Quadcopter_Project.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_original</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>

</div>
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<div class="cell border-box-sizing code_cell rendered">
<div class="input">
<div class="prompt input_prompt">In&nbsp;[3]:</div>
<div class="inner_cell">
    <div class="input_area">
<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>
</pre></div>

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"
>
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<div class="text_cell_render border-box-sizing rendered_html">
<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;[4]:</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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<div class="output">


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"
>
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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="input">
<div class="prompt input_prompt">In&nbsp;[5]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;phi&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;phi&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;theta&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;theta&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;psi&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;psi&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
</pre></div>

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RK5CYII=
"
>
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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="input">
<div class="prompt input_prompt">In&nbsp;[6]:</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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</div>

</div>
</div>

</div>
<div class="cell border-box-sizing text_cell rendered"><div class="prompt input_prompt">
</div>
<div class="inner_cell">
<div class="text_cell_render border-box-sizing rendered_html">
<p>Finally, you can use the code cell below to print the agent's choice of actions.</p>

</div>
</div>
</div>
<div class="cell border-box-sizing code_cell rendered">
<div class="input">
<div class="prompt input_prompt">In&nbsp;[7]:</div>
<div class="inner_cell">
    <div class="input_area">
<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>
</pre></div>

</div>
</div>
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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>[ 12.94986116  -8.82918777  28.4850231    5.77569844   5.69083138   0.        ]
[ 9.4194839  -7.60536309  1.35574291]
[-0.11490003 -0.18689047  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_original</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 = -56.177 (best =  25.637), 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="c1">## TODO: Train your agent here.</span>
<span class="kn">import</span> <span class="nn">csv</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="kn">import</span> <span class="nn">os</span>
<span class="kn">import</span> <span class="nn">shutil</span>

<span class="kn">import</span> <span class="nn">agents.ddpg_agent</span>

<span class="k">try</span><span class="p">:</span>
    <span class="c1"># Remove all files in episodes folder</span>
    <span class="k">for</span> <span class="n">root</span><span class="p">,</span> <span class="n">dirs</span><span class="p">,</span> <span class="n">files</span> <span class="ow">in</span> <span class="n">os</span><span class="o">.</span><span class="n">walk</span><span class="p">(</span><span class="s1">&#39;episodes/&#39;</span><span class="p">):</span>
        <span class="k">for</span> <span class="n">f</span> <span class="ow">in</span> <span class="n">files</span><span class="p">:</span>
            <span class="n">os</span><span class="o">.</span><span class="n">unlink</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">root</span><span class="p">,</span> <span class="n">f</span><span class="p">))</span>
        <span class="k">for</span> <span class="n">d</span> <span class="ow">in</span> <span class="n">dirs</span><span class="p">:</span>
            <span class="n">shutil</span><span class="o">.</span><span class="n">rmtree</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">root</span><span class="p">,</span> <span class="n">d</span><span class="p">))</span>

    <span class="c1"># env = filter_env.makeFilteredEnv(gym.make(ENV_NAME)) </span>
    <span class="n">init_pose</span> <span class="o">=</span> <span class="n">INIT_POSE</span>
    <span class="n">target_pos</span> <span class="o">=</span> <span class="n">TARGET_POS</span>
    <span class="n">init_velocities</span> <span class="o">=</span> <span class="n">INIT_VELOCITIES</span>
    <span class="n">env</span><span class="o">=</span><span class="n">Task</span><span class="p">(</span><span class="n">init_pose</span> <span class="o">=</span> <span class="n">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">init_velocities</span><span class="o">=</span><span class="n">init_velocities</span><span class="p">,</span><span class="n">runtime</span><span class="o">=</span><span class="mf">5.</span><span class="p">)</span>
    <span class="n">ave_reward_arr</span> <span class="o">=</span> <span class="p">[]</span>
    <span class="n">ave_reward_per_ep_arr</span> <span class="o">=</span> <span class="p">[]</span>

    <span class="n">prev_ave_reward_per_ep</span> <span class="o">=</span> <span class="mf">0.</span>

    <span class="n">agent</span> <span class="o">=</span> <span class="n">DDPG</span><span class="p">(</span><span class="n">env</span><span class="p">)</span>

    <span class="n">file_output</span> <span class="o">=</span> <span class="s1">&#39;data.txt&#39;</span>
    <span class="n">labels</span> <span class="o">=</span> <span class="p">[</span><span class="s1">&#39;ep&#39;</span><span class="p">,</span><span class="s1">&#39;i&#39;</span><span class="p">,</span><span class="s1">&#39;j&#39;</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="s1">&#39;r&#39;</span><span class="p">]</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_csv</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">delimiter</span><span class="o">=</span><span class="s1">&#39;</span><span class="se">\t</span><span class="s1">&#39;</span><span class="p">)</span>
        <span class="n">writer_csv</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">for</span> <span class="n">episode</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">EPISODES</span><span class="p">):</span>
        <span class="n">agent</span><span class="o">.</span><span class="n">reset_episode</span><span class="p">()</span>
        <span class="c1">#print &quot;episode:&quot;,episode</span>
        <span class="c1"># Train</span>
        <span class="k">for</span> <span class="n">step</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">TIMESTEPS</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">agent</span><span class="o">.</span><span class="n">last_state</span><span class="p">)</span>
            <span class="c1"># De-normalize rotor speeds to 0..900 instead of -450 to 450</span>
            <span class="c1"># action = action + env.action_low + (env.action_high - env.action_low)/2</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">env</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="p">,</span><span class="n">reward</span><span class="p">,</span><span class="n">next_state</span><span class="p">,</span><span class="n">done</span><span class="p">)</span>
            <span class="k">if</span> <span class="n">done</span><span class="p">:</span>
                <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;TRAINING&#39;</span><span class="p">,</span> <span class="n">episode</span><span class="p">)</span>
                <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;Final rotor speeds:&#39;</span><span class="p">,</span><span class="n">np</span><span class="o">.</span><span class="n">around</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">rotor_speeds</span><span class="p">,</span><span class="n">decimals</span> <span class="o">=</span> <span class="mi">2</span><span class="p">))</span>
                <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;Final coordinates:&#39;</span><span class="p">,</span><span class="n">np</span><span class="o">.</span><span class="n">around</span><span class="p">(</span><span class="n">env</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="n">decimals</span> <span class="o">=</span> <span class="mi">2</span><span class="p">),</span><span class="s1">&#39;</span><span class="se">\n</span><span class="s1">&#39;</span><span class="p">)</span>
                <span class="k">break</span>
        <span class="c1"># Testing:</span>
        <span class="k">if</span> <span class="n">episode</span> <span class="o">%</span> <span class="mi">10</span> <span class="o">==</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">episode</span> <span class="o">&gt;=</span> <span class="mi">10</span><span class="p">:</span>
            <span class="n">total_reward</span> <span class="o">=</span> <span class="mi">0</span>
            <span class="k">if</span> <span class="n">episode</span> <span class="o">&gt;=</span> <span class="mi">20</span><span class="p">:</span>
                <span class="n">prev_ave_reward_per_ep</span> <span class="o">=</span> <span class="n">ave_reward_per_ep</span>
            <span class="n">ave_reward_per_ep</span> <span class="o">=</span> <span class="mi">0</span>
            <span class="n">total_j</span> <span class="o">=</span> <span class="mi">0</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="n">TEST</span><span class="p">):</span>
                <span class="n">agent</span><span class="o">.</span><span class="n">reset_episode</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="k">for</span> <span class="n">j</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">TIMESTEPS</span><span class="p">):</span>
                    <span class="c1">#env.render()</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">agent</span><span class="o">.</span><span class="n">last_state</span><span class="p">)</span> <span class="c1"># direct action for test</span>

                    <span class="c1"># De-normalize rotor speeds to 0..900 instead of -450 to 450</span>
                    <span class="c1"># action = action + env.action_low + (env.action_high - env.action_low)/2</span>

                    <span class="n">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">env</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">total_reward</span> <span class="o">+=</span> <span class="n">reward</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;a&#39;</span><span class="p">)</span> <span class="k">as</span> <span class="n">csvfile</span><span class="p">:</span>
                        <span class="n">writer_csv</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">delimiter</span><span class="o">=</span><span class="s1">&#39;</span><span class="se">\t</span><span class="s1">&#39;</span><span class="p">)</span>
                        <span class="n">to_write</span> <span class="o">=</span> <span class="p">[</span><span class="n">episode</span><span class="p">]</span> <span class="o">+</span> <span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">+</span> <span class="p">[</span><span class="n">j</span><span class="p">]</span> <span class="o">+</span> <span class="p">[</span><span class="n">env</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">env</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">env</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">env</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="o">+</span> <span class="p">[</span><span class="n">reward</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_csv</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="n">total_j</span> <span class="o">+=</span> <span class="n">j</span>
                        <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;TESTING&#39;</span><span class="p">,</span><span class="n">episode</span><span class="p">,</span><span class="n">i</span><span class="p">)</span>
                        <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;Final rotor speeds:&#39;</span><span class="p">,</span><span class="n">np</span><span class="o">.</span><span class="n">around</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">rotor_speeds</span><span class="p">,</span><span class="n">decimals</span> <span class="o">=</span> <span class="mi">2</span><span class="p">))</span>
                        <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;Final coordinates:&#39;</span><span class="p">,</span><span class="n">np</span><span class="o">.</span><span class="n">around</span><span class="p">(</span><span class="n">env</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="n">decimals</span> <span class="o">=</span> <span class="mi">2</span><span class="p">),</span><span class="s1">&#39;</span><span class="se">\n</span><span class="s1">&#39;</span><span class="p">)</span>
                        <span class="k">break</span>

                <span class="n">ave_reward_per_ep</span> <span class="o">+=</span> <span class="n">total_reward</span><span class="o">/</span><span class="n">total_j</span>

