,
.notification_widget.danger[disabled]:hover,
fieldset[disabled] .notification_widget.danger:hover,
.notification_widget.danger.disabled:focus,
.notification_widget.danger[disabled]:focus,
fieldset[disabled] .notification_widget.danger:focus,
.notification_widget.danger.disabled.focus,
.notification_widget.danger[disabled].focus,
fieldset[disabled] .notification_widget.danger.focus {
  background-color: #d9534f;
  border-color: #d43f3a;
}
.notification_widget.danger .badge {
  color: #d9534f;
  background-color: #fff;
}
div#pager {
  background-color: #fff;
  font-size: 14px;
  line-height: 20px;
  overflow: hidden;
  display: none;
  position: fixed;
  bottom: 0px;
  width: 100%;
  max-height: 50%;
  padding-top: 8px;
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  /* Display over codemirror */
  z-index: 100;
  /* Hack which prevents jquery ui resizable from changing top. */
  top: auto !important;
}
div#pager pre {
  line-height: 1.21429em;
  color: #000;
  background-color: #f7f7f7;
  padding: 0.4em;
}
div#pager #pager-button-area {
  position: absolute;
  top: 8px;
  right: 20px;
}
div#pager #pager-contents {
  position: relative;
  overflow: auto;
  width: 100%;
  height: 100%;
}
div#pager #pager-contents #pager-container {
  position: relative;
  padding: 15px 0px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
div#pager .ui-resizable-handle {
  top: 0px;
  height: 8px;
  background: #f7f7f7;
  border-top: 1px solid #cfcfcf;
  border-bottom: 1px solid #cfcfcf;
  /* This injects handle bars (a short, wide = symbol) for 
        the resize handle. */
}
div#pager .ui-resizable-handle::after {
  content: '';
  top: 2px;
  left: 50%;
  height: 3px;
  width: 30px;
  margin-left: -15px;
  position: absolute;
  border-top: 1px solid #cfcfcf;
}
.quickhelp {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
  line-height: 1.8em;
}
.shortcut_key {
  display: inline-block;
  width: 21ex;
  text-align: right;
  font-family: monospace;
}
.shortcut_descr {
  display: inline-block;
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
span.save_widget {
  height: 30px;
  margin-top: 4px;
  display: flex;
  justify-content: flex-start;
  align-items: baseline;
  width: 50%;
  flex: 1;
}
span.save_widget span.filename {
  height: 100%;
  line-height: 1em;
  margin-left: 16px;
  border: none;
  font-size: 146.5%;
  text-overflow: ellipsis;
  overflow: hidden;
  white-space: nowrap;
  border-radius: 2px;
}
span.save_widget span.filename:hover {
  background-color: #e6e6e6;
}
[dir="rtl"] span.save_widget.pull-left {
  float: right !important;
  float: right;
}
[dir="rtl"] span.save_widget span.filename {
  margin-left: 0;
  margin-right: 16px;
}
span.checkpoint_status,
span.autosave_status {
  font-size: small;
  white-space: nowrap;
  padding: 0 5px;
}
@media (max-width: 767px) {
  span.save_widget {
    font-size: small;
    padding: 0 0 0 5px;
  }
  span.checkpoint_status,
  span.autosave_status {
    display: none;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  span.checkpoint_status {
    display: none;
  }
  span.autosave_status {
    font-size: x-small;
  }
}
.toolbar {
  padding: 0px;
  margin-left: -5px;
  margin-top: 2px;
  margin-bottom: 5px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
.toolbar select,
.toolbar label {
  width: auto;
  vertical-align: middle;
  margin-right: 2px;
  margin-bottom: 0px;
  display: inline;
  font-size: 92%;
  margin-left: 0.3em;
  margin-right: 0.3em;
  padding: 0px;
  padding-top: 3px;
}
.toolbar .btn {
  padding: 2px 8px;
}
.toolbar .btn-group {
  margin-top: 0px;
  margin-left: 5px;
}
.toolbar-btn-label {
  margin-left: 6px;
}
#maintoolbar {
  margin-bottom: -3px;
  margin-top: -8px;
  border: 0px;
  min-height: 27px;
  margin-left: 0px;
  padding-top: 11px;
  padding-bottom: 3px;
}
#maintoolbar .navbar-text {
  float: none;
  vertical-align: middle;
  text-align: right;
  margin-left: 5px;
  margin-right: 0px;
  margin-top: 0px;
}
.select-xs {
  height: 24px;
}
[dir="rtl"] .btn-group > .btn,
.btn-group-vertical > .btn {
  float: right;
}
.pulse,
.dropdown-menu > li > a.pulse,
li.pulse > a.dropdown-toggle,
li.pulse.open > a.dropdown-toggle {
  background-color: #F37626;
  color: white;
}
/**
 * Primary styles
 *
 * Author: Jupyter Development Team
 */
/** WARNING IF YOU ARE EDITTING THIS FILE, if this is a .css file, It has a lot
 * of chance of beeing generated from the ../less/[samename].less file, you can
 * try to get back the less file by reverting somme commit in history
 **/
/*
 * We'll try to get something pretty, so we
 * have some strange css to have the scroll bar on
 * the left with fix button on the top right of the tooltip
 */
@-moz-keyframes fadeOut {
  from {
    opacity: 1;
  }
  to {
    opacity: 0;
  }
}
@-webkit-keyframes fadeOut {
  from {
    opacity: 1;
  }
  to {
    opacity: 0;
  }
}
@-moz-keyframes fadeIn {
  from {
    opacity: 0;
  }
  to {
    opacity: 1;
  }
}
@-webkit-keyframes fadeIn {
  from {
    opacity: 0;
  }
  to {
    opacity: 1;
  }
}
/*properties of tooltip after "expand"*/
.bigtooltip {
  overflow: auto;
  height: 200px;
  -webkit-transition-property: height;
  -webkit-transition-duration: 500ms;
  -moz-transition-property: height;
  -moz-transition-duration: 500ms;
  transition-property: height;
  transition-duration: 500ms;
}
/*properties of tooltip before "expand"*/
.smalltooltip {
  -webkit-transition-property: height;
  -webkit-transition-duration: 500ms;
  -moz-transition-property: height;
  -moz-transition-duration: 500ms;
  transition-property: height;
  transition-duration: 500ms;
  text-overflow: ellipsis;
  overflow: hidden;
  height: 80px;
}
.tooltipbuttons {
  position: absolute;
  padding-right: 15px;
  top: 0px;
  right: 0px;
}
.tooltiptext {
  /*avoid the button to overlap on some docstring*/
  padding-right: 30px;
}
.ipython_tooltip {
  max-width: 700px;
  /*fade-in animation when inserted*/
  -webkit-animation: fadeOut 400ms;
  -moz-animation: fadeOut 400ms;
  animation: fadeOut 400ms;
  -webkit-animation: fadeIn 400ms;
  -moz-animation: fadeIn 400ms;
  animation: fadeIn 400ms;
  vertical-align: middle;
  background-color: #f7f7f7;
  overflow: visible;
  border: #ababab 1px solid;
  outline: none;
  padding: 3px;
  margin: 0px;
  padding-left: 7px;
  font-family: monospace;
  min-height: 50px;
  -moz-box-shadow: 0px 6px 10px -1px #adadad;
  -webkit-box-shadow: 0px 6px 10px -1px #adadad;
  box-shadow: 0px 6px 10px -1px #adadad;
  border-radius: 2px;
  position: absolute;
  z-index: 1000;
}
.ipython_tooltip a {
  float: right;
}
.ipython_tooltip .tooltiptext pre {
  border: 0;
  border-radius: 0;
  font-size: 100%;
  background-color: #f7f7f7;
}
.pretooltiparrow {
  left: 0px;
  margin: 0px;
  top: -16px;
  width: 40px;
  height: 16px;
  overflow: hidden;
  position: absolute;
}
.pretooltiparrow:before {
  background-color: #f7f7f7;
  border: 1px #ababab solid;
  z-index: 11;
  content: "";
  position: absolute;
  left: 15px;
  top: 10px;
  width: 25px;
  height: 25px;
  -webkit-transform: rotate(45deg);
  -moz-transform: rotate(45deg);
  -ms-transform: rotate(45deg);
  -o-transform: rotate(45deg);
}
ul.typeahead-list i {
  margin-left: -10px;
  width: 18px;
}
[dir="rtl"] ul.typeahead-list i {
  margin-left: 0;
  margin-right: -10px;
}
ul.typeahead-list {
  max-height: 80vh;
  overflow: auto;
}
ul.typeahead-list > li > a {
  /** Firefox bug **/
  /* see https://github.com/jupyter/notebook/issues/559 */
  white-space: normal;
}
ul.typeahead-list  > li > a.pull-right {
  float: left !important;
  float: left;
}
[dir="rtl"] .typeahead-list {
  text-align: right;
}
.cmd-palette .modal-body {
  padding: 7px;
}
.cmd-palette form {
  background: white;
}
.cmd-palette input {
  outline: none;
}
.no-shortcut {
  min-width: 20px;
  color: transparent;
}
[dir="rtl"] .no-shortcut.pull-right {
  float: left !important;
  float: left;
}
[dir="rtl"] .command-shortcut.pull-right {
  float: left !important;
  float: left;
}
.command-shortcut:before {
  content: "(command mode)";
  padding-right: 3px;
  color: #777777;
}
.edit-shortcut:before {
  content: "(edit)";
  padding-right: 3px;
  color: #777777;
}
[dir="rtl"] .edit-shortcut.pull-right {
  float: left !important;
  float: left;
}
#find-and-replace #replace-preview .match,
#find-and-replace #replace-preview .insert {
  background-color: #BBDEFB;
  border-color: #90CAF9;
  border-style: solid;
  border-width: 1px;
  border-radius: 0px;
}
[dir="ltr"] #find-and-replace .input-group-btn + .form-control {
  border-left: none;
}
[dir="rtl"] #find-and-replace .input-group-btn + .form-control {
  border-right: none;
}
#find-and-replace #replace-preview .replace .match {
  background-color: #FFCDD2;
  border-color: #EF9A9A;
  border-radius: 0px;
}
#find-and-replace #replace-preview .replace .insert {
  background-color: #C8E6C9;
  border-color: #A5D6A7;
  border-radius: 0px;
}
#find-and-replace #replace-preview {
  max-height: 60vh;
  overflow: auto;
}
#find-and-replace #replace-preview pre {
  padding: 5px 10px;
}
.terminal-app {
  background: #EEE;
}
.terminal-app #header {
  background: #fff;
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
}
.terminal-app .terminal {
  width: 100%;
  float: left;
  font-family: monospace;
  color: white;
  background: black;
  padding: 0.4em;
  border-radius: 2px;
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.4);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.4);
}
.terminal-app .terminal,
.terminal-app .terminal dummy-screen {
  line-height: 1em;
  font-size: 14px;
}
.terminal-app .terminal .xterm-rows {
  padding: 10px;
}
.terminal-app .terminal-cursor {
  color: black;
  background: white;
}
.terminal-app #terminado-container {
  margin-top: 20px;
}
/*# sourceMappingURL=style.min.css.map */
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<style type="text/css">
    .highlight .hll { background-color: #ffffcc }
.highlight  { background: #f8f8f8; }
.highlight .c { color: #408080; font-style: italic } /* Comment */
.highlight .err { border: 1px solid #FF0000 } /* Error */
.highlight .k { color: #008000; font-weight: bold } /* Keyword */
.highlight .o { color: #666666 } /* Operator */
.highlight .ch { color: #408080; font-style: italic } /* Comment.Hashbang */
.highlight .cm { color: #408080; font-style: italic } /* Comment.Multiline */
.highlight .cp { color: #BC7A00 } /* Comment.Preproc */
.highlight .cpf { color: #408080; font-style: italic } /* Comment.PreprocFile */
.highlight .c1 { color: #408080; font-style: italic } /* Comment.Single */
.highlight .cs { color: #408080; font-style: italic } /* Comment.Special */
.highlight .gd { color: #A00000 } /* Generic.Deleted */
.highlight .ge { font-style: italic } /* Generic.Emph */
.highlight .gr { color: #FF0000 } /* Generic.Error */
.highlight .gh { color: #000080; font-weight: bold } /* Generic.Heading */
.highlight .gi { color: #00A000 } /* Generic.Inserted */
.highlight .go { color: #888888 } /* Generic.Output */
.highlight .gp { color: #000080; font-weight: bold } /* Generic.Prompt */
.highlight .gs { font-weight: bold } /* Generic.Strong */
.highlight .gu { color: #800080; font-weight: bold } /* Generic.Subheading */
.highlight .gt { color: #0044DD } /* Generic.Traceback */
.highlight .kc { color: #008000; font-weight: bold } /* Keyword.Constant */
.highlight .kd { color: #008000; font-weight: bold } /* Keyword.Declaration */
.highlight .kn { color: #008000; font-weight: bold } /* Keyword.Namespace */
.highlight .kp { color: #008000 } /* Keyword.Pseudo */
.highlight .kr { color: #008000; font-weight: bold } /* Keyword.Reserved */
.highlight .kt { color: #B00040 } /* Keyword.Type */
.highlight .m { color: #666666 } /* Literal.Number */
.highlight .s { color: #BA2121 } /* Literal.String */
.highlight .na { color: #7D9029 } /* Name.Attribute */
.highlight .nb { color: #008000 } /* Name.Builtin */
.highlight .nc { color: #0000FF; font-weight: bold } /* Name.Class */
.highlight .no { color: #880000 } /* Name.Constant */
.highlight .nd { color: #AA22FF } /* Name.Decorator */
.highlight .ni { color: #999999; font-weight: bold } /* Name.Entity */
.highlight .ne { color: #D2413A; font-weight: bold } /* Name.Exception */
.highlight .nf { color: #0000FF } /* Name.Function */
.highlight .nl { color: #A0A000 } /* Name.Label */
.highlight .nn { color: #0000FF; font-weight: bold } /* Name.Namespace */
.highlight .nt { color: #008000; font-weight: bold } /* Name.Tag */
.highlight .nv { color: #19177C } /* Name.Variable */
.highlight .ow { color: #AA22FF; font-weight: bold } /* Operator.Word */
.highlight .w { color: #bbbbbb } /* Text.Whitespace */
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.highlight .mi { color: #666666 } /* Literal.Number.Integer */
.highlight .mo { color: #666666 } /* Literal.Number.Oct */
.highlight .sa { color: #BA2121 } /* Literal.String.Affix */
.highlight .sb { color: #BA2121 } /* Literal.String.Backtick */
.highlight .sc { color: #BA2121 } /* Literal.String.Char */
.highlight .dl { color: #BA2121 } /* Literal.String.Delimiter */
.highlight .sd { color: #BA2121; font-style: italic } /* Literal.String.Doc */
.highlight .s2 { color: #BA2121 } /* Literal.String.Double */
.highlight .se { color: #BB6622; font-weight: bold } /* Literal.String.Escape */
.highlight .sh { color: #BA2121 } /* Literal.String.Heredoc */
.highlight .si { color: #BB6688; font-weight: bold } /* Literal.String.Interpol */
.highlight .sx { color: #008000 } /* Literal.String.Other */
.highlight .sr { color: #BB6688 } /* Literal.String.Regex */
.highlight .s1 { color: #BA2121 } /* Literal.String.Single */
.highlight .ss { color: #19177C } /* Literal.String.Symbol */
.highlight .bp { color: #008000 } /* Name.Builtin.Pseudo */
.highlight .fm { color: #0000FF } /* Name.Function.Magic */
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.highlight .vg { color: #19177C } /* Name.Variable.Global */
.highlight .vi { color: #19177C } /* Name.Variable.Instance */
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.highlight .il { color: #666666 } /* Literal.Number.Integer.Long */
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<style type="text/css">
    
