Report_Quadcopter.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 4.2.0 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=4.2.0');
  src: url('../components/font-awesome/fonts/fontawesome-webfont.eot?#iefix&v=4.2.0') format('embedded-opentype'), url('../components/font-awesome/fonts/fontawesome-webfont.woff?v=4.2.0') format('woff'), url('../components/font-awesome/fonts/fontawesome-webfont.ttf?v=4.2.0') format('truetype'), url('../components/font-awesome/fonts/fontawesome-webfont.svg?v=4.2.0#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;
}
.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;
}
@-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 {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=1);
  -webkit-transform: rotate(90deg);
  -ms-transform: rotate(90deg);
  transform: rotate(90deg);
}
.fa-rotate-180 {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=2);
  -webkit-transform: rotate(180deg);
  -ms-transform: rotate(180deg);
  transform: rotate(180deg);
}
.fa-rotate-270 {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=3);
  -webkit-transform: rotate(270deg);
  -ms-transform: rotate(270deg);
  transform: rotate(270deg);
}
.fa-flip-horizontal {
  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 {
  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:before {
  content: "\f09a";
}
.fa-github:before {
  content: "\f09b";
}
.fa-unlock:before {
  content: "\f09c";
}
.fa-credit-card:before {
  content: "\f09d";
}
.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 {
  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: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-rebel:before {
  content: "\f1d0";
}
.fa-ge:before,
.fa-empire:before {
  content: "\f1d1";
}
.fa-git-square:before {
  content: "\f1d2";
}
.fa-git:before {
  content: "\f1d3";
}
.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";
}
/*!
*
* 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;
}
/**
 * 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 {
  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;
}
@media (max-width: 991px) {
  #ipython_notebook {
    margin-left: 10px;
  }
}
[dir="rtl"] #ipython_notebook {
  float: right !important;
}
#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#login_widget {
  float: right;
}
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;
}
@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;
}
/*!
*
* 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 {
  text-align: center;
  vertical-align: middle;
  display: inline;
  opacity: 0;
  z-index: 2;
  width: 12ex;
  margin-right: -12ex;
}
.alternate_upload .btn-upload {
  height: 22px;
}
/**
 * Primary styles
 *
 * Author: Jupyter Development Team
 */
[dir="rtl"] #tabs li {
  float: right;
}
ul#tabs {
  margin-bottom: 4px;
}
[dir="rtl"] ul#tabs {
  margin-right: 0px;
}
ul#tabs a {
  padding-top: 6px;
  padding-bottom: 4px;
}
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 {
  float: left !important;
}
[dir="rtl"] .list_toolbar .pull-right {
  padding-top: 1px;
  float: left !important;
}
[dir="rtl"] .list_toolbar .pull-left {
  float: right !important;
}
.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: baseline;
  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;
}
.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_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;
}
.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;
}
#tree-selector {
  padding-right: 0px;
}
[dir="rtl"] #tree-selector a {
  float: right;
}
#button-select-all {
  min-width: 50px;
}
#select-all {
  margin-left: 7px;
  margin-right: 2px;
}
.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.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.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.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.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;
}
[dir="rtl"] #new-menu {
  text-align: right;
}
.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;
}
[dir="rtl"] #running .col-sm-8 {
  float: right !important;
}
.delete-button {
  display: none;
}
.duplicate-button {
  display: none;
}
.rename-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.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.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.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.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);
  }
}
/*!
*
* IPython notebook
*
*/
/* CSS font colors for translated ANSI colors. */
.ansibold {
  font-weight: bold;
}
/* 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;
  border-left-width: 1px;
  padding-left: 5px;
  background: linear-gradient(to right, transparent -40px, transparent 1px, transparent 1px, transparent 100%);
}
div.cell.jupyter-soft-selected {
  border-left-color: #90CAF9;
  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 {
  border-color: #ababab;
  border-left-width: 0px;
  padding-left: 6px;
  background: linear-gradient(to right, #42A5F5 -40px, #42A5F5 5px, transparent 5px, transparent 100%);
}
@media print {
  div.cell.selected {
    border-color: transparent;
  }
}
div.cell.selected.jupyter-soft-selected {
  border-left-width: 0;
  padding-left: 6px;
  background: linear-gradient(to right, #42A5F5 -40px, #42A5F5 7px, #E3F2FD 7px, #E3F2FD 100%);
}
.edit_mode div.cell.selected {
  border-color: #66BB6A;
  border-left-width: 0px;
  padding-left: 6px;
  background: linear-gradient(to right, #66BB6A -40px, #66BB6A 5px, transparent 5px, transparent 100%);
}
@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. */
  padding: 0.4em;
}
.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. We need the 0 value because of how we size */
  /* .CodeMirror-lines */
  padding: 0;
  border: 0;
  border-radius: 0;
}
/*