                <span class="c1"># print(results[&#39;x&#39;])</span>
                <span class="k">if</span> <span class="nb">len</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="o">&gt;=</span> <span class="mi">40</span><span class="p">:</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">set_xlim</span><span class="p">(</span><span class="o">-</span><span class="mi">150</span><span class="p">,</span><span class="mi">150</span><span class="p">)</span>
                    <span class="n">ax</span><span class="o">.</span><span class="n">set_ylim</span><span class="p">(</span><span class="o">-</span><span class="mi">150</span><span class="p">,</span><span class="mi">150</span><span class="p">)</span>
                    <span class="n">ax</span><span class="o">.</span><span class="n">set_zlim</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span><span class="mi">300</span><span class="p">)</span>
                    <span class="n">x</span> <span class="o">=</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;x&#39;</span><span class="p">]</span>
                    <span class="n">y</span> <span class="o">=</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;y&#39;</span><span class="p">]</span>
                    <span class="n">z</span> <span class="o">=</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;z&#39;</span><span class="p">]</span>

                    <span class="c1"># #2 colored by index (same in this example since z is a linspace too)</span>
                    <span class="n">N</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">z</span><span class="p">)</span>
                    <span class="n">ax</span><span class="o">.</span><span class="n">scatter</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">y</span><span class="p">,</span> <span class="n">z</span><span class="p">,</span> <span class="n">c</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">cm</span><span class="o">.</span><span class="n">jet</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">linspace</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span><span class="mi">1</span><span class="p">,</span><span class="n">N</span><span class="p">)))</span>

                    <span class="n">plt</span><span class="o">.</span><span class="n">savefig</span><span class="p">(</span><span class="s1">&#39;episodes/ep_</span><span class="si">{0:03d}</span><span class="s1">_</span><span class="si">{1:02d}</span><span class="s1">.png&#39;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">episode</span><span class="p">,</span><span class="n">i</span><span class="p">))</span>

                    <span class="n">plt</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>

            <span class="n">ave_reward</span> <span class="o">=</span> <span class="n">total_reward</span><span class="o">/</span><span class="n">TEST</span>
            <span class="n">ave_reward_arr</span><span class="o">.</span><span class="n">append</span><span class="p">([</span><span class="n">episode</span><span class="p">,</span><span class="n">ave_reward</span><span class="p">])</span>
            <span class="n">avg_j</span> <span class="o">=</span> <span class="n">total_j</span><span class="o">/</span><span class="n">TEST</span>
            <span class="n">ave_reward_per_ep</span> <span class="o">=</span> <span class="n">ave_reward_per_ep</span><span class="o">/</span><span class="n">TEST</span>
            <span class="n">ave_reward_per_ep_arr</span><span class="o">.</span><span class="n">append</span><span class="p">([</span><span class="n">episode</span><span class="p">,</span><span class="n">ave_reward_per_ep</span><span class="p">])</span>
            <span class="n">ave_reward_delta</span> <span class="o">=</span> <span class="n">ave_reward_per_ep</span> <span class="o">-</span> <span class="n">prev_ave_reward_per_ep</span>
            <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;</span><span class="se">\n</span><span class="s1">episode:&#39;</span><span class="p">,</span><span class="n">episode</span><span class="p">,</span><span class="s1">&#39;AVG Reward:&#39;</span><span class="p">,</span><span class="n">ave_reward</span><span class="p">,</span><span class="s1">&#39;AVG Reward per ep:&#39;</span><span class="p">,</span> \
                <span class="n">ave_reward_per_ep</span><span class="p">,</span><span class="s1">&#39;AVG reward delta:&#39;</span><span class="p">,</span><span class="n">ave_reward_delta</span><span class="p">,</span><span class="s1">&#39;avg j:&#39;</span><span class="p">,</span><span class="n">avg_j</span><span class="p">,</span><span class="s1">&#39;</span><span class="se">\n</span><span class="s1">&#39;</span><span class="p">)</span>
    <span class="c1"># env.monitor.close()</span>

<span class="k">except</span> <span class="ne">KeyboardInterrupt</span><span class="p">:</span>
    <span class="nb">print</span><span class="p">(</span><span class="s1">&#39;</span><span class="se">\n</span><span class="s1">Successes:&#39;</span><span class="p">,</span><span class="n">env</span><span class="o">.</span><span class="n">successes</span><span class="p">)</span>
    <span class="c1"># print(ave_reward_arr)</span>

    <span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">([</span><span class="n">row</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="k">for</span> <span class="n">row</span> <span class="ow">in</span> <span class="n">ave_reward_arr</span><span class="p">],[</span><span class="n">row</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="k">for</span> <span class="n">row</span> <span class="ow">in</span> <span class="n">ave_reward_arr</span><span class="p">])</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">xlabel</span><span class="p">(</span><span class="s1">&#39;Episode&#39;</span><span class="p">)</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">ylabel</span><span class="p">(</span><span class="s1">&#39;Reward&#39;</span><span class="p">)</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">savefig</span><span class="p">(</span><span class="s1">&#39;episodes/_final_reward.png&#39;</span><span class="p">)</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">close</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">row</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="k">for</span> <span class="n">row</span> <span class="ow">in</span> <span class="n">ave_reward_per_ep_arr</span><span class="p">],[</span><span class="n">row</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="k">for</span> <span class="n">row</span> <span class="ow">in</span> <span class="n">ave_reward_per_ep_arr</span><span class="p">])</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">xlabel</span><span class="p">(</span><span class="s1">&#39;Episode&#39;</span><span class="p">)</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">ylabel</span><span class="p">(</span><span class="s1">&#39;Reward per ep&#39;</span><span class="p">)</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">savefig</span><span class="p">(</span><span class="s1">&#39;episodes/_final_reward_per_ep.png&#39;</span><span class="p">)</span>
    <span class="n">plt</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
</pre></div>

</div>
</div>
</div>

<div class="output_wrapper">
<div class="output">


<div class="output_area">

<div class="prompt"></div>


<div class="output_subarea output_stream output_stdout output_text">
<pre>state_size: 18
TRAINING 0
Final rotor speeds: [449.18 509.37 573.31 488.48]
Final coordinates: [0.98 2.89 0.0] 

TRAINING 1
Final rotor speeds: [413.32 548.8 623.26 575.82]
Final coordinates: [1.13 2.99 0.0] 

TRAINING 2
Final rotor speeds: [240.71 636.51 631.68 683.44]
Final coordinates: [0.04 0.11 0.0] 

TRAINING 3
Final rotor speeds: [347.41 658.12 777.0 794.03]
Final coordinates: [0.39 -0.01 0.0] 

TRAINING 4
Final rotor speeds: [243.13 680.76 826.51 849.76]
Final coordinates: [0.74 0.11 0.0] 

TRAINING 5
Final rotor speeds: [348.46 613.29 805.05 831.64]
Final coordinates: [-0.47 0.08 0.0] 

TRAINING 6
Final rotor speeds: [578.96 722.79 888.37 889.5]
Final coordinates: [-1.18 -1.94 0.0] 

TRAINING 7
Final rotor speeds: [1.35 899.98 900.0 899.84]
Final coordinates: [-14.96 41.01 2.39] 

TRAINING 8
Final rotor speeds: [474.68 757.83 868.36 886.93]
Final coordinates: [3.33 -0.46 0.0] 

TRAINING 9
Final rotor speeds: [337.36 709.87 819.15 849.03]
Final coordinates: [-1.83 -0.15 0.0] 

TRAINING 10
Final rotor speeds: [216.27 834.19 884.4 892.84]
Final coordinates: [-4.61 0.03 0.0] 

TESTING 10 0
Final rotor speeds: [750.78 512.4 898.21 899.96]
Final coordinates: [8.63 -0.31 0.0] 

TESTING 10 1
Final rotor speeds: [750.45 512.77 897.62 900.0]
Final coordinates: [8.67 -0.39 0.0] 

TESTING 10 2
Final rotor speeds: [750.84 512.29 898.29 899.86]
Final coordinates: [8.66 -0.35 0.0] 

TESTING 10 3
Final rotor speeds: [750.72 512.62 897.95 899.93]
Final coordinates: [8.66 -0.32 0.0] 

TESTING 10 4
Final rotor speeds: [750.4 512.46 898.23 900.0]
Final coordinates: [8.63 -0.34 0.0] 

TESTING 10 5
Final rotor speeds: [750.43 512.31 898.23 900.0]
Final coordinates: [8.56 -0.32 0.0] 

TESTING 10 6
Final rotor speeds: [750.36 512.19 898.24 900.0]
Final coordinates: [8.59 -0.34 0.0] 

TESTING 10 7
Final rotor speeds: [750.56 512.6 898.54 899.81]
Final coordinates: [8.65 -0.35 0.0] 

TESTING 10 8
Final rotor speeds: [750.01 511.97 897.97 899.87]
Final coordinates: [8.61 -0.32 0.0] 

TESTING 10 9
Final rotor speeds: [750.74 512.32 897.82 900.0]
Final coordinates: [8.62 -0.33 0.0] 


episode: 10 AVG Reward: -3.57069678345 AVG Reward per ep: -0.198989869022 AVG reward delta: -0.198989869022 avg j: 28.0 

TRAINING 11
Final rotor speeds: [152.06 856.0 894.07 897.35]
Final coordinates: [-7.05 -0.03 0.0] 

TRAINING 12
Final rotor speeds: [104.09 873.46 898.31 899.52]
Final coordinates: [-10.61 0.14 0.0] 

TRAINING 13
Final rotor speeds: [163.08 827.48 870.86 889.63]
Final coordinates: [-4.24 -0.03 0.0] 

TRAINING 14
Final rotor speeds: [210.69 802.63 854.93 890.63]
Final coordinates: [-0.05 0.27 0.0] 

TRAINING 15
Final rotor speeds: [261.85 846.27 873.15 898.04]
Final coordinates: [3.76 -0.51 0.0] 

TRAINING 16
Final rotor speeds: [147.66 897.7 899.31 900.0]
Final coordinates: [12.47 -0.61 0.0] 

TRAINING 17
Final rotor speeds: [15.01 899.65 900.0 899.83]
Final coordinates: [21.3 -1.16 0.0] 

TRAINING 18
Final rotor speeds: [1.0 899.94 899.74 900.0]
Final coordinates: [-58.31 5.33 0.0] 

TRAINING 19
Final rotor speeds: [25.28 884.4 899.15 899.71]
Final coordinates: [-9.88 0.02 0.0] 

TRAINING 20
Final rotor speeds: [53.41 848.03 894.09 899.4]
Final coordinates: [1.33 0.02 0.0] 