/* Temporary definitions which will become obsolete with Notebook release 5.0 */
.ansi-black-fg { color: #3E424D; }
.ansi-black-bg { background-color: #3E424D; }
.ansi-black-intense-fg { color: #282C36; }
.ansi-black-intense-bg { background-color: #282C36; }
.ansi-red-fg { color: #E75C58; }
.ansi-red-bg { background-color: #E75C58; }
.ansi-red-intense-fg { color: #B22B31; }
.ansi-red-intense-bg { background-color: #B22B31; }
.ansi-green-fg { color: #00A250; }
.ansi-green-bg { background-color: #00A250; }
.ansi-green-intense-fg { color: #007427; }
.ansi-green-intense-bg { background-color: #007427; }
.ansi-yellow-fg { color: #DDB62B; }
.ansi-yellow-bg { background-color: #DDB62B; }
.ansi-yellow-intense-fg { color: #B27D12; }
.ansi-yellow-intense-bg { background-color: #B27D12; }
.ansi-blue-fg { color: #208FFB; }
.ansi-blue-bg { background-color: #208FFB; }
.ansi-blue-intense-fg { color: #0065CA; }
.ansi-blue-intense-bg { background-color: #0065CA; }
.ansi-magenta-fg { color: #D160C4; }
.ansi-magenta-bg { background-color: #D160C4; }
.ansi-magenta-intense-fg { color: #A03196; }
.ansi-magenta-intense-bg { background-color: #A03196; }
.ansi-cyan-fg { color: #60C6C8; }
.ansi-cyan-bg { background-color: #60C6C8; }
.ansi-cyan-intense-fg { color: #258F8F; }
.ansi-cyan-intense-bg { background-color: #258F8F; }
.ansi-white-fg { color: #C5C1B4; }
.ansi-white-bg { background-color: #C5C1B4; }
.ansi-white-intense-fg { color: #A1A6B2; }
.ansi-white-intense-bg { background-color: #A1A6B2; }

.ansi-bold { font-weight: bold; }

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<style type="text/css">
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<h1 id="Project:-Train-a-Quadcopter-How-to-Fly">Project: Train a Quadcopter How to Fly<a class="anchor-link" href="#Project:-Train-a-Quadcopter-How-to-Fly">&#182;</a></h1><p>Design an agent to fly a quadcopter, and then train it using a reinforcement learning algorithm of your choice!</p>
<p>Try to apply the techniques you have learnt, but also feel free to come up with innovative ideas and test them.</p>