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;
}
/* 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: 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 {
  list-style: disc;
  margin: 0em 2em;
  padding-left: 0px;
}
.rendered_html ul ul {
  list-style: square;
  margin: 0em 2em;
}
.rendered_html ul ul ul {
  list-style: circle;
  margin: 0em 2em;
}
.rendered_html ol {
  list-style: decimal;
  margin: 0em 2em;
  padding-left: 0px;
}
.rendered_html ol ol {
  list-style: upper-alpha;
  margin: 0em 2em;
}
.rendered_html ol ol ol {
  list-style: lower-alpha;
  margin: 0em 2em;
}
.rendered_html ol ol ol ol {
  list-style: lower-roman;
  margin: 0em 2em;
}
.rendered_html ol ol ol ol ol {
  list-style: decimal;
  margin: 0em 2em;
}
.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;
}
.rendered_html pre,
.rendered_html code {
  border: 0;
  background-color: #fff;
  color: #000;
  font-size: 100%;
  padding: 0px;
}
.rendered_html blockquote {
  margin: 1em 2em;
}
.rendered_html table {
  margin-left: auto;
  margin-right: auto;
  border: 1px solid black;
  border-collapse: collapse;
}
.rendered_html tr,
.rendered_html th,
.rendered_html td {
  border: 1px solid black;
  border-collapse: collapse;
  margin: 1em 2em;
}
.rendered_html td,
.rendered_html th {
  text-align: left;
  vertical-align: middle;
  padding: 4px;
}
.rendered_html th {
  font-weight: bold;
}
.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;
}
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.unrendered .text_cell_render {
  display: none;
}
.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;
}
/* 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;
}
.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 {
  float: right !important;
  float: right;
}
#kernel_logo_widget .current_kernel_logo {
  display: none;
  margin-top: -1px;
  margin-bottom: -1px;
  width: 32px;
  height: 32px;
}
#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;
}
.nav-wrapper {
  border-bottom: 1px solid #e7e7e7;
}
i.menu-icon {
  padding-top: 4px;
}
ul#help_menu li a {
  overflow: hidden;
  padding-right: 2.2em;
}
ul#help_menu li a i {
  margin-right: -1.2em;
}
.dropdown-submenu {
  position: relative;
}
.dropdown-submenu > .dropdown-menu {
  top: 0;
  left: 100%;
  margin-top: -6px;
  margin-left: -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.pull-left {
  margin-right: .3em;
}
.dropdown-submenu > a:after.pull-right {
  margin-left: .3em;
}
.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;
}
.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;
}
#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;
}
#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;
}
#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.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.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.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.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.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.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 {
  margin-top: 6px;
}
span.save_widget span.filename {
  height: 1em;
  line-height: 1em;
  padding: 3px;
  margin-left: 16px;
  border: none;
  font-size: 146.5%;
  border-radius: 2px;
}
span.save_widget span.filename:hover {
  background-color: #e6e6e6;
}
span.checkpoint_status,
span.autosave_status {
  font-size: small;
}
@media (max-width: 767px) {
  span.save_widget {
    font-size: small;
  }
  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;
}
#maintoolbar {
  margin-bottom: -3px;
  margin-top: -8px;
  border: 0px;
  min-height: 27px;
  margin-left: 0px;
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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="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>
</pre></div>

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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="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="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>
</pre></div>

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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="prompt input_prompt">In&nbsp;[7]:</div>
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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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
"
>
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<p>The next code cell visualizes the velocity of the quadcopter.</p>