TESTING 20 0
Final rotor speeds: [839.76 265.04 899.99 899.93]
Final coordinates: [-1.18 -0.0 0.0] 

TESTING 20 1
Final rotor speeds: [839.51 265.14 899.96 899.88]
Final coordinates: [-1.16 -0.02 0.0] 

TESTING 20 2
Final rotor speeds: [839.58 265.14 899.3 900.0]
Final coordinates: [-1.18 -0.01 0.0] 

TESTING 20 3
Final rotor speeds: [839.64 264.95 900.0 899.75]
Final coordinates: [-1.22 -0.01 0.0] 

TESTING 20 4
Final rotor speeds: [839.7 265.1 899.63 900.0]
Final coordinates: [-1.18 -0.01 0.0] 

TESTING 20 5
Final rotor speeds: [839.49 264.94 899.48 899.87]
Final coordinates: [-1.21 -0.01 0.0] 

TESTING 20 6
Final rotor speeds: [839.6 264.8 899.75 899.65]
Final coordinates: [-1.18 -0.0 0.0] 

TESTING 20 7
Final rotor speeds: [839.46 265.0 899.85 900.0]
Final coordinates: [-1.16 -0.01 0.0] 

TESTING 20 8
Final rotor speeds: [839.63 264.46 899.48 900.0]
Final coordinates: [-1.16 -0.02 0.0] 

TESTING 20 9
Final rotor speeds: [839.66 265.02 899.53 899.75]
Final coordinates: [-1.12 -0.01 0.0] 


episode: 20 AVG Reward: -9.56887571116 AVG Reward per ep: -0.501353325772 AVG reward delta: -0.30236345675 avg j: 19.0 

TRAINING 21
Final rotor speeds: [1.0 900.0 900.0 899.9]
Final coordinates: [68.44 10.63 6.55] 

TRAINING 22
Final rotor speeds: [471.49 882.27 899.52 899.9]
Final coordinates: [3.51 -0.02 0.0] 

TRAINING 23
Final rotor speeds: [140.42 92.55 899.95 899.86]
Final coordinates: [-10.62 -0.01 0.0] 

TRAINING 24
Final rotor speeds: [884.63 1.0 900.0 899.61]
Final coordinates: [-45.17 1.5 0.0] 

TRAINING 25
Final rotor speeds: [872.49 896.07 899.91 900.0]
Final coordinates: [14.98 1.01 0.0] 

TRAINING 26
Final rotor speeds: [900.0 900.0 899.56 899.96]
Final coordinates: [-3.52 14.35 91.33] 

TRAINING 27
Final rotor speeds: [900.0 1.0 900.0 899.9]
Final coordinates: [-77.03 0.17 0.0] 

TRAINING 28
Final rotor speeds: [900.0 1.0 899.81 899.99]
Final coordinates: [-13.31 -4.32 3.29] 

TRAINING 29
Final rotor speeds: [900.0 1.0 900.0 899.93]
Final coordinates: [-13.27 0.01 0.0] 

TRAINING 30
Final rotor speeds: [899.63 898.81 899.62 899.54]
Final coordinates: [6.88 -0.03 0.0] 

TESTING 30 0
Final rotor speeds: [899.94 870.5 899.62 900.0]
Final coordinates: [49.66 -0.39 0.0] 

TESTING 30 1
Final rotor speeds: [900.0 870.53 899.67 900.0]
Final coordinates: [49.6 0.62 0.0] 

TESTING 30 2
Final rotor speeds: [899.57 871.03 899.75 899.84]
Final coordinates: [49.61 -1.02 0.0] 

TESTING 30 3
Final rotor speeds: [900.0 871.07 899.84 900.0]
Final coordinates: [49.68 -1.7 0.0] 

TESTING 30 4
Final rotor speeds: [899.87 871.29 900.0 900.0]
Final coordinates: [49.38 0.81 0.0] 

TESTING 30 5
Final rotor speeds: [900.0 871.0 900.0 899.97]
Final coordinates: [50.06 -2.08 0.0] 

TESTING 30 6
Final rotor speeds: [899.92 870.49 899.48 899.84]
Final coordinates: [50.8 -3.09 0.0] 

TESTING 30 7
Final rotor speeds: [899.93 870.72 899.85 900.0]
Final coordinates: [49.41 -0.05 0.0] 

TESTING 30 8
Final rotor speeds: [899.94 870.78 900.0 900.0]
Final coordinates: [49.56 0.36 0.0] 

TESTING 30 9
Final rotor speeds: [899.74 870.8 900.0 900.0]
Final coordinates: [49.75 -1.51 0.0] 


episode: 30 AVG Reward: 42.6448776579 AVG Reward per ep: 0.628615919821 AVG reward delta: 1.12996924559 avg j: 67.1 

TRAINING 31
Final rotor speeds: [900.0 900.0 899.97 899.45]
Final coordinates: [150.0 -5.83 1.2] 

TRAINING 32
Final rotor speeds: [895.79 665.8 900.0 899.91]
Final coordinates: [-4.98 -0.01 0.0] 

TRAINING 33
Final rotor speeds: [899.7 1.0 899.69 900.0]
Final coordinates: [-26.78 0.01 0.0] 

TRAINING 34
Final rotor speeds: [899.54 899.96 900.0 900.0]
Final coordinates: [150.0 120.81 300.0] 

*******
  [2.04852724839 0.0713787089045 4.84781784708]
  [2.04852724839 -0.0713787089045 45.1521821529]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 35
Final rotor speeds: [900.0 899.78 900.0 900.0]
Final coordinates: [2.05 -0.07 45.15] 

*******
  [0.848045561465 0.0744792217837 4.82246995551]
  [0.848045561465 0.0744792217837 45.1775300445]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 36
Final rotor speeds: [900.0 899.37 900.0 900.0]
Final coordinates: [0.85 0.07 45.18] 

*******
  [0.477153592102 0.181865306672 4.81664836388]
  [0.477153592102 0.181865306672 45.1833516361]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 37
Final rotor speeds: [899.93 900.0 900.0 900.0]
Final coordinates: [0.48 0.18 45.18] 

*******
  [0.329125223322 0.346229406194 4.8140885507]
  [0.329125223322 0.346229406194 45.1859114493]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 38
Final rotor speeds: [900.0 899.7 900.0 899.77]
Final coordinates: [0.33 0.35 45.19] 

*******
  [0.259455498222 0.0613062362886 4.8129372503]
  [0.259455498222 -0.0613062362886 45.1870627497]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 39
Final rotor speeds: [900.0 900.0 899.75 899.9]
Final coordinates: [0.26 -0.06 45.19] 

*******
  [0.0714336455487 0.217435567493 4.81272604027]
  [0.0714336455487 -0.217435567493 45.1872739597]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 40
Final rotor speeds: [900.0 900.0 899.91 900.0]
Final coordinates: [0.07 -0.22 45.19] 

*******
  [0.223179826246 0.0855425556636 4.81548437619]
  [0.223179826246 -0.0855425556636 45.1845156238]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 40 0
Final rotor speeds: [900.0 899.8 899.96 900.0]
Final coordinates: [0.22 -0.09 45.18] 

*******
  [1.01865068145 0.260364835816 4.81466466076]
  [1.01865068145 0.260364835816 45.1853353392]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 40 1
Final rotor speeds: [899.56 899.69 900.0 900.0]
Final coordinates: [1.02 0.26 45.19] 

*******
  [0.704641332498 0.0176856320201 4.80870590051]
  [0.704641332498 -0.0176856320201 45.1912940995]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 40 2
Final rotor speeds: [900.0 899.92 899.93 899.67]
Final coordinates: [0.7 -0.02 45.19] 

*******
  [1.13676204845 0.00627683919246 4.79806264247]
  [1.13676204845 0.00627683919246 45.2019373575]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 40 3
Final rotor speeds: [900.0 900.0 899.89 900.0]
Final coordinates: [1.14 0.01 45.2] 

*******
  [0.255226005547 0.206438120048 4.8105394901]
  [0.255226005547 -0.206438120048 45.1894605099]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 40 4
Final rotor speeds: [899.8 899.44 899.98 899.6]
Final coordinates: [0.26 -0.21 45.19] 

*******
  [0.924757132906 0.420815165943 4.80638470973]
  [0.924757132906 0.420815165943 45.1936152903]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 40 5
Final rotor speeds: [900.0 899.62 899.7 900.0]
Final coordinates: [0.92 0.42 45.19] 

*******
  [0.741072640244 0.935067743317 4.80457907802]
  [0.741072640244 0.935067743317 45.195420922]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 40 6
Final rotor speeds: [899.63 899.98 900.0 900.0]
Final coordinates: [0.74 0.94 45.2] 

*******
  [1.02771200599 0.222617721317 4.82079384658]
  [1.02771200599 0.222617721317 45.1792061534]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 40 7
Final rotor speeds: [900.0 900.0 899.87 900.0]
Final coordinates: [1.03 0.22 45.18] 

*******
  [1.41797651994 0.513564950489 4.78740069347]
  [1.41797651994 0.513564950489 45.2125993065]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 40 8
Final rotor speeds: [899.81 899.63 900.0 900.0]
Final coordinates: [1.42 0.51 45.21] 

*******
  [0.372165444083 0.0200479508223 4.82478590909]
  [0.372165444083 0.0200479508223 45.1752140909]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 40 9
Final rotor speeds: [899.68 899.22 900.0 899.68]
Final coordinates: [0.37 0.02 45.18] 


episode: 40 AVG Reward: 176.506569933 AVG Reward per ep: 6.34527222318 AVG reward delta: 5.71665630336 avg j: 28.0 

*******
  [0.500643363128 0.00868932078805 4.81382216512]
  [0.500643363128 -0.00868932078805 45.1861778349]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 41
Final rotor speeds: [900.0 900.0 899.81 900.0]
Final coordinates: [0.5 -0.01 45.19] 

*******
  [0.306422842769 0.146451996493 4.81852455674]
  [0.306422842769 -0.146451996493 45.1814754433]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 42
Final rotor speeds: [899.62 899.63 899.94 900.0]
Final coordinates: [0.31 -0.15 45.18] 

*******
  [0.0691089982775 0.202618707706 4.81246388987]
  [-0.0691089982775 0.202618707706 45.1875361101]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 43
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [-0.07 0.2 45.19] 