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<h2 id="Instructions">Instructions<a class="anchor-link" href="#Instructions">&#182;</a></h2><p>Take a look at the files in the directory to better understand the structure of the project.</p>
<ul>
<li><code>task.py</code>: Define your task (environment) in this file.</li>
<li><code>agents/</code>: Folder containing reinforcement learning agents.<ul>
<li><code>policy_search.py</code>: A sample agent has been provided here.</li>
<li><code>agent.py</code>: Develop your agent here.</li>
</ul>
</li>
<li><code>physics_sim.py</code>: This file contains the simulator for the quadcopter.  <strong>DO NOT MODIFY THIS FILE</strong>.</li>
</ul>
<p>For this project, you will define your own task in <code>task.py</code>.  Although we have provided a example task to get you started, you are encouraged to change it.  Later in this notebook, you will learn more about how to amend this file.</p>
<p>You will also design a reinforcement learning agent in <code>agent.py</code> to complete your chosen task.</p>
<p>You are welcome to create any additional files to help you to organize your code.  For instance, you may find it useful to define a <code>model.py</code> file defining any needed neural network architectures.</p>
<h2 id="Controlling-the-Quadcopter">Controlling the Quadcopter<a class="anchor-link" href="#Controlling-the-Quadcopter">&#182;</a></h2><p>We provide a sample agent in the code cell below to show you how to use the sim to control the quadcopter.  This agent is even simpler than the sample agent that you'll examine (in <code>agents/policy_search.py</code>) later in this notebook!</p>
<p>The agent controls the quadcopter by setting the revolutions per second on each of its four rotors.  The provided agent in the <code>Basic_Agent</code> class below always selects a random action for each of the four rotors.  These four speeds are returned by the <code>act</code> method as a list of four floating-point numbers.</p>
<p>For this project, the agent that you will implement in <code>agents/agent.py</code> will have a far more intelligent method for selecting actions!</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># !conda create -n quadcop python=3.6 matplotlib numpy pandas</span>
<span class="c1"># ! source activate quadcop</span>
<span class="o">!</span> python --version
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<pre>Python 2.7.15rc1
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<div class=" highlight hl-ipython3"><pre><span></span><span class="kn">import</span> <span class="nn">random</span>

<span class="k">class</span> <span class="nc">Basic_Agent</span><span class="p">():</span>
    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">task</span><span class="p">):</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">task</span> <span class="o">=</span> <span class="n">task</span>
    
    <span class="k">def</span> <span class="nf">act</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="n">new_thrust</span> <span class="o">=</span> <span class="n">random</span><span class="o">.</span><span class="n">gauss</span><span class="p">(</span><span class="mf">450.</span><span class="p">,</span> <span class="mf">25.</span><span class="p">)</span>
        <span class="k">return</span> <span class="p">[</span><span class="n">new_thrust</span> <span class="o">+</span> <span class="n">random</span><span class="o">.</span><span class="n">gauss</span><span class="p">(</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">1.</span><span class="p">)</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">4</span><span class="p">)]</span>
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<p>Run the code cell below to have the agent select actions to control the quadcopter.</p>
<p>Feel free to change the provided values of <code>runtime</code>, <code>init_pose</code>, <code>init_velocities</code>, and <code>init_angle_velocities</code> below to change the starting conditions of the quadcopter.</p>
<p>The <code>labels</code> list below annotates statistics that are saved while running the simulation.  All of this information is saved in a text file <code>data.txt</code> and stored in the dictionary <code>results</code>.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="o">%</span><span class="k">load_ext</span> autoreload
<span class="o">%</span><span class="k">autoreload</span> 2

<span class="kn">import</span> <span class="nn">csv</span>
<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="kn">from</span> <span class="nn">task</span> <span class="k">import</span> <span class="n">Task</span>
<span class="kn">from</span> <span class="nn">agents.agent</span> <span class="k">import</span> <span class="n">AgentOculus</span>

<span class="c1"># Modify the values below to give the quadcopter a different starting position.</span>
<span class="n">runtime</span> <span class="o">=</span> <span class="mf">5.</span>                                     <span class="c1"># time limit of the episode</span>
<span class="n">init_pose</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">10.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>  <span class="c1"># initial pose</span>
<span class="n">init_velocities</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>         <span class="c1"># initial velocities</span>
<span class="n">init_angle_velocities</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>   <span class="c1"># initial angle velocities</span>
<span class="n">file_output</span> <span class="o">=</span> <span class="s1">&#39;data.txt&#39;</span>                         <span class="c1"># file name for saved results</span>

<span class="c1"># Setup</span>
<span class="n">task</span> <span class="o">=</span> <span class="n">Task</span><span class="p">(</span><span class="n">init_pose</span><span class="p">,</span> <span class="n">init_velocities</span><span class="p">,</span> <span class="n">init_angle_velocities</span><span class="p">,</span> <span class="n">runtime</span><span class="p">)</span>
<span class="n">agent</span> <span class="o">=</span> <span class="n">Basic_Agent</span><span class="p">(</span><span class="n">task</span><span class="p">)</span>
<span class="c1"># agent = AgentOculus(my_task)</span>
<span class="n">done</span> <span class="o">=</span> <span class="kc">False</span>
<span class="n">labels</span> <span class="o">=</span> <span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">,</span> <span class="s1">&#39;x&#39;</span><span class="p">,</span> <span class="s1">&#39;y&#39;</span><span class="p">,</span> <span class="s1">&#39;z&#39;</span><span class="p">,</span> <span class="s1">&#39;phi&#39;</span><span class="p">,</span> <span class="s1">&#39;theta&#39;</span><span class="p">,</span> <span class="s1">&#39;psi&#39;</span><span class="p">,</span> <span class="s1">&#39;x_velocity&#39;</span><span class="p">,</span>
          <span class="s1">&#39;y_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;z_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;phi_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;theta_velocity&#39;</span><span class="p">,</span>
          <span class="s1">&#39;psi_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed1&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed2&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed3&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed4&#39;</span><span class="p">]</span>
<span class="n">results</span> <span class="o">=</span> <span class="p">{</span><span class="n">x</span> <span class="p">:</span> <span class="p">[]</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="n">labels</span><span class="p">}</span>

<span class="c1"># Run the simulation, and save the results.</span>
<span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">file_output</span><span class="p">,</span> <span class="s1">&#39;w&#39;</span><span class="p">)</span> <span class="k">as</span> <span class="n">csvfile</span><span class="p">:</span>
    <span class="n">writer</span> <span class="o">=</span> <span class="n">csv</span><span class="o">.</span><span class="n">writer</span><span class="p">(</span><span class="n">csvfile</span><span class="p">)</span>
    <span class="n">writer</span><span class="o">.</span><span class="n">writerow</span><span class="p">(</span><span class="n">labels</span><span class="p">)</span>
    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
        <span class="n">rotor_speeds</span> <span class="o">=</span> <span class="n">agent</span><span class="o">.</span><span class="n">act</span><span class="p">()</span>
        <span class="n">_</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">done</span> <span class="o">=</span> <span class="n">task</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">rotor_speeds</span><span class="p">)</span>
        <span class="n">to_write</span> <span class="o">=</span> <span class="p">[</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">time</span><span class="p">]</span> <span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">pose</span><span class="p">)</span> <span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">v</span><span class="p">)</span> <span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">angular_v</span><span class="p">)</span> <span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">rotor_speeds</span><span class="p">)</span>
        <span class="k">for</span> <span class="n">ii</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">labels</span><span class="p">)):</span>
            <span class="n">results</span><span class="p">[</span><span class="n">labels</span><span class="p">[</span><span class="n">ii</span><span class="p">]]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">to_write</span><span class="p">[</span><span class="n">ii</span><span class="p">])</span>
        <span class="n">writer</span><span class="o">.</span><span class="n">writerow</span><span class="p">(</span><span class="n">to_write</span><span class="p">)</span>
        <span class="k">if</span> <span class="n">done</span><span class="p">:</span>
            <span class="k">break</span>
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<pre>The autoreload extension is already loaded. To reload it, use:
  %reload_ext autoreload
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<pre>Using TensorFlow backend.
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<p>Run the code cell below to visualize how the position of the quadcopter evolved during the simulation.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="kn">import</span> <span class="nn">matplotlib.pyplot</span> <span class="k">as</span> <span class="nn">plt</span>
<span class="o">%</span><span class="k">matplotlib</span> inline

<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;x&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;x&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;y&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;y&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;z&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;z&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
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<p>The next code cell visualizes the velocity of the quadcopter.</p>

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<div class="prompt input_prompt">In&nbsp;[10]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;x_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;x_hat&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;y_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;y_hat&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;z_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;z_hat&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
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<p>Next, you can plot the Euler angles (the rotation of the quadcopter over the $x$-, $y$-, and $z$-axes),</p>

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<div class="prompt input_prompt">In&nbsp;[11]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;phi&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;phi&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;theta&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;theta&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;psi&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;psi&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
</pre></div>

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>
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<p>before plotting the velocities (in radians per second) corresponding to each of the Euler angles.</p>

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<div class="prompt input_prompt">In&nbsp;[12]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;phi_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;phi_velocity&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;theta_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;theta_velocity&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;psi_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;psi_velocity&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
</pre></div>

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<p>Finally, you can use the code cell below to print the agent's choice of actions.</p>