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<div class="cell border-box-sizing code_cell rendered">
<div class="input">
<div class="prompt input_prompt">In&nbsp;[8]:</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>
</pre></div>

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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=" 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>
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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;[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;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;[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;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>
</ul>

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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>[-6.83564781  5.59976682 30.22011553  0.0877092   0.18917402  0.        ]
[-4.71815138  3.71579036  5.47476819]
[-0.11698123  0.02058069  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">1000</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 = 1000, score =  -1.838 (best =   0.090), noise_scale = 3.2625</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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<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">DDPG</span>
<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="kn">import</span> <span class="nn">sys</span>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## import taskes</span>
<span class="kn">from</span> <span class="nn">custom_tasks.hover</span> <span class="k">import</span> <span class="n">hover</span>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## Setting up parameters and declaring agent</span>
<span class="n">num_episodes</span> <span class="o">=</span> <span class="mi">1000</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">1.</span><span class="p">,</span> <span class="mf">1.</span><span class="p">,</span> <span class="mf">1.</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">1.</span><span class="p">,</span> <span class="mf">1.</span><span class="p">,</span> <span class="mf">1.</span><span class="p">])</span>
<span class="n">task</span> <span class="o">=</span> <span class="n">hover</span><span class="p">(</span><span class="n">init_pose</span><span class="o">=</span><span class="n">init_pose</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">DDPG</span><span class="p">(</span><span class="n">task</span><span class="p">)</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">all_results</span> <span class="o">=</span> <span class="p">[]</span>
<span class="n">plot_data</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="p">[</span><span class="s1">&#39;episode&#39;</span><span class="p">,</span> <span class="s1">&#39;total_reward&#39;</span><span class="p">]}</span>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## TODO: Train your agent here.</span>


<span class="c1">## initializing list to store reward per episode</span>
<span class="c1">## will be used to plot the change in reward with episodes later</span>
<span class="n">reward_x</span> <span class="o">=</span> <span class="p">[]</span>
<span class="n">reward_y</span> <span class="o">=</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="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="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">action</span><span class="o">=</span><span class="n">action</span><span class="p">,</span> <span class="n">reward</span><span class="o">=</span><span class="n">reward</span><span class="p">,</span> <span class="n">next_state</span><span class="o">=</span><span class="n">next_state</span><span class="p">,</span> <span class="n">done</span><span class="o">=</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="n">descp_entry</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">action</span><span class="p">)</span> 
        
        <span class="k">for</span> <span class="n">i_count</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">i_count</span><span class="p">]]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">descp_entry</span><span class="p">[</span><span class="n">i_count</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</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="n">reward_x</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">i_episode</span><span class="p">)</span>
            <span class="n">reward_y</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">agent</span><span class="o">.</span><span class="n">total_reward</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 = 1000, score = -58.898 (best =  -0.064), noise_scale = 0.11</pre>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## printing rewards for the last 10 episodes</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">1</span><span class="p">,</span> <span class="mi">11</span><span class="p">):</span>
    <span class="nb">print</span> <span class="p">(</span><span class="s2">&quot;Episode: </span><span class="si">{}</span><span class="s2"> with reward </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">reward_x</span><span class="p">[</span><span class="o">-</span><span class="n">i</span><span class="p">],</span><span class="n">reward_y</span><span class="p">[</span><span class="o">-</span><span class="n">i</span><span class="p">]))</span>
<span class="nb">print</span> <span class="p">(</span><span class="s2">&quot;The mean total reward for the last 10 episodes is &quot;</span> <span class="o">+</span> <span class="nb">str</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">reward_y</span><span class="p">[</span><span class="o">-</span><span class="mi">10</span><span class="p">:])))</span>
<span class="nb">print</span> <span class="p">(</span><span class="s2">&quot;The std total reward for the last 10 episodes is &quot;</span> <span class="o">+</span> <span class="nb">str</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">std</span><span class="p">(</span><span class="n">reward_y</span><span class="p">[</span><span class="o">-</span><span class="mi">10</span><span class="p">:])))</span>
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<pre>Episode: 1000 with reward -765.6796342242222
Episode: 999 with reward -1002.761600119431
Episode: 998 with reward -856.2571557180532
Episode: 997 with reward -775.0076622148855
Episode: 996 with reward -839.9588639904741
Episode: 995 with reward -1000.2968485266016
Episode: 994 with reward -1001.8448705255655
Episode: 993 with reward -998.2169203297068
Episode: 992 with reward -774.7609685992013
Episode: 991 with reward -1002.7317287298114
The mean total reward for the last 10 episodes is -901.7516252977952
The std total reward for the last 10 episodes is 102.97072697781542
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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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<div class="prompt input_prompt">In&nbsp;[45]:</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=" 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>
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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;[47]:</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>
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<div class="prompt input_prompt">In&nbsp;[48]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="kn">import</span> <span class="nn">matplotlib</span> <span class="k">as</span> <span class="nn">mpl</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="kn">import</span> <span class="nn">matplotlib.pyplot</span> <span class="k">as</span> <span class="nn">plt</span>