*******
  [0.102317102658 0.0938410248254 4.81495200921]
  [0.102317102658 -0.0938410248254 45.1850479908]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 44
Final rotor speeds: [899.98 900.0 899.63 899.85]
Final coordinates: [0.1 -0.09 45.19] 

*******
  [0.168316040002 0.0470621783229 4.81459753511]
  [-0.168316040002 -0.0470621783229 45.1854024649]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 45
Final rotor speeds: [899.96 900.0 900.0 899.56]
Final coordinates: [-0.17 -0.05 45.19] 

*******
  [0.116187909294 0.479528049457 4.81295998195]
  [0.116187909294 -0.479528049457 45.1870400181]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 46
Final rotor speeds: [900.0 899.57 900.0 900.0]
Final coordinates: [0.12 -0.48 45.19] 

*******
  [0.123040134482 0.482057990847 4.81494835457]
  [0.123040134482 -0.482057990847 45.1850516454]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 47
Final rotor speeds: [899.77 899.7 900.0 899.89]
Final coordinates: [0.12 -0.48 45.19] 

*******
  [0.24671038571 0.0 4.80963496279]
  [-0.24671038571 0.0 45.1903650372]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 48
Final rotor speeds: [900.0 899.78 900.0 900.0]
Final coordinates: [-0.25 0.0 45.19] 

*******
  [0.497623616018 0.123786170554 4.81412375851]
  [0.497623616018 -0.123786170554 45.1858762415]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 49
Final rotor speeds: [899.83 900.0 900.0 900.0]
Final coordinates: [0.5 -0.12 45.19] 

*******
  [0.292521456697 0.352133454099 4.81461384267]
  [0.292521456697 -0.352133454099 45.1853861573]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 50
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.29 -0.35 45.19] 

*******
  [0.2432128833 0.0779904686809 4.8200680842]
  [-0.2432128833 0.0779904686809 45.1799319158]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 50 0
Final rotor speeds: [900.0 900.0 899.63 899.97]
Final coordinates: [-0.24 0.08 45.18] 

*******
  [0.0846431692212 0.0534729698481 4.81266554652]
  [0.0846431692212 0.0534729698481 45.1873344535]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 50 1
Final rotor speeds: [900.0 899.76 900.0 899.94]
Final coordinates: [0.08 0.05 45.19] 

*******
  [0.185449138029 0.0871393593531 4.811161757]
  [0.185449138029 0.0871393593531 45.188838243]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 50 2
Final rotor speeds: [900.0 899.89 899.97 900.0]
Final coordinates: [0.19 0.09 45.19] 

*******
  [0.228993839213 0.371035246945 4.81254421169]
  [0.228993839213 -0.371035246945 45.1874557883]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 50 3
Final rotor speeds: [900.0 899.91 900.0 900.0]
Final coordinates: [0.23 -0.37 45.19] 

*******
  [0.136487449283 0.0484295292583 4.8134472975]
  [-0.136487449283 0.0484295292583 45.1865527025]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 50 4
Final rotor speeds: [899.54 900.0 899.98 900.0]
Final coordinates: [-0.14 0.05 45.19] 

*******
  [0.217366719416 0.32824848023 4.80852259848]
  [0.217366719416 0.32824848023 45.1914774015]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 50 5
Final rotor speeds: [900.0 900.0 899.76 899.63]
Final coordinates: [0.22 0.33 45.19] 

*******
  [0.113957668985 0.0180397451045 4.81315242835]
  [-0.113957668985 -0.0180397451045 45.1868475716]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 50 6
Final rotor speeds: [899.81 899.8 900.0 900.0]
Final coordinates: [-0.11 -0.02 45.19] 

*******
  [0.0408168856376 0.157159887862 4.81316481587]
  [0.0408168856376 -0.157159887862 45.1868351841]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 50 7
Final rotor speeds: [899.83 899.82 900.0 899.99]
Final coordinates: [0.04 -0.16 45.19] 

*******
  [0.367259975177 0.0942879269971 4.81506490744]
  [0.367259975177 -0.0942879269971 45.1849350926]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 50 8
Final rotor speeds: [899.94 899.74 900.0 900.0]
Final coordinates: [0.37 -0.09 45.18] 

*******
  [0.155752568312 0.0774079805281 4.81285473154]
  [0.155752568312 -0.0774079805281 45.1871452685]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 50 9
Final rotor speeds: [899.97 900.0 900.0 899.9]
Final coordinates: [0.16 -0.08 45.19] 


episode: 50 AVG Reward: 180.843608223 AVG Reward per ep: 6.4654254981 AVG reward delta: 0.120153274921 avg j: 28.0 

*******
  [0.127560457185 0.197865699288 4.81361273444]
  [0.127560457185 -0.197865699288 45.1863872656]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 51
Final rotor speeds: [900.0 899.98 899.85 899.84]
Final coordinates: [0.13 -0.2 45.19] 

*******
  [0.355989736094 0.0796624439993 4.80900334666]
  [-0.355989736094 0.0796624439993 45.1909966533]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 52
Final rotor speeds: [899.99 899.96 900.0 899.93]
Final coordinates: [-0.36 0.08 45.19] 

*******
  [0.578838049603 0.330207785086 4.81159134684]
  [0.578838049603 0.330207785086 45.1884086532]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 53
Final rotor speeds: [900.0 900.0 899.89 899.57]
Final coordinates: [0.58 0.33 45.19] 

*******
  [0.0475984398716 0.458554060662 4.81450446735]
  [0.0475984398716 0.458554060662 45.1854955327]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 54
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.05 0.46 45.19] 

*******
  [0.025446107853 0.159243495328 4.81313291492]
  [-0.025446107853 0.159243495328 45.1868670851]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 55
Final rotor speeds: [899.78 900.0 899.82 899.93]
Final coordinates: [-0.03 0.16 45.19] 

*******
  [0.142298842535 0.151640131802 4.81154433006]
  [0.142298842535 0.151640131802 45.1884556699]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 56
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.14 0.15 45.19] 

*******
  [0.122005849568 0.0314086713503 4.81311272296]
  [0.122005849568 -0.0314086713503 45.186887277]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 57
Final rotor speeds: [899.76 899.72 900.0 900.0]
Final coordinates: [0.12 -0.03 45.19] 

*******
  [0.228863661296 0.183261167092 4.815765936]
  [0.228863661296 -0.183261167092 45.184234064]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 58
Final rotor speeds: [899.91 900.0 900.0 899.74]
Final coordinates: [0.23 -0.18 45.18] 

*******
  [0.478902543697 0.0727987303225 4.79915531521]
  [0.478902543697 -0.0727987303225 45.2008446848]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 59
Final rotor speeds: [900.0 899.55 900.0 900.0]
Final coordinates: [0.48 -0.07 45.2] 

*******
  [0.290818906668 0.235000199138 4.812082206]
  [-0.290818906668 0.235000199138 45.187917794]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 60
Final rotor speeds: [900.0 900.0 900.0 899.83]
Final coordinates: [-0.29 0.24 45.19] 

*******
  [0.00959957605501 0.0470861851406 4.81263481749]
  [-0.00959957605501 0.0470861851406 45.1873651825]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 60 0
Final rotor speeds: [900.0 899.93 899.68 900.0]
Final coordinates: [-0.01 0.05 45.19] 

*******
  [0.129592541878 0.0147623962075 4.81303028755]
  [0.129592541878 0.0147623962075 45.1869697124]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 60 1
Final rotor speeds: [900.0 899.76 899.76 899.75]
Final coordinates: [0.13 0.01 45.19] 

*******
  [0.232490510042 0.206487927558 4.80515241187]
  [-0.232490510042 -0.206487927558 45.1948475881]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 60 2
Final rotor speeds: [899.65 899.84 900.0 899.32]
Final coordinates: [-0.23 -0.21 45.19] 

*******
  [0.115314342363 5.22288040898e-06 4.81207536126]
  [-0.115314342363 5.22288040898e-06 45.1879246387]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 60 3
Final rotor speeds: [899.89 899.91 900.0 900.0]
Final coordinates: [-0.12 0.0 45.19] 

*******
  [0.117298778712 0.419123079516 4.80472477355]
  [0.117298778712 0.419123079516 45.1952752265]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 60 4
Final rotor speeds: [899.9 899.74 899.87 900.0]
Final coordinates: [0.12 0.42 45.2] 

*******
  [0.0393512902893 0.539848811229 4.82020144452]
  [-0.0393512902893 0.539848811229 45.1797985555]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 60 5
Final rotor speeds: [899.88 899.94 900.0 899.92]
Final coordinates: [-0.04 0.54 45.18] 

*******
  [0.330165997893 0.373682137908 4.81511235713]
  [0.330165997893 0.373682137908 45.1848876429]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 60 6
Final rotor speeds: [900.0 899.91 900.0 900.0]
Final coordinates: [0.33 0.37 45.18] 

*******
  [0.120190499687 0.215394573656 4.81466339662]
  [-0.120190499687 -0.215394573656 45.1853366034]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 60 7
Final rotor speeds: [899.87 900.0 900.0 899.77]
Final coordinates: [-0.12 -0.22 45.19] 

*******
  [0.0831174478906 0.018613636609 4.81166911992]
  [-0.0831174478906 0.018613636609 45.1883308801]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 60 8
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [-0.08 0.02 45.19] 

*******
  [0.0595038419939 0.232783825843 4.81163027526]
  [0.0595038419939 -0.232783825843 45.1883697247]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 60 9
Final rotor speeds: [900.0 899.5 900.0 899.91]
Final coordinates: [0.06 -0.23 45.19] 


episode: 60 AVG Reward: 180.134616098 AVG Reward per ep: 6.44928742938 AVG reward delta: -0.0161380687207 avg j: 28.0 

*******
  [0.128112996217 0.00819622923231 4.81425913178]
  [-0.128112996217 0.00819622923231 45.1857408682]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 61
Final rotor speeds: [900.0 899.91 899.86 899.58]
Final coordinates: [-0.13 0.01 45.19] 

*******
  [0.24215821234 0.119713197026 4.81237704759]
  [-0.24215821234 -0.119713197026 45.1876229524]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 62
Final rotor speeds: [899.79 900.0 899.81 900.0]
Final coordinates: [-0.24 -0.12 45.19] 