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<div class="prompt input_prompt">In&nbsp;[13]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed1&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 1 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed2&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 2 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed3&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 3 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed4&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 4 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
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<p>When specifying a task, you will derive the environment state from the simulator.  Run the code cell below to print the values of the following variables at the end of the simulation:</p>
<ul>
<li><code>task.sim.pose</code> (the position of the quadcopter in ($x,y,z$) dimensions and the Euler angles),</li>
<li><code>task.sim.v</code> (the velocity of the quadcopter in ($x,y,z$) dimensions), and</li>
<li><code>task.sim.angular_v</code> (radians/second for each of the three Euler angles).</li>
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<div class="prompt input_prompt">In&nbsp;[14]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># the pose, velocity, and angular velocity of the quadcopter at the end of the episode</span>
<span class="nb">print</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">pose</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">v</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">angular_v</span><span class="p">)</span>
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<pre>[ 22.21653616 -10.1683811   26.03536192   6.06442211   5.63222923
   0.        ]
[12.2832532  -5.58720025  1.63524468]
[-0.09766829 -0.23741394  0.        ]
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<p>In the sample task in <code>task.py</code>, we use the 6-dimensional pose of the quadcopter to construct the state of the environment at each timestep.  However, when amending the task for your purposes, you are welcome to expand the size of the state vector by including the velocity information.  You can use any combination of the pose, velocity, and angular velocity - feel free to tinker here, and construct the state to suit your task.</p>
<h2 id="The-Task">The Task<a class="anchor-link" href="#The-Task">&#182;</a></h2><p>A sample task has been provided for you in <code>task.py</code>.  Open this file in a new window now.</p>
<p>The <code>__init__()</code> method is used to initialize several variables that are needed to specify the task.</p>
<ul>
<li>The simulator is initialized as an instance of the <code>PhysicsSim</code> class (from <code>physics_sim.py</code>).  </li>
<li>Inspired by the methodology in the original DDPG paper, we make use of action repeats.  For each timestep of the agent, we step the simulation <code>action_repeats</code> timesteps.  If you are not familiar with action repeats, please read the <strong>Results</strong> section in <a href="https://arxiv.org/abs/1509.02971">the DDPG paper</a>.</li>
<li>We set the number of elements in the state vector.  For the sample task, we only work with the 6-dimensional pose information.  To set the size of the state (<code>state_size</code>), we must take action repeats into account.  </li>
<li>The environment will always have a 4-dimensional action space, with one entry for each rotor (<code>action_size=4</code>). You can set the minimum (<code>action_low</code>) and maximum (<code>action_high</code>) values of each entry here.</li>
<li>The sample task in this provided file is for the agent to reach a target position.  We specify that target position as a variable.</li>
</ul>
<p>The <code>reset()</code> method resets the simulator.  The agent should call this method every time the episode ends.  You can see an example of this in the code cell below.</p>
<p>The <code>step()</code> method is perhaps the most important.  It accepts the agent's choice of action <code>rotor_speeds</code>, which is used to prepare the next state to pass on to the agent.  Then, the reward is computed from <code>get_reward()</code>.  The episode is considered done if the time limit has been exceeded, or the quadcopter has travelled outside of the bounds of the simulation.</p>
<p>In the next section, you will learn how to test the performance of an agent on this task.</p>

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<h2 id="The-Agent">The Agent<a class="anchor-link" href="#The-Agent">&#182;</a></h2><p>The sample agent given in <code>agents/policy_search.py</code> uses a very simplistic linear policy to directly compute the action vector as a dot product of the state vector and a matrix of weights. Then, it randomly perturbs the parameters by adding some Gaussian noise, to produce a different policy. Based on the average reward obtained in each episode (<code>score</code>), it keeps track of the best set of parameters found so far, how the score is changing, and accordingly tweaks a scaling factor to widen or tighten the noise.</p>
<p>Run the code cell below to see how the agent performs on the sample task.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="kn">import</span> <span class="nn">sys</span>
<span class="kn">import</span> <span class="nn">pandas</span> <span class="k">as</span> <span class="nn">pd</span>
<span class="kn">from</span> <span class="nn">agents.policy_search</span> <span class="k">import</span> <span class="n">PolicySearch_Agent</span>
<span class="kn">from</span> <span class="nn">task</span> <span class="k">import</span> <span class="n">Task</span>

<span class="n">num_episodes</span> <span class="o">=</span> <span class="mi">50</span>
<span class="n">target_pos</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">10.</span><span class="p">])</span>
<span class="n">task</span> <span class="o">=</span> <span class="n">Task</span><span class="p">(</span><span class="n">target_pos</span><span class="o">=</span><span class="n">target_pos</span><span class="p">)</span>
<span class="n">agent</span> <span class="o">=</span> <span class="n">PolicySearch_Agent</span><span class="p">(</span><span class="n">task</span><span class="p">)</span> 

<span class="k">for</span> <span class="n">i_episode</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">num_episodes</span><span class="o">+</span><span class="mi">1</span><span class="p">):</span>
    <span class="n">state</span> <span class="o">=</span> <span class="n">agent</span><span class="o">.</span><span class="n">reset_episode</span><span class="p">()</span> <span class="c1"># start a new episode</span>
    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
        <span class="n">action</span> <span class="o">=</span> <span class="n">agent</span><span class="o">.</span><span class="n">act</span><span class="p">(</span><span class="n">state</span><span class="p">)</span> 
        <span class="n">next_state</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">done</span> <span class="o">=</span> <span class="n">task</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
        <span class="n">agent</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">reward</span><span class="p">,</span> <span class="n">done</span><span class="p">)</span>
        <span class="n">state</span> <span class="o">=</span> <span class="n">next_state</span>
        <span class="k">if</span> <span class="n">done</span><span class="p">:</span>
            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\r</span><span class="s2">Episode = </span><span class="si">{:4d}</span><span class="s2">, score = </span><span class="si">{:7.3f}</span><span class="s2"> (best = </span><span class="si">{:7.3f}</span><span class="s2">), noise_scale = </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span>
                <span class="n">i_episode</span><span class="p">,</span> <span class="n">agent</span><span class="o">.</span><span class="n">score</span><span class="p">,</span> <span class="n">agent</span><span class="o">.</span><span class="n">best_score</span><span class="p">,</span> <span class="n">agent</span><span class="o">.</span><span class="n">noise_scale</span><span class="p">),</span> <span class="n">end</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>  <span class="c1"># [debug]</span>
            <span class="k">break</span>
    <span class="n">sys</span><span class="o">.</span><span class="n">stdout</span><span class="o">.</span><span class="n">flush</span><span class="p">()</span>
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<pre>Episode =   50, score = -122.890 (best = -107.311), noise_scale = 3.255</pre>
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<p>This agent should perform very poorly on this task.  And that's where you come in!</p>

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<h2 id="Define-the-Task,-Design-the-Agent,-and-Train-Your-Agent!">Define the Task, Design the Agent, and Train Your Agent!<a class="anchor-link" href="#Define-the-Task,-Design-the-Agent,-and-Train-Your-Agent!">&#182;</a></h2><p>Amend <code>task.py</code> to specify a task of your choosing.  If you're unsure what kind of task to specify, you may like to teach your quadcopter to takeoff, hover in place, land softly, or reach a target pose.</p>
<p>After specifying your task, use the sample agent in <code>agents/policy_search.py</code> as a template to define your own agent in <code>agents/agent.py</code>.  You can borrow whatever you need from the sample agent, including ideas on how you might modularize your code (using helper methods like <code>act()</code>, <code>learn()</code>, <code>reset_episode()</code>, etc.).</p>
<p>Note that it is <strong>highly unlikely</strong> that the first agent and task that you specify will learn well.  You will likely have to tweak various hyperparameters and the reward function for your task until you arrive at reasonably good behavior.</p>
<p>As you develop your agent, it's important to keep an eye on how it's performing. Use the code above as inspiration to build in a mechanism to log/save the total rewards obtained in each episode to file.  If the episode rewards are gradually increasing, this is an indication that your agent is learning.</p>

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<h4 id="Baseline-Agent">Baseline Agent<a class="anchor-link" href="#Baseline-Agent">&#182;</a></h4><p>Using the policy_search agent as a baseline agent to perform the task with <strong>original</strong> reward function</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## TODO: Train your agent here.</span>
<span class="n">orig_task</span> <span class="o">=</span> <span class="n">Task</span><span class="p">(</span><span class="n">init_pose</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">10.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]),</span> <span class="n">target_pos</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">20.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mi">10</span><span class="p">]),</span>
               <span class="n">init_velocities</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]),</span> <span class="n">init_angle_velocities</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]),</span>
               <span class="n">runtime</span><span class="o">=</span><span class="mf">5.</span><span class="p">,</span> <span class="n">reward_func</span><span class="o">=</span><span class="s2">&quot;original&quot;</span><span class="p">)</span>
<span class="n">orig_task</span><span class="o">.</span><span class="n">get_reward</span><span class="p">()</span>
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<pre>-5.0</pre>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">num_episodes</span> <span class="o">=</span> <span class="mi">300</span>

<span class="n">bsl_agent</span> <span class="o">=</span> <span class="n">PolicySearch_Agent</span><span class="p">(</span><span class="n">orig_task</span><span class="p">)</span> 
<span class="k">for</span> <span class="n">i_episode</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">num_episodes</span><span class="o">+</span><span class="mi">1</span><span class="p">):</span>
    <span class="n">state</span> <span class="o">=</span> <span class="n">bsl_agent</span><span class="o">.</span><span class="n">reset_episode</span><span class="p">()</span> <span class="c1"># start a new episode</span>
    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
        <span class="n">action</span> <span class="o">=</span> <span class="n">bsl_agent</span><span class="o">.</span><span class="n">act</span><span class="p">(</span><span class="n">state</span><span class="p">)</span> 
        <span class="n">next_state</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">done</span> <span class="o">=</span> <span class="n">orig_task</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
        <span class="n">bsl_agent</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">reward</span><span class="p">,</span> <span class="n">done</span><span class="p">)</span>
        <span class="n">state</span> <span class="o">=</span> <span class="n">next_state</span>
        <span class="k">if</span> <span class="n">done</span><span class="p">:</span>
            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\r</span><span class="s2">Episode = </span><span class="si">{:4d}</span><span class="s2">, score = </span><span class="si">{:7.3f}</span><span class="s2"> (best = </span><span class="si">{:7.3f}</span><span class="s2">), noise_scale = </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span>
                <span class="n">i_episode</span><span class="p">,</span> <span class="n">bsl_agent</span><span class="o">.</span><span class="n">score</span><span class="p">,</span> <span class="n">bsl_agent</span><span class="o">.</span><span class="n">best_score</span><span class="p">,</span> <span class="n">bsl_agent</span><span class="o">.</span><span class="n">noise_scale</span><span class="p">),</span> <span class="n">end</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>
            <span class="k">break</span>
    <span class="n">sys</span><span class="o">.</span><span class="n">stdout</span><span class="o">.</span><span class="n">flush</span><span class="p">()</span>
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<pre>Episode =  300, score = -16.922 (best = -13.900), noise_scale = 3.25</pre>
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<pre>{&#39;position&#39;: array([3.82167144, 0.8860642 , 0.        ]),
 &#39;reward&#39;: -7.119317826605144}</pre>
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<p>Using the policy_search agent as a baseline agent to perform the task with <strong>redefined</strong> reward function</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">num_episodes</span> <span class="o">=</span> <span class="mi">300</span>