<span class="n">mpl</span><span class="o">.</span><span class="n">rcParams</span><span class="p">[</span><span class="s1">&#39;legend.fontsize&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="mi">10</span>

<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">ax</span> <span class="o">=</span> <span class="n">fig</span><span class="o">.</span><span class="n">gca</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">plot</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> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;flyight path&#39;</span><span class="p">)</span>
<span class="n">ax</span><span class="o">.</span><span class="n">legend</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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<h2 id="Plot-the-Rewards">Plot the Rewards<a class="anchor-link" href="#Plot-the-Rewards">&#182;</a></h2><p>Once you are satisfied with your performance, plot the episode rewards, either from a single run, or averaged over multiple runs.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## TODO: Plot the rewards</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="c1"># Plot the rewards</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">reward_x</span><span class="p">,</span> <span class="n">reward_y</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="s2">&quot;total Reward over episodes&quot;</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="s2">&quot;Episode&quot;</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="s2">&quot;Total Reward&quot;</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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<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>:<br>
The predescribed task was of takeoff where the initial positio was origin and the target was to reach [0,0,10].</p>
<p>I decided to implement the hover task where the inital position was [1,1,1] and the final position was also [1,1,1] code for which can be found in custom_tasks/hover</p>
<ul>
<li>The task that I decided was to make the quadcopter hover over the given coordinates, in the example above the start and the target of coordinates are [1,1,1].  </li>
<li>In order to design the reward function, I initially started with the same award function as in policy_search.py file however the model diverged and was giving outputs.</li>
<li>One For The inspection of the euler angles and the angular velocity it was concluded that these terms should also have a say in deciding reward as the quadcopter needs to stay stationery in one place</li>
</ul>
<h5 id="After-a-lot-of-trial-and-error-the-final-award-function-was-created">After a lot of trial and error the final award function was created<a class="anchor-link" href="#After-a-lot-of-trial-and-error-the-final-award-function-was-created">&#182;</a></h5><ul>
<li>The general idea behind the reward function was to penalize the agent as it moves away from the target this was done linearly and since we don't want the quadcopter to move and to roll angular velocity, translational velocity, and euler angles were penalized as they move away from zero.</li>
<li>This resulted in a challenging situation as when the quadcopter starts in mid air it drops to combat this we need to add velocity in the set direction but the velocity also needs to be penalised otherwise the quadcopter may move away from the target</li>
<li>This may happen in any direction during an episode</li>
<li>So for all velocities and the Euler  angles,  when the agent has taken on wrong action and has moved away from the target these parameters be allowed to change more easily to incorporate this An exponential decay function was used to give a scaling factor for velocities and the euler angles</li>
<li>When we are close to the target the above mentioned parameters are penalised heavily and as we move away from the target the penalty is reduced.</li>
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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>:<br>
I tried Deep Deterministic Policy Gradients (DDPG) algorithm, it's recommended in this project that it fits continous action spaces, it is a kind of actor-critic model.<br>
<strong>Hyperparameters:</strong><br>
$\gamma$ is 0.95, $\tau$ is 0.01<br>
All hyperparameters are the same ones provided within DDPG's original paper implementation.<br>
For the task I changed the runtime to 10 from the default 5 so as to allow my model to recover in case of a bad action was taken.</p>
<p><strong>Neural Network Architecture :</strong></p>
<p><em>Actor</em>:</p>
<ul>
<li>Actor model has 3 dense layers</li>
<li>32, 64, 32 units respectively</li>
<li>All with relu activation function. </li>
<li>Dropout layers have been added between the 3 layers making the final model of 5 layers before the final layer with 4 nodes and sigmoid activation.  </li>
</ul>
<p><em>Critic</em>:</p>
<ul>
<li>The Critic model has states net which has 2 dense layers(32, 64)</li>
<li>Actions net which has 2 dense layers(32, 64)</li>
<li>All of layers have relu activation function and a third dropout layer has been added between the tow layers.</li>
<li>Both the layers are combined and another 32 unit dense layer is added before the final layer with 1 nodes and sigmoid activation.  </li>
</ul>