*******
  [0.272283978434 0.236924912627 4.81909917252]
  [-0.272283978434 0.236924912627 45.1809008275]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 63
Final rotor speeds: [900.0 899.84 899.95 899.79]
Final coordinates: [-0.27 0.24 45.18] 

*******
  [0.286531240258 0.192491535548 4.81745852312]
  [-0.286531240258 -0.192491535548 45.1825414769]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 64
Final rotor speeds: [899.91 899.59 899.94 900.0]
Final coordinates: [-0.29 -0.19 45.18] 

*******
  [0.00152705139867 0.119424338201 4.81309380331]
  [-0.00152705139867 0.119424338201 45.1869061967]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 65
Final rotor speeds: [900.0 899.91 900.0 899.79]
Final coordinates: [-0.0 0.12 45.19] 

*******
  [0.0944139423376 0.30025670646 4.81826456957]
  [0.0944139423376 0.30025670646 45.1817354304]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 66
Final rotor speeds: [899.45 899.95 899.98 900.0]
Final coordinates: [0.09 0.3 45.18] 

*******
  [0.257282072874 0.20786627692 4.81362584254]
  [-0.257282072874 0.20786627692 45.1863741575]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 67
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [-0.26 0.21 45.19] 

*******
  [0.260948821756 0.0770886173808 4.81215772184]
  [0.260948821756 -0.0770886173808 45.1878422782]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 68
Final rotor speeds: [900.0 899.9 899.74 900.0]
Final coordinates: [0.26 -0.08 45.19] 

*******
  [0.0374799092157 0.403657478169 4.81195890414]
  [0.0374799092157 -0.403657478169 45.1880410959]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 69
Final rotor speeds: [900.0 899.86 899.8 899.58]
Final coordinates: [0.04 -0.4 45.19] 

*******
  [0.0357883722756 0.723742264291 4.81612853585]
  [0.0357883722756 0.723742264291 45.1838714641]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 70
Final rotor speeds: [900.0 900.0 899.46 900.0]
Final coordinates: [0.04 0.72 45.18] 

*******
  [0.295811639777 0.197495246183 4.81298800235]
  [0.295811639777 -0.197495246183 45.1870119976]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 70 0
Final rotor speeds: [900.0 899.7 899.89 899.91]
Final coordinates: [0.3 -0.2 45.19] 

*******
  [0.0217121069088 0.290777034089 4.8124970789]
  [0.0217121069088 -0.290777034089 45.1875029211]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 70 1
Final rotor speeds: [899.79 899.9 900.0 900.0]
Final coordinates: [0.02 -0.29 45.19] 

*******
  [0.308681976845 0.720846455302 4.80491433004]
  [-0.308681976845 -0.720846455302 45.19508567]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 70 2
Final rotor speeds: [899.85 899.8 899.83 900.0]
Final coordinates: [-0.31 -0.72 45.2] 

*******
  [0.127656217888 0.0238159994902 4.81472393781]
  [-0.127656217888 0.0238159994902 45.1852760622]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 70 3
Final rotor speeds: [900.0 900.0 899.88 900.0]
Final coordinates: [-0.13 0.02 45.19] 

*******
  [0.0201042636095 0.194883117917 4.81316104805]
  [-0.0201042636095 0.194883117917 45.186838952]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 70 4
Final rotor speeds: [900.0 899.95 899.92 900.0]
Final coordinates: [-0.02 0.19 45.19] 

*******
  [0.104840964781 0.173091515946 4.81674575352]
  [0.104840964781 0.173091515946 45.1832542465]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 70 5
Final rotor speeds: [900.0 900.0 899.72 899.79]
Final coordinates: [0.1 0.17 45.18] 

*******
  [0.168926737306 0.0625752882866 4.81287515326]
  [-0.168926737306 0.0625752882866 45.1871248467]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 70 6
Final rotor speeds: [899.11 899.77 900.0 900.0]
Final coordinates: [-0.17 0.06 45.19] 

*******
  [0.0624809373903 0.0435562831066 4.81584249921]
  [-0.0624809373903 0.0435562831066 45.1841575008]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 70 7
Final rotor speeds: [899.55 899.93 899.95 900.0]
Final coordinates: [-0.06 0.04 45.18] 

*******
  [0.000438393504327 0.111589397328 4.8119954936]
  [-0.000438393504327 -0.111589397328 45.1880045064]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 70 8
Final rotor speeds: [899.97 900.0 899.77 899.65]
Final coordinates: [-0.0 -0.11 45.19] 

*******
  [0.157305644923 0.0293919225262 4.81517575751]
  [-0.157305644923 0.0293919225262 45.1848242425]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 70 9
Final rotor speeds: [899.81 899.81 900.0 899.9]
Final coordinates: [-0.16 0.03 45.18] 


episode: 70 AVG Reward: 180.626490221 AVG Reward per ep: 6.42765407458 AVG reward delta: -0.0216333547932 avg j: 28.0 

*******
  [0.0922327963222 0.0809761692485 4.81225083845]
  [0.0922327963222 0.0809761692485 45.1877491615]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 71
Final rotor speeds: [900.0 900.0 899.88 900.0]
Final coordinates: [0.09 0.08 45.19] 

*******
  [0.00958660713033 0.68085816822 4.80644842684]
  [0.00958660713033 0.68085816822 45.1935515732]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 72
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.01 0.68 45.19] 

*******
  [0.0793932637005 0.363098263764 4.81458565157]
  [0.0793932637005 -0.363098263764 45.1854143484]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 73
Final rotor speeds: [900.0 900.0 899.85 899.58]
Final coordinates: [0.08 -0.36 45.19] 

*******
  [0.364979332707 0.0212335955532 4.81134486494]
  [0.364979332707 0.0212335955532 45.1886551351]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 74
Final rotor speeds: [900.0 899.8 900.0 899.86]
Final coordinates: [0.36 0.02 45.19] 

*******
  [0.2919357858 1.04636272312 4.78130876673]
  [-0.2919357858 -1.04636272312 45.2186912333]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 75
Final rotor speeds: [900.0 899.9 899.92 899.89]
Final coordinates: [-0.29 -1.05 45.22] 

*******
  [0.0321071104365 0.359647019158 4.81584081786]
  [0.0321071104365 0.359647019158 45.1841591821]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 76
Final rotor speeds: [899.74 899.88 899.75 900.0]
Final coordinates: [0.03 0.36 45.18] 

*******
  [0.11205064845 0.519276720798 4.81345424577]
  [-0.11205064845 0.519276720798 45.1865457542]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 77
Final rotor speeds: [900.0 899.59 899.6 899.68]
Final coordinates: [-0.11 0.52 45.19] 

*******
  [0.186159472311 0.0839282557475 4.81307176215]
  [-0.186159472311 0.0839282557475 45.1869282378]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 78
Final rotor speeds: [900.0 899.96 899.7 899.98]
Final coordinates: [-0.19 0.08 45.19] 

*******
  [0.149470392068 0.626278219343 4.81729152875]
  [0.149470392068 0.626278219343 45.1827084712]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 79
Final rotor speeds: [900.0 900.0 899.97 900.0]
Final coordinates: [0.15 0.63 45.18] 

*******
  [0.332583782472 0.313838198087 4.80422781228]
  [0.332583782472 0.313838198087 45.1957721877]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 80
Final rotor speeds: [900.0 899.69 899.83 899.95]
Final coordinates: [0.33 0.31 45.2] 

*******
  [0.135811043824 0.942571304068 4.80411283783]
  [0.135811043824 0.942571304068 45.1958871622]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 80 0
Final rotor speeds: [900.0 899.93 899.8 899.97]
Final coordinates: [0.14 0.94 45.2] 

*******
  [0.00824769316899 0.246294198712 4.81676298316]
  [-0.00824769316899 -0.246294198712 45.1832370168]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 80 1
Final rotor speeds: [899.95 900.0 899.7 900.0]
Final coordinates: [-0.01 -0.25 45.18] 

*******
  [0.198430423887 0.0996540939151 4.81283464666]
  [0.198430423887 0.0996540939151 45.1871653533]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 80 2
Final rotor speeds: [900.0 899.86 900.0 899.95]
Final coordinates: [0.2 0.1 45.19] 

*******
  [0.266664935555 0.22498586374 4.8129732356]
  [-0.266664935555 0.22498586374 45.1870267644]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 80 3
Final rotor speeds: [900.0 900.0 899.89 899.78]
Final coordinates: [-0.27 0.22 45.19] 

*******
  [0.451926466578 0.127213993752 4.81146841898]
  [-0.451926466578 0.127213993752 45.188531581]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 80 4
Final rotor speeds: [900.0 900.0 899.77 899.79]
Final coordinates: [-0.45 0.13 45.19] 

*******
  [0.0401072164487 0.278131371936 4.82400546481]
  [0.0401072164487 -0.278131371936 45.1759945352]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 80 5
Final rotor speeds: [900.0 900.0 899.92 899.97]
Final coordinates: [0.04 -0.28 45.18] 

*******
  [0.225078109087 0.294527139689 4.82069968951]
  [0.225078109087 0.294527139689 45.1793003105]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 80 6
Final rotor speeds: [899.61 899.71 900.0 899.63]
Final coordinates: [0.23 0.29 45.18] 

*******
  [0.044102901919 0.266227185246 4.8093381671]
  [0.044102901919 0.266227185246 45.1906618329]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 80 7
Final rotor speeds: [900.0 900.0 899.34 900.0]
Final coordinates: [0.04 0.27 45.19] 

*******
  [0.319428056177 0.075010635332 4.8138175913]
  [-0.319428056177 0.075010635332 45.1861824087]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 80 8
Final rotor speeds: [900.0 899.69 900.0 900.0]
Final coordinates: [-0.32 0.08 45.19] 

*******
  [0.598484632051 0.038442067943 4.80889801605]
  [-0.598484632051 0.038442067943 45.191101984]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 80 9
Final rotor speeds: [900.0 900.0 899.69 900.0]
Final coordinates: [-0.6 0.04 45.19] 


episode: 80 AVG Reward: 179.630189209 AVG Reward per ep: 6.39606377565 AVG reward delta: -0.0315902989335 avg j: 28.0 