<span class="n">task_v1</span> <span class="o">=</span> <span class="n">Task</span><span class="p">(</span><span class="n">init_pose</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">10.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]),</span> <span class="n">target_pos</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">20.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mi">10</span><span class="p">]),</span>
               <span class="n">init_velocities</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]),</span> <span class="n">init_angle_velocities</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]),</span>
               <span class="n">runtime</span><span class="o">=</span><span class="mf">5.</span><span class="p">,</span> <span class="n">early_stop</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>

<span class="n">bsl_agent</span> <span class="o">=</span> <span class="n">PolicySearch_Agent</span><span class="p">(</span><span class="n">task_v1</span><span class="p">)</span> 
<span class="k">for</span> <span class="n">i_episode</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">num_episodes</span><span class="o">+</span><span class="mi">1</span><span class="p">):</span>
    <span class="n">state</span> <span class="o">=</span> <span class="n">bsl_agent</span><span class="o">.</span><span class="n">reset_episode</span><span class="p">()</span> <span class="c1"># start a new episode</span>
    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
        <span class="n">action</span> <span class="o">=</span> <span class="n">bsl_agent</span><span class="o">.</span><span class="n">act</span><span class="p">(</span><span class="n">state</span><span class="p">)</span> 
        <span class="n">next_state</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">done</span> <span class="o">=</span> <span class="n">task_v1</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
        <span class="n">bsl_agent</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">reward</span><span class="p">,</span> <span class="n">done</span><span class="p">)</span>
        <span class="n">state</span> <span class="o">=</span> <span class="n">next_state</span>
        <span class="k">if</span> <span class="n">done</span><span class="p">:</span>
            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\r</span><span class="s2">Episode = </span><span class="si">{:4d}</span><span class="s2">, score = </span><span class="si">{:7.3f}</span><span class="s2"> (best = </span><span class="si">{:7.3f}</span><span class="s2">), noise_scale = </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span>
                <span class="n">i_episode</span><span class="p">,</span> <span class="n">bsl_agent</span><span class="o">.</span><span class="n">score</span><span class="p">,</span> <span class="n">bsl_agent</span><span class="o">.</span><span class="n">best_score</span><span class="p">,</span> <span class="n">bsl_agent</span><span class="o">.</span><span class="n">noise_scale</span><span class="p">),</span> <span class="n">end</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>
            <span class="k">break</span>
    <span class="n">sys</span><span class="o">.</span><span class="n">stdout</span><span class="o">.</span><span class="n">flush</span><span class="p">()</span>
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<pre>Episode =  300, score =   5.659 (best =  18.406), noise_scale = 3.25</pre>
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<h4 id="Enhanced-Agent">Enhanced Agent<a class="anchor-link" href="#Enhanced-Agent">&#182;</a></h4><p>Using the agent I designed to perform the task with <strong>redefined</strong> reward function</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="kn">from</span> <span class="nn">agents.agent</span> <span class="k">import</span> <span class="n">AgentOculus</span>
<span class="kn">from</span> <span class="nn">snippets.DDPG_agent</span> <span class="k">import</span> <span class="n">DDPG</span>
<span class="kn">from</span> <span class="nn">task</span> <span class="k">import</span> <span class="n">Task</span>

<span class="n">task_v1</span> <span class="o">=</span> <span class="n">Task</span><span class="p">(</span><span class="n">init_pose</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">10.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]),</span> <span class="n">target_pos</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">20.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mi">10</span><span class="p">]),</span>
               <span class="n">init_velocities</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]),</span> <span class="n">init_angle_velocities</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">]),</span>
               <span class="n">runtime</span><span class="o">=</span><span class="mf">5.</span><span class="p">,</span> <span class="n">early_stop</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
<span class="n">num_episodes</span> <span class="o">=</span> <span class="mi">300</span>
<span class="n">score_log</span> <span class="o">=</span> <span class="p">[]</span>

<span class="n">agent_v1</span> <span class="o">=</span> <span class="n">AgentOculus</span><span class="p">(</span><span class="n">task_v1</span><span class="p">)</span> 
<span class="k">for</span> <span class="n">i_episode</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">num_episodes</span><span class="o">+</span><span class="mi">1</span><span class="p">):</span>
    <span class="n">state</span> <span class="o">=</span> <span class="n">agent_v1</span><span class="o">.</span><span class="n">reset_episode</span><span class="p">()</span> <span class="c1"># start a new episode</span>
    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
        <span class="n">action</span> <span class="o">=</span> <span class="n">agent_v1</span><span class="o">.</span><span class="n">act</span><span class="p">(</span><span class="n">state</span><span class="p">)</span> 
        <span class="n">next_state</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">done</span> <span class="o">=</span> <span class="n">task_v1</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
        <span class="n">agent_v1</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">next_state</span><span class="p">,</span> <span class="n">done</span><span class="p">)</span>
        <span class="n">state</span> <span class="o">=</span> <span class="n">next_state</span>
        
        <span class="c1"># logging all the evaluation metrics</span>
        <span class="n">task_v1</span><span class="o">.</span><span class="n">save_coord</span><span class="p">(</span><span class="n">i_episode</span><span class="p">)</span>
        <span class="n">task_v1</span><span class="o">.</span><span class="n">save_speed</span><span class="p">(</span><span class="n">i_episode</span><span class="p">)</span>
        <span class="n">score_log</span><span class="o">.</span><span class="n">append</span><span class="p">({</span><span class="s2">&quot;episode&quot;</span><span class="p">:</span> <span class="n">i_episode</span><span class="p">,</span> <span class="s2">&quot;score&quot;</span><span class="p">:</span><span class="n">agent_v1</span><span class="o">.</span><span class="n">score</span><span class="p">})</span>
        
        <span class="k">if</span> <span class="n">done</span><span class="p">:</span>
            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\r</span><span class="s2">Episode = </span><span class="si">{:4d}</span><span class="s2">, score = </span><span class="si">{:7.3f}</span><span class="s2"> (best = </span><span class="si">{:7.3f}</span><span class="s2">), noise_scale = </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span>
                <span class="n">i_episode</span><span class="p">,</span> <span class="n">agent_v1</span><span class="o">.</span><span class="n">score</span><span class="p">,</span> <span class="n">agent_v1</span><span class="o">.</span><span class="n">best_score</span><span class="p">,</span> <span class="n">agent_v1</span><span class="o">.</span><span class="n">noise_scale</span><span class="p">),</span> <span class="n">end</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>
            <span class="k">break</span>
        
        <span class="k">if</span> <span class="n">task_v1</span><span class="o">.</span><span class="n">early_stopping</span><span class="p">(</span><span class="n">current_episode</span><span class="o">=</span><span class="n">i_episode</span><span class="p">,</span> <span class="n">threshold</span><span class="o">=</span><span class="mi">3</span><span class="p">):</span>
            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\r</span><span class="s2">Episode = </span><span class="si">{:4d}</span><span class="s2">, score = </span><span class="si">{:7.3f}</span><span class="s2">, EARLY STOP!! Agent has learnt to perform well&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span>
                <span class="n">i_episode</span><span class="p">,</span> <span class="n">agent_v1</span><span class="o">.</span><span class="n">score</span><span class="p">),</span> <span class="n">end</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>
            <span class="k">break</span>
    <span class="n">sys</span><span class="o">.</span><span class="n">stdout</span><span class="o">.</span><span class="n">flush</span><span class="p">()</span>
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<pre>Episode =  300, score =  10.263 (best =  38.059), noise_scale = 3.2</pre>
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<p><strong>Did the quadcopter do a good job in keeping itself in the air?</strong><br>
using original reward definition</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">orig_task</span><span class="o">.</span><span class="n">coords_log</span>
<span class="c1"># my_task.best_coord</span>
<span class="n">plt</span><span class="o">.</span><span class="n">hist</span><span class="p">([</span><span class="n">c</span><span class="p">[</span><span class="s1">&#39;position&#39;</span><span class="p">][</span><span class="mi">2</span><span class="p">]</span> <span class="k">for</span> <span class="n">c</span> <span class="ow">in</span> <span class="n">orig_task</span><span class="o">.</span><span class="n">coords_log</span><span class="p">],</span> <span class="n">bins</span><span class="o">=</span><span class="mi">50</span><span class="p">,</span> <span class="nb">range</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span><span class="mi">50</span><span class="p">])</span>
<span class="n">plt</span><span class="o">.</span><span class="n">title</span><span class="p">(</span><span class="s1">&#39;Distribution of height&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">xlabel</span><span class="p">(</span><span class="s1">&#39;height of quadcopter&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">ylabel</span><span class="p">(</span><span class="s1">&#39;frequency&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
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<p><strong>Did the quadcopter do a good job in keeping itself in the air?</strong><br>
using reward defined with added penalty if the quadcopter cannot keep stable in the air</p>