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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>:<br>
Intuitively speaking it feels like the easiest task to do we just have to keep all the four rotors at the same speed and make sure that the Z coordinates is maintained.</p>
<p>The agent seem to attain stablity at around 600th, (The Aha Moment) so seems to be a diffucumt task for the agent</p>
<p>Observing the rewards plot one can see that the best score is obtained right at the start as the model starts at target position.<br>
followed by which there is a learning curve present the model seems to not learn much till around episode 600 but then it manages to keep a consistent total reward of nearly -900 after 600th episode</p>
<p>I was satisfied with the final peformance of the agent as during the numerous tries prior the agent used to diverge so easily.
The final performance looks like stable, however, multiple runs of the training leads to different results where the agent performance oscillate between success and failure at the final episodes.</p>
<p>The rewards seem to stabelize at around -900 per episode in the end.
The mean of total reward for the last 10 episodes comes out to be -900 with a std of nearly -100</p>

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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>:</p>
<p>In one line it was a <strong>humbling experience</strong> working on this project</p>
<p>The hardest part for me watch definitely defining the task and understanding how the training process works
Initially I was clueless as to why my model was diverging and I found it very helpful to plot the flight path, velocities euler, angles, to fine tune the award function.</p>
<p>I had to rerun the model many times to find the exact constants for the reward function</p>
<p>In order to allow my model to somewhat converge I had to add the following lines of code in my step function</p>
<div class="highlight"><pre><span></span><span class="k">if</span> <span class="nb">abs</span><span class="p">(</span><span class="bp">self</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="mi">3</span><span class="p">]</span><span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">target_pos</span><span class="p">)</span><span class="o">.</span><span class="n">sum</span><span class="p">()</span> <span class="o">&gt;</span> <span class="mi">30</span><span class="p">:</span>
            <span class="n">reward</span> <span class="o">-=</span> <span class="mi">50</span>
            <span class="n">done</span> <span class="o">=</span> <span class="bp">True</span>
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<p>The above lines ensure that in case a very bad non recoverable action is taken then the episode terminates immediately with huge penalty associated with it
Without this the problem becomes more of a translational problem then a hovering problem once a bad action is performed, by the agent.</p>
<p>Even after hours and hours of trial and error my model still is not able to maintain its Z co-ordinate perfectly
The possible reason may be the following</p>
<p>The reason behind divergence is that once the quadcopter sways away from the target (as it does initially) it attains some velocity in some direction with which it also gains momentum.<br>
  As per the reward function we counter this velocity only after the model has moved away from the target and while coming back to target the quadcopter now have momentum in the opposite direction but since we are close to the equilibrium we again cannot cancel this momentum so the the quadcopter goes in the opposite direction this cycle continuous and the reward oscillates between two values.  Over the episode this effects leads to divergence.
I believe this to be the explanation that one of the three axis cannot reach equilibrium</p>

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<h4 id="Further-Improvement">Further Improvement<a class="anchor-link" href="#Further-Improvement">&#182;</a></h4><p>I believe that the agent is capable of learning the our task and major improvements can be achieved by modifying the reward function to account for the initial dive that the quadcopter tskes. and to counter act the momentum.</p>
<p>Some other possible changes are</p>
<ul>
<li>Increasing the runtime value so as to allow the agent 2 come back to target</li>
<li>To terminate episodes more aggressively when a bad action is taken</li>
</ul>
<p>Changing the hyperparameters, implement different neural network architectures, or modifying the reward function might also lead to maintain stability.</p>

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