*******
  [0.409373547163 0.177587407347 4.81261862021]
  [-0.409373547163 0.177587407347 45.1873813798]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 81
Final rotor speeds: [900.0 899.87 900.0 900.0]
Final coordinates: [-0.41 0.18 45.19] 

*******
  [0.0916942302607 0.0227562502683 4.81390619799]
  [0.0916942302607 0.0227562502683 45.186093802]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 82
Final rotor speeds: [899.91 900.0 900.0 900.0]
Final coordinates: [0.09 0.02 45.19] 

*******
  [0.479941743916 0.0200887365048 4.8138715966]
  [-0.479941743916 -0.0200887365048 45.1861284034]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 83
Final rotor speeds: [899.72 900.0 899.97 900.0]
Final coordinates: [-0.48 -0.02 45.19] 

*******
  [0.0101608598081 0.788879716285 4.80426645587]
  [0.0101608598081 -0.788879716285 45.1957335441]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 84
Final rotor speeds: [899.39 900.0 899.79 899.45]
Final coordinates: [0.01 -0.79 45.2] 

*******
  [0.349595458586 0.149111419648 4.81516071592]
  [0.349595458586 -0.149111419648 45.1848392841]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 85
Final rotor speeds: [899.98 900.0 900.0 900.0]
Final coordinates: [0.35 -0.15 45.18] 

*******
  [0.0126864525575 0.574727037131 4.82327505537]
  [-0.0126864525575 0.574727037131 45.1767249446]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 86
Final rotor speeds: [899.49 900.0 900.0 900.0]
Final coordinates: [-0.01 0.57 45.18] 

*******
  [0.186051341856 0.154555161369 4.81751158025]
  [0.186051341856 -0.154555161369 45.1824884197]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 87
Final rotor speeds: [899.89 900.0 899.9 900.0]
Final coordinates: [0.19 -0.15 45.18] 

*******
  [0.0812898779274 0.00436317390481 4.81264162879]
  [0.0812898779274 -0.00436317390481 45.1873583712]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 88
Final rotor speeds: [899.7 900.0 899.67 899.98]
Final coordinates: [0.08 -0.0 45.19] 

*******
  [0.227162135123 0.621920103727 4.80363292487]
  [-0.227162135123 -0.621920103727 45.1963670751]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 89
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [-0.23 -0.62 45.2] 

*******
  [0.037327802148 0.601990276134 4.81119816077]
  [-0.037327802148 -0.601990276134 45.1888018392]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 90
Final rotor speeds: [899.91 899.93 899.54 899.73]
Final coordinates: [-0.04 -0.6 45.19] 

*******
  [0.175739933243 0.00133519257497 4.81673350543]
  [-0.175739933243 -0.00133519257497 45.1832664946]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 90 0
Final rotor speeds: [899.83 899.98 900.0 899.88]
Final coordinates: [-0.18 -0.0 45.18] 

*******
  [0.352898720807 0.0965174907249 4.812928471]
  [0.352898720807 0.0965174907249 45.187071529]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 90 1
Final rotor speeds: [900.0 900.0 899.46 899.56]
Final coordinates: [0.35 0.1 45.19] 

*******
  [0.177651134862 0.108614115788 4.81304525853]
  [0.177651134862 0.108614115788 45.1869547415]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 90 2
Final rotor speeds: [900.0 899.57 899.67 899.71]
Final coordinates: [0.18 0.11 45.19] 

*******
  [0.0154719636661 0.307960283098 4.81001911378]
  [-0.0154719636661 -0.307960283098 45.1899808862]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 90 3
Final rotor speeds: [899.84 899.75 900.0 900.0]
Final coordinates: [-0.02 -0.31 45.19] 

*******
  [0.0871347948501 0.0331842087787 4.81576542351]
  [0.0871347948501 0.0331842087787 45.1842345765]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 90 4
Final rotor speeds: [899.77 900.0 899.99 900.0]
Final coordinates: [0.09 0.03 45.18] 

*******
  [0.188953792093 0.546993387611 4.81171018443]
  [-0.188953792093 -0.546993387611 45.1882898156]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 90 5
Final rotor speeds: [900.0 900.0 900.0 899.64]
Final coordinates: [-0.19 -0.55 45.19] 

*******
  [0.0735422758191 0.228741675242 4.81131611447]
  [0.0735422758191 0.228741675242 45.1886838855]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 90 6
Final rotor speeds: [900.0 899.97 899.99 900.0]
Final coordinates: [0.07 0.23 45.19] 

*******
  [0.674048914027 0.143597583433 4.82109315428]
  [-0.674048914027 -0.143597583433 45.1789068457]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 90 7
Final rotor speeds: [899.97 899.78 900.0 899.68]
Final coordinates: [-0.67 -0.14 45.18] 

*******
  [0.609964552677 0.181483958853 4.8073323044]
  [-0.609964552677 0.181483958853 45.1926676956]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 90 8
Final rotor speeds: [899.97 900.0 899.78 900.0]
Final coordinates: [-0.61 0.18 45.19] 

*******
  [0.0280944116601 0.157110339862 4.81378416086]
  [-0.0280944116601 -0.157110339862 45.1862158391]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 90 9
Final rotor speeds: [900.0 900.0 899.89 900.0]
Final coordinates: [-0.03 -0.16 45.19] 


episode: 90 AVG Reward: 180.026988501 AVG Reward per ep: 6.44589920452 AVG reward delta: 0.0498354288647 avg j: 28.0 

*******
  [0.666126750668 0.52296016087 4.80939409933]
  [0.666126750668 -0.52296016087 45.1906059007]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 91
Final rotor speeds: [900.0 899.79 899.86 900.0]
Final coordinates: [0.67 -0.52 45.19] 

*******
  [0.511833568085 0.00448966190988 4.80822292882]
  [0.511833568085 -0.00448966190988 45.1917770712]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 92
Final rotor speeds: [899.74 900.0 900.0 900.0]
Final coordinates: [0.51 -0.0 45.19] 

*******
  [0.0125190674669 0.323237708826 4.81231204515]
  [-0.0125190674669 0.323237708826 45.1876879549]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 93
Final rotor speeds: [899.8 899.93 900.0 900.0]
Final coordinates: [-0.01 0.32 45.19] 

*******
  [0.00693030006126 0.0 4.81167033027]
  [0.00693030006126 0.0 45.1883296697]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 94
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.01 0.0 45.19] 

*******
  [0.379549010628 0.143694724708 4.81541993154]
  [0.379549010628 0.143694724708 45.1845800685]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 95
Final rotor speeds: [899.68 899.94 900.0 899.85]
Final coordinates: [0.38 0.14 45.18] 

*******
  [0.0831638597012 0.00740988871138 4.81380956495]
  [0.0831638597012 -0.00740988871138 45.1861904351]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 96
Final rotor speeds: [900.0 900.0 899.47 899.54]
Final coordinates: [0.08 -0.01 45.19] 

*******
  [0.0631842734261 0.105274865187 4.81345122106]
  [0.0631842734261 -0.105274865187 45.1865487789]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 97
Final rotor speeds: [900.0 900.0 899.91 899.97]
Final coordinates: [0.06 -0.11 45.19] 

*******
  [0.491492823786 0.103284180507 4.81378986243]
  [0.491492823786 0.103284180507 45.1862101376]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 98
Final rotor speeds: [900.0 899.89 899.78 900.0]
Final coordinates: [0.49 0.1 45.19] 

*******
  [0.00388169704288 0.460861460314 4.81456349382]
  [-0.00388169704288 -0.460861460314 45.1854365062]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 99
Final rotor speeds: [900.0 899.91 899.9 900.0]
Final coordinates: [-0.0 -0.46 45.19] 

*******
  [0.114582400798 0.0396208842876 4.81352915117]
  [0.114582400798 -0.0396208842876 45.1864708488]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 100
Final rotor speeds: [899.86 899.64 899.65 900.0]
Final coordinates: [0.11 -0.04 45.19] 

*******
  [0.100340499216 0.0216836544281 4.81383029783]
  [-0.100340499216 -0.0216836544281 45.1861697022]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 100 0
Final rotor speeds: [900.0 900.0 899.86 899.81]
Final coordinates: [-0.1 -0.02 45.19] 

*******
  [0.0640832126222 0.752431489619 4.81877826781]
  [0.0640832126222 -0.752431489619 45.1812217322]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 100 1
Final rotor speeds: [900.0 900.0 899.96 900.0]
Final coordinates: [0.06 -0.75 45.18] 

*******
  [0.289144229124 0.301805515163 4.81425617195]
  [-0.289144229124 -0.301805515163 45.1857438281]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 100 2
Final rotor speeds: [899.8 900.0 899.78 899.84]
Final coordinates: [-0.29 -0.3 45.19] 

*******
  [0.0667972727949 0.204787708886 4.81258014672]
  [-0.0667972727949 0.204787708886 45.1874198533]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 100 3
Final rotor speeds: [900.0 900.0 899.9 899.95]
Final coordinates: [-0.07 0.2 45.19] 

*******
  [0.329328483132 0.195134814683 4.81359166789]
  [-0.329328483132 0.195134814683 45.1864083321]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 100 4
Final rotor speeds: [899.97 899.81 899.9 899.92]
Final coordinates: [-0.33 0.2 45.19] 

*******
  [0.162816889731 0.226560995574 4.81137543497]
  [-0.162816889731 -0.226560995574 45.188624565]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 100 5
Final rotor speeds: [899.99 899.78 900.0 899.99]
Final coordinates: [-0.16 -0.23 45.19] 

*******
  [0.122947217862 0.281769292984 4.81254044387]
  [-0.122947217862 -0.281769292984 45.1874595561]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 100 6
Final rotor speeds: [899.81 900.0 900.0 900.0]
Final coordinates: [-0.12 -0.28 45.19] 

*******
  [0.0844295934197 0.0663938344131 4.81206272237]
  [0.0844295934197 -0.0663938344131 45.1879372776]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 100 7
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.08 -0.07 45.19] 

*******
  [0.0586235684579 0.466523661525 4.81354287714]
  [-0.0586235684579 0.466523661525 45.1864571229]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 100 8
Final rotor speeds: [899.56 900.0 900.0 899.85]
Final coordinates: [-0.06 0.47 45.19] 