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<div class="prompt input_prompt">In&nbsp;[81]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">task_v1</span><span class="o">.</span><span class="n">coords_log</span>
<span class="c1"># my_task.best_coord</span>
<span class="n">plt</span><span class="o">.</span><span class="n">hist</span><span class="p">([</span><span class="n">c</span><span class="p">[</span><span class="s1">&#39;position&#39;</span><span class="p">][</span><span class="mi">2</span><span class="p">]</span> <span class="k">for</span> <span class="n">c</span> <span class="ow">in</span> <span class="n">task_v1</span><span class="o">.</span><span class="n">coords_log</span><span class="p">],</span> <span class="n">bins</span><span class="o">=</span><span class="mi">50</span><span class="p">,</span> <span class="nb">range</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span><span class="mi">50</span><span class="p">])</span>
<span class="n">plt</span><span class="o">.</span><span class="n">title</span><span class="p">(</span><span class="s1">&#39;Distribution of height&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">xlabel</span><span class="p">(</span><span class="s1">&#39;height of quadcopter&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">ylabel</span><span class="p">(</span><span class="s1">&#39;frequency&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
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<h4 id="Distribution-of-velocities-in-3-directions">Distribution of velocities in 3 directions<a class="anchor-link" href="#Distribution-of-velocities-in-3-directions">&#182;</a></h4>
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<div class="prompt input_prompt">In&nbsp;[82]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span><span class="mi">3</span><span class="p">):</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">hist</span><span class="p">([</span><span class="n">v</span><span class="p">[</span><span class="s1">&#39;velocity&#39;</span><span class="p">][</span><span class="n">i</span><span class="p">]</span> <span class="k">for</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">task_v1</span><span class="o">.</span><span class="n">speed_log</span><span class="p">],</span> <span class="n">bins</span><span class="o">=</span><span class="mi">50</span><span class="p">,</span> <span class="nb">range</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span><span class="mi">50</span><span class="p">])</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">title</span><span class="p">(</span><span class="s1">&#39;Distribution of velocity in direction </span><span class="si">{}</span><span class="s1">&#39;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">i</span><span class="p">))</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">xlabel</span><span class="p">(</span><span class="s1">&#39;velocity&#39;</span><span class="p">)</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">ylabel</span><span class="p">(</span><span class="s1">&#39;frequency&#39;</span><span class="p">)</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
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<h4 id="Plot:-total-rewards-for-each-episode">Plot: total rewards for each episode<a class="anchor-link" href="#Plot:-total-rewards-for-each-episode">&#182;</a></h4>
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<div class="prompt input_prompt">In&nbsp;[83]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">reward_df</span> <span class="o">=</span> <span class="n">pd</span><span class="o">.</span><span class="n">DataFrame</span><span class="p">(</span><span class="n">task_v1</span><span class="o">.</span><span class="n">coords_log</span><span class="p">)</span><span class="o">.</span><span class="n">groupby</span><span class="p">(</span><span class="s1">&#39;episode&#39;</span><span class="p">)</span><span class="o">.</span><span class="n">sum</span><span class="p">()</span><span class="o">.</span><span class="n">reset_index</span><span class="p">()</span>
<span class="n">reward_df</span><span class="o">.</span><span class="n">head</span><span class="p">()</span>
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    <div class="prompt output_prompt">Out[83]:</div>


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<table border="1" class="dataframe">
  <thead>
    <tr style="text-align: right;">
      <th></th>
      <th>episode</th>
      <th>reward</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <th>0</th>
      <td>1</td>
      <td>3.859854</td>
    </tr>
    <tr>
      <th>1</th>
      <td>2</td>
      <td>5.928028</td>
    </tr>
    <tr>
      <th>2</th>
      <td>3</td>
      <td>32.664964</td>
    </tr>
    <tr>
      <th>3</th>
      <td>4</td>
      <td>72.011694</td>
    </tr>
    <tr>
      <th>4</th>
      <td>5</td>
      <td>-95.180919</td>
    </tr>
  </tbody>
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<div class="prompt input_prompt">In&nbsp;[84]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">reward_df</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">line</span><span class="p">(</span><span class="s1">&#39;episode&#39;</span><span class="p">,</span><span class="s1">&#39;reward&#39;</span><span class="p">,</span> <span class="n">figsize</span><span class="o">=</span><span class="p">(</span><span class="mi">14</span><span class="p">,</span><span class="mi">7</span><span class="p">))</span>
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<pre>&lt;matplotlib.axes._subplots.AxesSubplot at 0x7f8738f729b0&gt;</pre>
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<h4 id="Plot:-Average-score-for-each-episode">Plot: Average score for each episode<a class="anchor-link" href="#Plot:-Average-score-for-each-episode">&#182;</a></h4>
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<div class="prompt input_prompt">In&nbsp;[85]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">pd</span><span class="o">.</span><span class="n">DataFrame</span><span class="p">(</span><span class="n">score_log</span><span class="p">)</span><span class="o">.</span><span class="n">groupby</span><span class="p">(</span><span class="s1">&#39;episode&#39;</span><span class="p">)</span><span class="o">.</span><span class="n">mean</span><span class="p">()</span><span class="o">.</span><span class="n">reset_index</span><span class="p">()</span><span class="o">.</span><span class="n">plot</span><span class="o">.</span><span class="n">line</span><span class="p">(</span><span class="s1">&#39;episode&#39;</span><span class="p">,</span><span class="s1">&#39;score&#39;</span><span class="p">,</span> <span class="n">figsize</span><span class="o">=</span><span class="p">(</span><span class="mi">14</span><span class="p">,</span><span class="mi">7</span><span class="p">))</span>
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<pre>&lt;matplotlib.axes._subplots.AxesSubplot at 0x7f8738ee3b38&gt;</pre>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">reward_df</span><span class="p">[</span><span class="n">reward_df</span><span class="p">[</span><span class="s1">&#39;episode&#39;</span><span class="p">]</span><span class="o">&lt;=</span><span class="mi">10</span><span class="p">]</span><span class="o">.</span><span class="n">mean</span><span class="p">()</span> <span class="c1"># average reward for first 10 episodes</span>
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<pre>episode     5.500000
reward     58.665975
dtype: float64</pre>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">reward_df</span><span class="p">[(</span><span class="n">reward_df</span><span class="p">[</span><span class="s1">&#39;episode&#39;</span><span class="p">]</span><span class="o">&lt;</span><span class="mi">10</span><span class="p">)</span><span class="o">&amp;</span> <span class="p">(</span><span class="n">reward_df</span><span class="p">[</span><span class="s1">&#39;episode&#39;</span><span class="p">]</span><span class="o">&lt;=</span><span class="mi">20</span><span class="p">)]</span><span class="o">.</span><span class="n">mean</span><span class="p">()</span> <span class="c1"># average reward for Episodes 11-20</span>
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<pre>episode     5.000000
reward     52.934333
dtype: float64</pre>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">reward_df</span><span class="p">[</span><span class="n">reward_df</span><span class="p">[</span><span class="s1">&#39;episode&#39;</span><span class="p">]</span><span class="o">&gt;</span><span class="mi">290</span><span class="p">]</span><span class="o">.</span><span class="n">mean</span><span class="p">()</span> <span class="c1"># average reward for last 10 episodes</span>
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<pre>episode    295.500000
reward     109.438481
dtype: float64</pre>
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<h4 id="3D-Plot:-quadcopter's-flying-path">3D Plot: quadcopter's flying path<a class="anchor-link" href="#3D-Plot:-quadcopter's-flying-path">&#182;</a></h4>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="kn">from</span> <span class="nn">mpl_toolkits.mplot3d</span> <span class="k">import</span> <span class="n">Axes3D</span>
<span class="o">%</span><span class="k">matplotlib</span> inline

<span class="n">fig</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">figure</span><span class="p">(</span><span class="n">figsize</span> <span class="o">=</span> <span class="p">(</span><span class="mi">14</span><span class="p">,</span><span class="mi">7</span><span class="p">))</span>
<span class="n">ax</span> <span class="o">=</span> <span class="n">fig</span><span class="o">.</span><span class="n">add_subplot</span><span class="p">(</span><span class="mi">111</span><span class="p">,</span> <span class="n">projection</span><span class="o">=</span><span class="s1">&#39;3d&#39;</span><span class="p">)</span>

<span class="n">ax</span><span class="o">.</span><span class="n">set_xlabel</span><span class="p">(</span><span class="s1">&#39;X&#39;</span><span class="p">)</span>
<span class="n">ax</span><span class="o">.</span><span class="n">set_ylabel</span><span class="p">(</span><span class="s1">&#39;Y&#39;</span><span class="p">)</span>
<span class="n">ax</span><span class="o">.</span><span class="n">set_zlabel</span><span class="p">(</span><span class="s1">&#39;Z&#39;</span><span class="p">)</span>

<span class="n">ax</span><span class="o">.</span><span class="n">scatter</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;x&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;y&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;z&#39;</span><span class="p">])</span>
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<pre>&lt;mpl_toolkits.mplot3d.art3d.Path3DCollection at 0x7f8738e76208&gt;</pre>
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<div class="prompt input_prompt">In&nbsp;[&nbsp;]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## Investigation on CNN</span>
<span class="c1"># from keras import layers, models</span>

