Initial commit: step2urdf tool with handtuned JSON import.
Includes FastAPI backend, vendored step2urdf frontend, and A7 handtuned arm JSON for URDF generation.
This commit is contained in:
sunxianghui
@@ -0,0 +1,114 @@
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const state = {
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jobId: null,
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draft: null,
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};
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const $ = (id) => document.getElementById(id);
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function pretty(obj) {
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return JSON.stringify(obj, null, 2);
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}
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async function refreshHealth() {
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const el = $("health");
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try {
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const res = await fetch("/api/health");
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const data = await res.json();
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const z = data.zhipu_configured ? `智谱 OK (${data.zhipu_model})` : "智谱未配置";
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const g = data.geometry?.available ? "几何后端可用" : "几何后端未装(占位 mesh)";
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el.textContent = `${z} · ${g}`;
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el.className = "pill " + (data.zhipu_configured ? "ok" : "warn");
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} catch (e) {
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el.textContent = "后端未连接";
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el.className = "pill warn";
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}
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}
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$("btnParse").addEventListener("click", async () => {
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const file = $("file").files?.[0];
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if (!file) {
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$("parseOut").textContent = "请先选择 STEP 文件";
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$("parseOut").classList.add("error");
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return;
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}
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$("parseOut").classList.remove("error");
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$("parseOut").textContent = "解析中…";
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const fd = new FormData();
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fd.append("file", file);
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try {
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const res = await fetch("/api/parse", { method: "POST", body: fd });
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if (!res.ok) throw new Error(await res.text());
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const data = await res.json();
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state.jobId = data.job_id;
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$("btnPropose").disabled = false;
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$("parseOut").textContent = pretty({
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job_id: data.job_id,
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root_name: data.root_name,
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product_count: data.product_names?.length,
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product_names: data.product_names,
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stats: data.stats,
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});
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} catch (e) {
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$("parseOut").textContent = String(e);
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$("parseOut").classList.add("error");
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}
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});
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$("btnPropose").addEventListener("click", async () => {
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if (!state.jobId) return;
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$("proposeOut").classList.remove("error");
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$("proposeOut").textContent = "调用智谱中（可能需要几十秒）…";
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try {
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const res = await fetch("/api/propose", {
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method: "POST",
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headers: { "Content-Type": "application/json" },
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body: JSON.stringify({
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job_id: state.jobId,
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profile: $("profile").value,
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robot_name: $("robotName").value || "A7",
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extra_hint: $("hint").value || "",
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}),
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});
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if (!res.ok) throw new Error(await res.text());
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const draft = await res.json();
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state.draft = draft;
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$("draftEditor").value = pretty(draft);
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$("btnExport").disabled = false;
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$("proposeOut").textContent = `links=${draft.links?.length || 0}, joints=${draft.joints?.length || 0}\n` +
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(draft.notes || []).map((n) => `- ${n}`).join("\n");
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} catch (e) {
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$("proposeOut").textContent = String(e);
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$("proposeOut").classList.add("error");
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}
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});
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$("btnExport").addEventListener("click", async () => {
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if (!state.jobId) return;
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$("exportOut").classList.remove("error");
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try {
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const draft = JSON.parse($("draftEditor").value);
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state.draft = draft;
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const res = await fetch("/api/export", {
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method: "POST",
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headers: { "Content-Type": "application/json" },
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body: JSON.stringify({
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job_id: state.jobId,
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draft,
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include_meshes: true,
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}),
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});
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if (!res.ok) throw new Error(await res.text());
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const meta = await res.json();
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$("exportOut").textContent = pretty(meta);
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const name = draft.name || "robot";
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const a = $("dlLink");
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a.hidden = false;
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a.href = `/api/jobs/${state.jobId}/download/${encodeURIComponent(name)}`;
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a.textContent = `下载 ${name}.urdf`;
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} catch (e) {
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$("exportOut").textContent = String(e);
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$("exportOut").classList.add("error");
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}
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});
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refreshHealth();
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@@ -0,0 +1,61 @@
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<!DOCTYPE html>
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<html lang="zh-CN">
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<head>
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<meta charset="UTF-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>Legacy UI — step2urdf-tool</title>
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<link rel="stylesheet" href="/legacy/style.css" />
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</head>
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<body>
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<div class="page">
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<header class="hero">
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<div>
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<p class="eyebrow">LEGACY</p>
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<h1>旧版静态 UI（已降级）</h1>
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<p class="sub">
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主界面请用 step2urdf 前端：开发时打开
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<a href="http://127.0.0.1:5678">http://127.0.0.1:5678</a>
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（Vite + 智谱建议关节 + 导出 URDF）。本页仅保留调试。
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</p>
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</div>
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<div id="health" class="pill">checking…</div>
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</header>
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<section class="panel">
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<h2>1. 上传 STEP</h2>
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<div class="row">
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<input id="file" type="file" accept=".step,.stp,.STEP,.STP" />
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<button id="btnParse" class="primary">解析</button>
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</div>
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<pre id="parseOut" class="code muted">等待上传…</pre>
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</section>
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<section class="panel">
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<h2>2. 智谱关节提案</h2>
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<div class="grid2">
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<label>Profile
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<select id="profile">
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<option value="a7" selected>a7（先试机械臂）</option>
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<option value="generic">generic（后续其他 STEP）</option>
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</select>
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</label>