*******
  [0.0697644603025 0.38227510096 4.8135975496]
  [-0.0697644603025 0.38227510096 45.1864024504]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 100 9
Final rotor speeds: [899.77 899.83 900.0 900.0]
Final coordinates: [-0.07 0.38 45.19] 


episode: 100 AVG Reward: 180.185509237 AVG Reward per ep: 6.4371739305 AVG reward delta: -0.00872527401421 avg j: 28.0 

*******
  [0.102844670776 0.210742849889 4.81100894871]
  [-0.102844670776 0.210742849889 45.1889910513]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 101
Final rotor speeds: [899.99 900.0 900.0 900.0]
Final coordinates: [-0.1 0.21 45.19] 

*******
  [0.134616993389 0.165926522831 4.81212166264]
  [0.134616993389 -0.165926522831 45.1878783374]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 102
Final rotor speeds: [900.0 900.0 899.53 899.79]
Final coordinates: [0.13 -0.17 45.19] 

*******
  [0.062109206507 0.123958058948 4.81303777314]
  [-0.062109206507 -0.123958058948 45.1869622269]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 103
Final rotor speeds: [900.0 899.62 900.0 899.41]
Final coordinates: [-0.06 -0.12 45.19] 

*******
  [0.0709945334078 0.21548554755 4.81374182309]
  [0.0709945334078 0.21548554755 45.1862581769]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 104
Final rotor speeds: [900.0 900.0 900.0 899.95]
Final coordinates: [0.07 0.22 45.19] 

*******
  [0.00513612164691 0.742913762374 4.81258982131]
  [0.00513612164691 0.742913762374 45.1874101787]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 105
Final rotor speeds: [899.86 899.92 899.87 900.0]
Final coordinates: [0.01 0.74 45.19] 

*******
  [0.280007300835 0.0843590604776 4.81482655078]
  [0.280007300835 0.0843590604776 45.1851734492]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 106
Final rotor speeds: [900.0 900.0 900.0 899.6]
Final coordinates: [0.28 0.08 45.19] 

*******
  [0.439258481614 0.687684717209 4.81314492301]
  [-0.439258481614 0.687684717209 45.186855077]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 107
Final rotor speeds: [899.51 899.97 900.0 899.98]
Final coordinates: [-0.44 0.69 45.19] 

*******
  [0.385308634444 0.0397095085801 4.81033421403]
  [0.385308634444 0.0397095085801 45.189665786]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 108
Final rotor speeds: [900.0 900.0 899.87 899.69]
Final coordinates: [0.39 0.04 45.19] 

*******
  [0.171199783434 0.0431530401381 4.81241217342]
  [0.171199783434 -0.0431530401381 45.1875878266]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 109
Final rotor speeds: [900.0 900.0 899.98 900.0]
Final coordinates: [0.17 -0.04 45.19] 

*******
  [0.205096407539 0.0318975539181 4.81249109411]
  [0.205096407539 -0.0318975539181 45.1875089059]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 110
Final rotor speeds: [899.47 900.0 900.0 900.0]
Final coordinates: [0.21 -0.03 45.19] 

*******
  [0.260120019885 0.0741334200741 4.81965535218]
  [-0.260120019885 -0.0741334200741 45.1803446478]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 110 0
Final rotor speeds: [899.61 899.85 899.79 900.0]
Final coordinates: [-0.26 -0.07 45.18] 

*******
  [0.523908050136 0.00147411363383 4.81145990511]
  [0.523908050136 -0.00147411363383 45.1885400949]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 110 1
Final rotor speeds: [899.63 899.45 899.87 900.0]
Final coordinates: [0.52 -0.0 45.19] 

*******
  [0.0735896977713 0.236964204575 4.81447494831]
  [0.0735896977713 0.236964204575 45.1855250517]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 110 2
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.07 0.24 45.19] 

*******
  [0.205071820578 0.666086399599 4.80008149477]
  [-0.205071820578 0.666086399599 45.1999185052]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 110 3
Final rotor speeds: [899.77 900.0 899.8 900.0]
Final coordinates: [-0.21 0.67 45.2] 

*******
  [0.0767305305421 0.509088857979 4.81227574453]
  [-0.0767305305421 0.509088857979 45.1877242555]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 110 4
Final rotor speeds: [900.0 900.0 899.98 900.0]
Final coordinates: [-0.08 0.51 45.19] 

*******
  [0.338974912689 0.525152472867 4.82553802711]
  [-0.338974912689 0.525152472867 45.1744619729]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 110 5
Final rotor speeds: [899.36 899.92 899.67 899.56]
Final coordinates: [-0.34 0.53 45.17] 

*******
  [0.0212381655693 0.166082302346 4.8137487795]
  [-0.0212381655693 0.166082302346 45.1862512205]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 110 6
Final rotor speeds: [899.49 900.0 900.0 899.87]
Final coordinates: [-0.02 0.17 45.19] 

*******
  [0.20803866249 0.010743554606 4.81295129629]
  [-0.20803866249 -0.010743554606 45.1870487037]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 110 7
Final rotor speeds: [899.88 900.0 900.0 900.0]
Final coordinates: [-0.21 -0.01 45.19] 

*******
  [0.0170673614522 0.345828227897 4.81319529505]
  [-0.0170673614522 -0.345828227897 45.186804705]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 110 8
Final rotor speeds: [900.0 899.96 899.78 899.91]
Final coordinates: [-0.02 -0.35 45.19] 

*******
  [0.535907916244 0.299230859629 4.80427836758]
  [0.535907916244 -0.299230859629 45.1957216324]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 110 9
Final rotor speeds: [900.0 899.95 900.0 899.67]
Final coordinates: [0.54 -0.3 45.2] 


episode: 110 AVG Reward: 179.794960127 AVG Reward per ep: 6.43390540545 AVG reward delta: -0.00326852504921 avg j: 28.0 

*******
  [0.194705218618 0.126663609943 4.81999448692]
  [0.194705218618 0.126663609943 45.1800055131]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 111
Final rotor speeds: [899.96 899.86 900.0 900.0]
Final coordinates: [0.19 0.13 45.18] 

*******
  [0.21288522512 0.159781169693 4.81895145378]
  [0.21288522512 0.159781169693 45.1810485462]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 112
Final rotor speeds: [899.52 899.74 900.0 899.6]
Final coordinates: [0.21 0.16 45.18] 

*******
  [0.166697862049 0.0947561230614 4.81389164289]
  [-0.166697862049 -0.0947561230614 45.1861083571]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 113
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [-0.17 -0.09 45.19] 

*******
  [0.0114536854915 0.26594368104 4.8216714794]
  [0.0114536854915 -0.26594368104 45.1783285206]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 114
Final rotor speeds: [899.65 899.95 899.93 899.57]
Final coordinates: [0.01 -0.27 45.18] 

*******
  [0.293274934377 0.0576318876801 4.81576178393]
  [-0.293274934377 0.0576318876801 45.1842382161]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 115
Final rotor speeds: [899.77 899.67 899.56 900.0]
Final coordinates: [-0.29 0.06 45.18] 

*******
  [0.551957998427 0.156549842166 4.81195877888]
  [-0.551957998427 0.156549842166 45.1880412211]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 116
Final rotor speeds: [899.87 899.8 900.0 900.0]
Final coordinates: [-0.55 0.16 45.19] 

*******
  [0.28233680618 0.0652581901423 4.81322001001]
  [-0.28233680618 0.0652581901423 45.18677999]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 117
Final rotor speeds: [900.0 899.96 899.8 899.89]
Final coordinates: [-0.28 0.07 45.19] 

*******
  [0.156049590099 0.42668437683 4.8103676332]
  [0.156049590099 -0.42668437683 45.1896323668]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 118
Final rotor speeds: [900.0 900.0 899.99 899.88]
Final coordinates: [0.16 -0.43 45.19] 

*******
  [0.185765711774 0.127983357555 4.8131956975]
  [-0.185765711774 -0.127983357555 45.1868043025]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 119
Final rotor speeds: [900.0 900.0 899.68 899.55]
Final coordinates: [-0.19 -0.13 45.19] 

*******
  [0.163483092634 0.142025079717 4.81840227177]
  [0.163483092634 -0.142025079717 45.1815977282]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 120
Final rotor speeds: [899.72 899.76 900.0 900.0]
Final coordinates: [0.16 -0.14 45.18] 

*******
  [0.077904306964 0.217242062928 4.81461851375]
  [-0.077904306964 -0.217242062928 45.1853814863]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 120 0
Final rotor speeds: [900.0 899.9 900.0 900.0]
Final coordinates: [-0.08 -0.22 45.19] 

*******
  [0.137149518233 0.236103522023 4.81471969505]
  [-0.137149518233 0.236103522023 45.185280305]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 120 1
Final rotor speeds: [899.41 900.0 899.64 900.0]
Final coordinates: [-0.14 0.24 45.19] 

*******
  [0.154601768964 0.0296189492556 4.81290777397]
  [-0.154601768964 0.0296189492556 45.187092226]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 120 2
Final rotor speeds: [899.7 900.0 900.0 900.0]
Final coordinates: [-0.15 0.03 45.19] 

*******
  [0.269886536438 0.578024436191 4.80003223234]
  [-0.269886536438 0.578024436191 45.1999677677]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 120 3
Final rotor speeds: [900.0 899.89 899.62 900.0]
Final coordinates: [-0.27 0.58 45.2] 

*******
  [0.826030783501 0.0325986595627 4.80685004418]
  [0.826030783501 0.0325986595627 45.1931499558]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 120 4
Final rotor speeds: [899.98 900.0 899.62 899.85]
Final coordinates: [0.83 0.03 45.19] 

*******
  [0.397613317545 0.0230485906518 4.81733715432]
  [0.397613317545 0.0230485906518 45.1826628457]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 120 5
Final rotor speeds: [899.88 900.0 899.58 900.0]
Final coordinates: [0.4 0.02 45.18] 

*******
  [0.109196522246 0.612656781936 4.80871064136]
  [-0.109196522246 -0.612656781936 45.1912893586]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 120 6
Final rotor speeds: [900.0 899.91 900.0 900.0]
Final coordinates: [-0.11 -0.61 45.19] 

*******
  [0.574486630563 0.349186483726 4.79505963135]
  [0.574486630563 0.349186483726 45.2049403687]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 120 7
Final rotor speeds: [900.0 900.0 899.52 899.95]
Final coordinates: [0.57 0.35 45.2] 