<span class="c1"># states = layers.Input(shape=(18,4), name=&#39;states&#39;)</span>
<span class="c1"># net = layers.Conv1D(filters=32, kernel_size=2, padding=&#39;same&#39;, activation=&#39;relu&#39;)(states)</span>
<span class="c1"># net = layers.MaxPooling1D(pool_size=2)(net)</span>
<span class="c1"># net = layers.Conv1D(filters=64, kernel_size=2, padding=&#39;same&#39;, activation=&#39;relu&#39;)(net)</span>
<span class="c1"># net = layers.MaxPooling1D(pool_size=2)(net)</span>
<span class="c1"># net = layers.GlobalAveragePooling1D()(net)</span>
<span class="c1"># net = layers.Dense(units=128, activation=&#39;relu&#39;)(net)</span>
<span class="c1"># raw_actions = layers.Dense(units=4, activation=&#39;sigmoid&#39;,</span>
<span class="c1">#             name=&#39;raw_actions&#39;)(net)</span>
<span class="c1"># actions = layers.Lambda(lambda x: (x * 900) + 0,</span>
<span class="c1">#             name=&#39;actions&#39;)(raw_actions)</span>

<span class="c1"># model = models.Model(inputs=states, outputs=actions)</span>
<span class="c1"># model.summary()</span>
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<h2 id="Reflections">Reflections<a class="anchor-link" href="#Reflections">&#182;</a></h2><p><strong>Question 1</strong>: Describe the task that you specified in <code>task.py</code>.  How did you design the reward function?</p>
<p><strong>Answer</strong>: The objective of my task was to teach the quadcopter to fly forward from its initial position (0,0,10) to target position (20,0,10) while remaining in the air as stable as possible at around a horizontal level/height of 10.</p>
<p>I decided the reward function to have negative rewards. This encourages the quadcopter to reach the target state as quickly as possible to avoid accumulating penalties. My reward function takes the following factors into account:</p>
<ul>
<li>distance from the target; </li>
<li>velocities in each direction; </li>
<li>stability along the z-axis (distance from the ground)  </li>
</ul>
<p>It was contructed by adding penalties to:</p>
<ul>
<li><strong>distance</strong>: further the quadcopter is away from the target position, more negative rewards it gets. The penalty has been normalised by dividing the current distance from the goal by the initial distance from the goal.  </li>
<li><strong>velocity</strong>: positive rewards will be gained if the quadcopter can keep its speed below certain speed limit. This is to control the behaviour of the quadcopter, and prevent it from flying all over the place and taking unnecessary detours.  </li>
<li><strong>stability</strong>: I realised in my early investigation that with the original reward function, the quadcopter drops to the ground at the very beginning and never flies back up. Hence I have added penalty in the redefined reward function to punish not being able to keep itself in the air steadily. </li>
</ul>
\begin{equation}
f(x)=e^{-x}
\end{equation}\begin{equation}
g(y)= y^{f(x)}
\end{equation}<p>$g(y)$ calculates the penalty for stability given $y$ - the change in height between each step. This is discounted by f(x).<br>
$f(x)$ outputs a discount factor based on $x$ - the difference between current height of the quadcopter and the target height. Greater this difference is the more tolerance we have for its unstability along the z-axis. The idea is that we would like the quadcopter to maintain the distance away from the ground once it reached the target height. Due to the fact that $x$ is always greater than 0, the discount factor is bounded by 0 and 1.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="k">def</span> <span class="nf">f</span><span class="p">(</span><span class="n">x</span><span class="p">):</span>
    <span class="k">with</span> <span class="n">np</span><span class="o">.</span><span class="n">errstate</span><span class="p">(</span><span class="n">divide</span><span class="o">=</span><span class="s1">&#39;ignore&#39;</span><span class="p">,</span> <span class="n">invalid</span><span class="o">=</span><span class="s1">&#39;ignore&#39;</span><span class="p">):</span>
        <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">exp</span><span class="p">(</span><span class="o">-</span><span class="n">x</span><span class="p">)</span>
<span class="n">fx_name</span> <span class="o">=</span> <span class="sa">r</span><span class="s1">&#39;$f(x)=e^{-x}$&#39;</span>