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<label>机器人名
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<input id="robotName" value="A7" />
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</label>
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</div>
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<label>额外提示
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<textarea id="hint" rows="2" placeholder="可选：关节数量、固定件说明…"></textarea>
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</label>
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<button id="btnPropose" class="primary">调用智谱</button>
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<pre id="draftOut" class="code muted">等待提案…</pre>
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</section>
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<section class="panel">
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<h2>3. 导出 URDF（服务端草稿）</h2>
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<button id="btnExport" class="primary">导出</button>
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<pre id="exportOut" class="code muted">等待导出…</pre>
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</section>
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</div>
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<script src="/legacy/app.js"></script>
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</body>
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</html>
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@@ -0,0 +1,149 @@
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:root {
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--bg0: #0f1412;
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--bg1: #18211c;
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--ink: #e8f0ea;
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--muted: #9bb0a2;
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--accent: #c4f54b;
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--accent2: #5ee0a0;
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--line: rgba(232, 240, 234, 0.12);
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--danger: #ff7a7a;
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--font-display: "Fraunces", "Iowan Old Style", Georgia, serif;
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--font-body: "IBM Plex Sans", "Noto Sans SC", "Segoe UI", sans-serif;
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--font-mono: "IBM Plex Mono", "SF Mono", ui-monospace, monospace;
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}
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* { box-sizing: border-box; }
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html, body {
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margin: 0;
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min-height: 100%;
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background:
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radial-gradient(1200px 600px at 10% -10%, rgba(94, 224, 160, 0.18), transparent 55%),
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radial-gradient(900px 500px at 100% 0%, rgba(196, 245, 75, 0.12), transparent 50%),
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linear-gradient(165deg, var(--bg0), #121a16 40%, #0c100e);
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color: var(--ink);
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font-family: var(--font-body);
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}
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.page {
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width: min(980px, calc(100% - 2rem));
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margin: 0 auto;
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padding: 2.2rem 0 4rem;
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}
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.hero {
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display: flex;
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justify-content: space-between;
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gap: 1rem;
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align-items: flex-start;
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margin-bottom: 1.5rem;
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}
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.eyebrow {
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letter-spacing: 0.14em;
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text-transform: uppercase;
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color: var(--accent2);
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font-size: 0.75rem;
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margin: 0 0 0.4rem;
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}
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h1 {
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font-family: var(--font-display);
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font-weight: 560;
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font-size: clamp(2rem, 4vw, 2.8rem);
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margin: 0;
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letter-spacing: -0.02em;
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}
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.sub { color: var(--muted); margin: 0.55rem 0 0; max-width: 36rem; }
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.pill {
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border: 1px solid var(--line);
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background: rgba(255,255,255,0.03);
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padding: 0.55rem 0.8rem;
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border-radius: 999px;
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font-size: 0.82rem;
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color: var(--muted);
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white-space: nowrap;
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}
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.pill.ok { color: var(--accent2); border-color: rgba(94,224,160,0.35); }
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.pill.warn { color: #ffd27a; border-color: rgba(255,210,122,0.35); }
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.panel {
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border: 1px solid var(--line);
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background: linear-gradient(180deg, rgba(255,255,255,0.03), rgba(255,255,255,0.015));
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border-radius: 18px;
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padding: 1.15rem 1.2rem 1.25rem;
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margin-bottom: 1rem;
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backdrop-filter: blur(8px);
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}
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.panel h2 {
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margin: 0 0 0.9rem;
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font-size: 1.05rem;
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font-weight: 600;
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}
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.row { display: flex; gap: 0.7rem; align-items: center; flex-wrap: wrap; margin: 0.6rem 0; }
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.grid2 { display: grid; grid-template-columns: 1fr 1fr; gap: 0.8rem; }
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@media (max-width: 720px) { .grid2 { grid-template-columns: 1fr; } }
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label {
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display: grid;
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gap: 0.35rem;
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font-size: 0.86rem;
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color: var(--muted);
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margin: 0.45rem 0;
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}
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input[type="text"], input:not([type]), input[type="file"], select, textarea {
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width: 100%;
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border: 1px solid var(--line);
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background: rgba(0,0,0,0.28);
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color: var(--ink);
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border-radius: 10px;
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padding: 0.65rem 0.75rem;
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font: inherit;
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}
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textarea {
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font-family: var(--font-mono);
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font-size: 0.82rem;
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line-height: 1.45;
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resize: vertical;
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}
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button, .ghost {
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border: 0;
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border-radius: 999px;
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padding: 0.62rem 1.05rem;
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font: inherit;
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cursor: pointer;
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text-decoration: none;
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}
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button.primary {
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background: linear-gradient(120deg, var(--accent), var(--accent2));
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color: #102016;
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font-weight: 650;
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}
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button:disabled { opacity: 0.45; cursor: not-allowed; }
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.ghost {
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color: var(--accent2);
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border: 1px solid rgba(94,224,160,0.35);
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background: transparent;
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}
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.code {
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margin: 0.7rem 0 0;
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padding: 0.85rem;
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border-radius: 12px;
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background: rgba(0,0,0,0.35);
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border: 1px solid var(--line);
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overflow: auto;
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max-height: 260px;
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font-family: var(--font-mono);
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font-size: 0.78rem;
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white-space: pre-wrap;
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}
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.muted { color: var(--muted); }
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.error { color: var(--danger); }
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