<span class="n">x</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">linspace</span><span class="p">(</span><span class="o">-</span><span class="mi">2</span><span class="p">,</span><span class="mi">10</span><span class="p">,</span><span class="mi">101</span><span class="p">)</span>
<span class="n">y</span><span class="o">=</span><span class="n">f</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">y</span><span class="p">,</span> <span class="n">label</span><span class="o">=</span><span class="n">fx_name</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">(</span><span class="n">loc</span><span class="o">=</span><span class="s1">&#39;upper right&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
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<p><strong>Question 2</strong>: Discuss your agent briefly, using the following questions as a guide:</p>
<ul>
<li>What learning algorithm(s) did you try? What worked best for you?</li>
<li>What was your final choice of hyperparameters (such as $\alpha$, $\gamma$, $\epsilon$, etc.)?</li>
<li>What neural network architecture did you use (if any)? Specify layers, sizes, activation functions, etc.</li>
</ul>
<p><strong>Answer</strong>:</p>
<ul>
<li>I have attempted Deuling Deep Q Network with Actor-Critic leveraging deep learning(see below for model summary). The neural nets were consist of fully connected layers, L1 &amp; L2 regularisers and ReLu activation function in most of the cases; </li>
<li>I applied OUNoise and Experience Replay. I have tried different batch size and found that the <strong>64</strong> does the job.  </li>
<li>A function has been added to check after every episode that if a early stopping is applicable. If the agent has done a great job in reaching the target position in the last 10 episodes, we will stop the training.</li>
<li>Since my reward functin is not Stochastic, I have not played much around $\alpha$;</li>
<li>I have experimented different value of $\gamma$ and settled with a static value of <strong>0.99</strong> after evaluating the scores. Setting such gamma would allow the quadcopter to consider the future rewards when it's taking the action, and it seems like higher $\gamma$ yields better result in this case;</li>
<li>I set $\tau$ to <strong>0.005</strong> for soft update of target parameters.</li>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="kn">from</span> <span class="nn">keras</span> <span class="k">import</span> <span class="n">layers</span><span class="p">,</span> <span class="n">models</span><span class="p">,</span> <span class="n">optimizers</span>
<span class="kn">from</span> <span class="nn">keras.regularizers</span> <span class="k">import</span> <span class="n">l1</span><span class="p">,</span> <span class="n">l2</span>
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<p><strong><em>Neural net for Actor</em></strong></p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">states</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Input</span><span class="p">(</span><span class="n">shape</span><span class="o">=</span><span class="p">(</span><span class="mi">18</span><span class="p">,),</span> <span class="n">name</span><span class="o">=</span><span class="s1">&#39;states&#39;</span><span class="p">)</span>
<span class="n">net</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dense</span><span class="p">(</span><span class="n">units</span><span class="o">=</span><span class="mi">32</span><span class="p">,</span> <span class="n">activation</span><span class="o">=</span><span class="s1">&#39;relu&#39;</span><span class="p">)(</span><span class="n">states</span><span class="p">)</span>
<span class="n">net</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dropout</span><span class="p">(</span><span class="mf">0.05</span><span class="p">)(</span><span class="n">net</span><span class="p">)</span>
<span class="n">net</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dense</span><span class="p">(</span><span class="n">units</span><span class="o">=</span><span class="mi">64</span><span class="p">,</span> <span class="n">activation</span><span class="o">=</span><span class="s1">&#39;relu&#39;</span><span class="p">,</span> <span class="n">kernel_regularizer</span><span class="o">=</span><span class="n">l2</span><span class="p">(</span><span class="mf">0.01</span><span class="p">),</span> <span class="n">activity_regularizer</span><span class="o">=</span><span class="n">l1</span><span class="p">(</span><span class="mf">0.01</span><span class="p">))(</span><span class="n">net</span><span class="p">)</span>
<span class="n">net</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dropout</span><span class="p">(</span><span class="mf">0.02</span><span class="p">)(</span><span class="n">net</span><span class="p">)</span>
<span class="n">net</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dense</span><span class="p">(</span><span class="n">units</span><span class="o">=</span><span class="mi">32</span><span class="p">,</span> <span class="n">activation</span><span class="o">=</span><span class="s1">&#39;relu&#39;</span><span class="p">,</span> <span class="n">kernel_regularizer</span><span class="o">=</span><span class="n">l2</span><span class="p">(</span><span class="mf">0.01</span><span class="p">),</span> <span class="n">activity_regularizer</span><span class="o">=</span><span class="n">l1</span><span class="p">(</span><span class="mf">0.01</span><span class="p">))(</span><span class="n">net</span><span class="p">)</span>
<span class="n">raw_actions</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dense</span><span class="p">(</span><span class="n">units</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">activation</span><span class="o">=</span><span class="s1">&#39;sigmoid&#39;</span><span class="p">,</span> <span class="n">name</span><span class="o">=</span><span class="s1">&#39;raw_actions&#39;</span><span class="p">)(</span><span class="n">net</span><span class="p">)</span>
<span class="n">actions</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Lambda</span><span class="p">(</span><span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="p">(</span><span class="n">x</span> <span class="o">*</span> <span class="mi">900</span><span class="p">),</span> <span class="n">name</span><span class="o">=</span><span class="s1">&#39;actions&#39;</span><span class="p">)(</span><span class="n">raw_actions</span><span class="p">)</span>
<span class="n">models</span><span class="o">.</span><span class="n">Model</span><span class="p">(</span><span class="n">inputs</span><span class="o">=</span><span class="n">states</span><span class="p">,</span> <span class="n">outputs</span><span class="o">=</span><span class="n">actions</span><span class="p">)</span><span class="o">.</span><span class="n">summary</span><span class="p">()</span>
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<pre>_________________________________________________________________
Layer (type)                 Output Shape              Param #   
=================================================================
states (InputLayer)          (None, 18)                0         
_________________________________________________________________
dense_141 (Dense)            (None, 32)                608       
_________________________________________________________________
dropout_121 (Dropout)        (None, 32)                0         
_________________________________________________________________
dense_142 (Dense)            (None, 64)                2112      
_________________________________________________________________
dropout_122 (Dropout)        (None, 64)                0         
_________________________________________________________________
dense_143 (Dense)            (None, 32)                2080      
_________________________________________________________________
raw_actions (Dense)          (None, 4)                 132       
_________________________________________________________________
actions (Lambda)             (None, 4)                 0         
=================================================================
Total params: 4,932
Trainable params: 4,932
Non-trainable params: 0
_________________________________________________________________
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<p><strong><em>Neural net for Critic</em></strong></p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">states</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Input</span><span class="p">(</span><span class="n">shape</span><span class="o">=</span><span class="p">(</span><span class="mi">18</span><span class="p">,),</span> <span class="n">name</span><span class="o">=</span><span class="s1">&#39;states&#39;</span><span class="p">)</span>
<span class="n">actions</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Input</span><span class="p">(</span><span class="n">shape</span><span class="o">=</span><span class="p">(</span><span class="mi">4</span><span class="p">,),</span> <span class="n">name</span><span class="o">=</span><span class="s1">&#39;actions&#39;</span><span class="p">)</span>
<span class="n">net_states</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dense</span><span class="p">(</span><span class="n">units</span><span class="o">=</span><span class="mi">32</span><span class="p">,</span> <span class="n">activation</span><span class="o">=</span><span class="s1">&#39;relu&#39;</span><span class="p">,</span> <span class="n">kernel_regularizer</span><span class="o">=</span><span class="n">l2</span><span class="p">(</span><span class="mf">0.01</span><span class="p">),</span> <span class="n">activity_regularizer</span><span class="o">=</span><span class="n">l1</span><span class="p">(</span><span class="mf">0.01</span><span class="p">))(</span><span class="n">states</span><span class="p">)</span>
<span class="n">net_states</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dropout</span><span class="p">(</span><span class="mf">0.05</span><span class="p">)(</span><span class="n">net_states</span><span class="p">)</span>
<span class="n">net_states</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dense</span><span class="p">(</span><span class="n">units</span><span class="o">=</span><span class="mi">64</span><span class="p">,</span> <span class="n">activation</span><span class="o">=</span><span class="s1">&#39;relu&#39;</span><span class="p">,</span> <span class="n">kernel_regularizer</span><span class="o">=</span><span class="n">l2</span><span class="p">(</span><span class="mf">0.01</span><span class="p">),</span> <span class="n">activity_regularizer</span><span class="o">=</span><span class="n">l1</span><span class="p">(</span><span class="mf">0.01</span><span class="p">))(</span><span class="n">net_states</span><span class="p">)</span>
<span class="n">net_states</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dropout</span><span class="p">(</span><span class="mf">0.02</span><span class="p">)(</span><span class="n">net_states</span><span class="p">)</span>
<span class="n">net_actions</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dense</span><span class="p">(</span><span class="n">units</span><span class="o">=</span><span class="mi">32</span><span class="p">,</span> <span class="n">activation</span><span class="o">=</span><span class="s1">&#39;relu&#39;</span><span class="p">,</span> <span class="n">kernel_regularizer</span><span class="o">=</span><span class="n">l2</span><span class="p">(</span><span class="mf">0.01</span><span class="p">),</span> <span class="n">activity_regularizer</span><span class="o">=</span><span class="n">l1</span><span class="p">(</span><span class="mf">0.01</span><span class="p">))(</span><span class="n">actions</span><span class="p">)</span>
<span class="n">net_actions</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dropout</span><span class="p">(</span><span class="mf">0.05</span><span class="p">)(</span><span class="n">net_actions</span><span class="p">)</span>
<span class="n">net_actions</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dense</span><span class="p">(</span><span class="n">units</span><span class="o">=</span><span class="mi">64</span><span class="p">,</span> <span class="n">activation</span><span class="o">=</span><span class="s1">&#39;relu&#39;</span><span class="p">,</span> <span class="n">kernel_regularizer</span><span class="o">=</span><span class="n">l2</span><span class="p">(</span><span class="mf">0.01</span><span class="p">),</span> <span class="n">activity_regularizer</span><span class="o">=</span><span class="n">l1</span><span class="p">(</span><span class="mf">0.01</span><span class="p">))(</span><span class="n">net_actions</span><span class="p">)</span>
<span class="n">net_actions</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dropout</span><span class="p">(</span><span class="mf">0.05</span><span class="p">)(</span><span class="n">net_actions</span><span class="p">)</span>
<span class="n">net</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Add</span><span class="p">()([</span><span class="n">net_states</span><span class="p">,</span> <span class="n">net_actions</span><span class="p">])</span>
<span class="n">net</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Activation</span><span class="p">(</span><span class="s1">&#39;relu&#39;</span><span class="p">)(</span><span class="n">net</span><span class="p">)</span>
<span class="n">Q_values</span> <span class="o">=</span> <span class="n">layers</span><span class="o">.</span><span class="n">Dense</span><span class="p">(</span><span class="n">units</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">name</span><span class="o">=</span><span class="s1">&#39;q_values&#39;</span><span class="p">)(</span><span class="n">net</span><span class="p">)</span>
<span class="n">models</span><span class="o">.</span><span class="n">Model</span><span class="p">(</span><span class="n">inputs</span><span class="o">=</span><span class="p">[</span><span class="n">states</span><span class="p">,</span> <span class="n">actions</span><span class="p">],</span> <span class="n">outputs</span><span class="o">=</span><span class="n">Q_values</span><span class="p">)</span><span class="o">.</span><span class="n">summary</span><span class="p">()</span>
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<pre>__________________________________________________________________________________________________
Layer (type)                    Output Shape         Param #     Connected to                     
==================================================================================================
states (InputLayer)             (None, 18)           0                                            
__________________________________________________________________________________________________
actions (InputLayer)            (None, 4)            0                                            
__________________________________________________________________________________________________
dense_144 (Dense)               (None, 32)           608         states[0][0]                     
__________________________________________________________________________________________________
dense_146 (Dense)               (None, 32)           160         actions[0][0]                    
__________________________________________________________________________________________________
dropout_123 (Dropout)           (None, 32)           0           dense_144[0][0]                  
__________________________________________________________________________________________________
dropout_125 (Dropout)           (None, 32)           0           dense_146[0][0]                  
__________________________________________________________________________________________________
dense_145 (Dense)               (None, 64)           2112        dropout_123[0][0]                
__________________________________________________________________________________________________
dense_147 (Dense)               (None, 64)           2112        dropout_125[0][0]                
__________________________________________________________________________________________________
dropout_124 (Dropout)           (None, 64)           0           dense_145[0][0]                  
__________________________________________________________________________________________________
dropout_126 (Dropout)           (None, 64)           0           dense_147[0][0]                  
__________________________________________________________________________________________________
add_21 (Add)                    (None, 64)           0           dropout_124[0][0]                
                                                                 dropout_126[0][0]                
__________________________________________________________________________________________________
activation_21 (Activation)      (None, 64)           0           add_21[0][0]                     
__________________________________________________________________________________________________
q_values (Dense)                (None, 1)            65          activation_21[0][0]              
==================================================================================================
Total params: 5,057
Trainable params: 5,057
Non-trainable params: 0
__________________________________________________________________________________________________
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<p><strong>Question 3</strong>: Using the episode rewards plot, discuss how the agent learned over time.</p>
<ul>
<li>Was it an easy task to learn or hard?</li>
<li>Was there a gradual learning curve, or an aha moment?</li>
<li>How good was the final performance of the agent? (e.g. mean rewards over the last 10 episodes)</li>
</ul>
<p><strong>Answer</strong>:</p>
<ul>
<li>Judging by the number of episode it takes to converge(around 50 episodes as shown in the plots), this task seems relatively easy to learn.  </li>
<li>The agent was experiencing a downhill at the beginning of the training. Then followed by a boost in scores/rewards roughly near the 40th episode.  </li>
<li>The average rewards for the first 10 episode was <strong>59</strong>, whereas for the last 10 episode it was <strong>109</strong>. Based solely on these statistics the agent has performed 85% better post-training.</li>
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<p><strong>Question 4</strong>: Briefly summarize your experience working on this project. You can use the following prompts for ideas.</p>
<ul>
<li>What was the hardest part of the project? (e.g. getting started, plotting, specifying the task, etc.)</li>
<li>Did you find anything interesting in how the quadcopter or your agent behaved?</li>
</ul>
<p><strong>Answer</strong>: In the beginning the heardest part is to understand the implementation of DDQN and how deep learning comes to play in Actor-Critic. Once I had a reasonable understanding of this, I realised the most difficult and crucial part of building RL is designing a good reward function. No matter how fine tuned the neural network and different hyperparameters ($\alpha$,$\gamma$,$\tau$ etc.) are, without a well-defined reward function the agent is hardly learning towards to objective. The behaviour of the agent really is underpinned by the reward function.</p>
<p>From the 3D plot we can see that the quadcopter did not move via the shortest path (straight line between initial and target positions). This might be due to the fact that the reward function was not explicitly designed in the way to minimise the time spent by the agent to reach its target, and that the angle velocities have been neglected in this specific task I defined.</p>

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