*******
  [0.329071827397 0.17026351988 4.81490675383]
  [-0.329071827397 -0.17026351988 45.1850932462]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 120 8
Final rotor speeds: [900.0 899.9 900.0 899.59]
Final coordinates: [-0.33 -0.17 45.19] 

*******
  [0.0490301201672 0.0211874504125 4.81325955922]
  [-0.0490301201672 -0.0211874504125 45.1867404408]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 120 9
Final rotor speeds: [900.0 900.0 900.0 899.85]
Final coordinates: [-0.05 -0.02 45.19] 


episode: 120 AVG Reward: 179.32322048 AVG Reward per ep: 6.41649865067 AVG reward delta: -0.0174067547805 avg j: 28.0 

*******
  [0.452913435943 0.130364012592 4.818457633]
  [0.452913435943 0.130364012592 45.181542367]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 121
Final rotor speeds: [899.7 900.0 900.0 900.0]
Final coordinates: [0.45 0.13 45.18] 

*******
  [0.0382349135452 0.289204539334 4.81196216156]
  [0.0382349135452 0.289204539334 45.1880378384]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 122
Final rotor speeds: [900.0 900.0 899.91 899.86]
Final coordinates: [0.04 0.29 45.19] 

*******
  [0.170577003829 0.101004667017 4.81283768569]
  [-0.170577003829 -0.101004667017 45.1871623143]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 123
Final rotor speeds: [899.94 899.62 900.0 899.84]
Final coordinates: [-0.17 -0.1 45.19] 

*******
  [0.21608651206 0.157526097552 4.81368407252]
  [-0.21608651206 0.157526097552 45.1863159275]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 124
Final rotor speeds: [900.0 899.74 900.0 900.0]
Final coordinates: [-0.22 0.16 45.19] 

*******
  [0.106807053263 0.0322621209665 4.81774987792]
  [-0.106807053263 -0.0322621209665 45.1822501221]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 125
Final rotor speeds: [899.91 900.0 899.76 899.67]
Final coordinates: [-0.11 -0.03 45.18] 

*******
  [0.168507726251 0.10017568111 4.81590062652]
  [0.168507726251 -0.10017568111 45.1840993735]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 126
Final rotor speeds: [900.0 899.68 899.69 900.0]
Final coordinates: [0.17 -0.1 45.18] 

*******
  [0.326036471262 0.123300263633 4.8169380974]
  [0.326036471262 0.123300263633 45.1830619026]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 127
Final rotor speeds: [899.63 899.62 900.0 899.99]
Final coordinates: [0.33 0.12 45.18] 

*******
  [0.280668633449 0.0861252790904 4.81790450694]
  [0.280668633449 0.0861252790904 45.1820954931]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 128
Final rotor speeds: [900.0 899.75 899.39 900.0]
Final coordinates: [0.28 0.09 45.18] 

*******
  [0.0770629957362 0.148776578157 4.81443426871]
  [0.0770629957362 -0.148776578157 45.1855657313]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 129
Final rotor speeds: [899.9 899.84 900.0 899.67]
Final coordinates: [0.08 -0.15 45.19] 

*******
  [0.15608564782 0.325748660577 4.81473644037]
  [0.15608564782 0.325748660577 45.1852635596]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 130
Final rotor speeds: [899.92 900.0 900.0 900.0]
Final coordinates: [0.16 0.33 45.19] 

*******
  [0.0518146787271 0.073097105303 4.81276132313]
  [0.0518146787271 0.073097105303 45.1872386769]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 130 0
Final rotor speeds: [899.8 900.0 900.0 900.0]
Final coordinates: [0.05 0.07 45.19] 

*******
  [0.022784075184 0.693374788456 4.8123178156]
  [0.022784075184 -0.693374788456 45.1876821844]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 130 1
Final rotor speeds: [899.84 900.0 900.0 900.0]
Final coordinates: [0.02 -0.69 45.19] 

*******
  [0.389350726624 0.18671835158 4.81030871221]
  [0.389350726624 -0.18671835158 45.1896912878]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 130 2
Final rotor speeds: [900.0 899.83 899.73 899.65]
Final coordinates: [0.39 -0.19 45.19] 

*******
  [0.133738944478 0.693482381898 4.80916593963]
  [0.133738944478 0.693482381898 45.1908340604]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 130 3
Final rotor speeds: [899.83 899.72 899.57 900.0]
Final coordinates: [0.13 0.69 45.19] 

*******
  [0.108207099588 0.063330485985 4.81284585748]
  [0.108207099588 0.063330485985 45.1871541425]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 130 4
Final rotor speeds: [900.0 899.56 899.87 899.8]
Final coordinates: [0.11 0.06 45.19] 

*******
  [0.0010255684012 0.429853554958 4.80948246786]
  [0.0010255684012 -0.429853554958 45.1905175321]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 130 5
Final rotor speeds: [899.95 900.0 900.0 899.78]
Final coordinates: [0.0 -0.43 45.19] 

*******
  [0.171108352549 0.405055279206 4.80744122043]
  [0.171108352549 0.405055279206 45.1925587796]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 130 6
Final rotor speeds: [899.73 900.0 899.81 900.0]
Final coordinates: [0.17 0.41 45.19] 

*******
  [0.177717722612 0.444178871776 4.80834935729]
  [0.177717722612 0.444178871776 45.1916506427]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 130 7
Final rotor speeds: [899.77 900.0 899.65 900.0]
Final coordinates: [0.18 0.44 45.19] 

*******
  [0.0412302852325 0.164129118021 4.81916292191]
  [-0.0412302852325 0.164129118021 45.1808370781]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 130 8
Final rotor speeds: [899.96 900.0 899.59 899.72]
Final coordinates: [-0.04 0.16 45.18] 

*******
  [0.288668705896 0.130011201569 4.81844954675]
  [0.288668705896 -0.130011201569 45.1815504533]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 130 9
Final rotor speeds: [900.0 900.0 899.97 900.0]
Final coordinates: [0.29 -0.13 45.18] 


episode: 130 AVG Reward: 179.778891406 AVG Reward per ep: 6.43020630891 AVG reward delta: 0.0137076582432 avg j: 28.0 

*******
  [0.000688184630225 0.710534787203 4.80590950982]
  [-0.000688184630225 0.710534787203 45.1940904902]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 131
Final rotor speeds: [899.97 900.0 899.64 899.87]
Final coordinates: [-0.0 0.71 45.19] 

*******
  [0.444550840235 0.10399117207 4.8056078727]
  [0.444550840235 0.10399117207 45.1943921273]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 132
Final rotor speeds: [899.9 899.8 899.92 899.91]
Final coordinates: [0.44 0.1 45.19] 

*******
  [0.00331546818279 0.0762384196886 4.81552221442]
  [-0.00331546818279 -0.0762384196886 45.1844777856]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 133
Final rotor speeds: [899.91 900.0 900.0 899.77]
Final coordinates: [-0.0 -0.08 45.18] 

*******
  [0.0110589115283 0.266097605377 4.81479709337]
  [-0.0110589115283 -0.266097605377 45.1852029066]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 134
Final rotor speeds: [900.0 899.59 899.89 900.0]
Final coordinates: [-0.01 -0.27 45.19] 

*******
  [0.238341754297 0.029902529488 4.81419745676]
  [-0.238341754297 0.029902529488 45.1858025432]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 135
Final rotor speeds: [900.0 899.87 899.77 900.0]
Final coordinates: [-0.24 0.03 45.19] 

*******
  [0.622093652472 0.202448966954 4.81537853676]
  [0.622093652472 0.202448966954 45.1846214632]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 136
Final rotor speeds: [899.67 900.0 899.89 899.98]
Final coordinates: [0.62 0.2 45.18] 

*******
  [0.162575543707 0.164053138714 4.81511404017]
  [0.162575543707 0.164053138714 45.1848859598]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 137
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.16 0.16 45.18] 

*******
  [0.959340381474 0.163824282926 4.79441002135]
  [0.959340381474 -0.163824282926 45.2055899786]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 138
Final rotor speeds: [900.0 899.51 900.0 899.86]
Final coordinates: [0.96 -0.16 45.21] 

*******
  [0.380007338675 0.000269802007051 4.81205177521]
  [-0.380007338675 -0.000269802007051 45.1879482248]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 139
Final rotor speeds: [899.93 900.0 900.0 900.0]
Final coordinates: [-0.38 -0.0 45.19] 

*******
  [0.0863615915648 0.353035425993 4.81888028805]
  [0.0863615915648 -0.353035425993 45.181119712]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 140
Final rotor speeds: [899.69 899.85 900.0 900.0]
Final coordinates: [0.09 -0.35 45.18] 

*******
  [0.117975868429 0.102133698122 4.8149210082]
  [0.117975868429 0.102133698122 45.1850789918]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 140 0
Final rotor speeds: [900.0 899.96 900.0 900.0]
Final coordinates: [0.12 0.1 45.19] 

*******
  [0.650045221563 0.66849839855 4.80731610345]
  [-0.650045221563 0.66849839855 45.1926838966]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 140 1
Final rotor speeds: [899.72 900.0 899.87 899.74]
Final coordinates: [-0.65 0.67 45.19] 

*******
  [0.0342220335285 0.0802939535672 4.81283018342]
  [0.0342220335285 -0.0802939535672 45.1871698166]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 140 2
Final rotor speeds: [899.78 900.0 900.0 900.0]
Final coordinates: [0.03 -0.08 45.19] 

*******
  [0.101800727454 0.0377472341969 4.81359197038]
  [0.101800727454 0.0377472341969 45.1864080296]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 140 3
Final rotor speeds: [900.0 900.0 899.98 900.0]
Final coordinates: [0.1 0.04 45.19] 

*******
  [0.0415768145547 0.320121277961 4.81693641539]
  [-0.0415768145547 -0.320121277961 45.1830635846]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 140 4
Final rotor speeds: [899.99 900.0 900.0 900.0]
Final coordinates: [-0.04 -0.32 45.18] 

*******
  [0.121451064855 0.107237516778 4.81300472065]
  [-0.121451064855 -0.107237516778 45.1869952794]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 140 5
Final rotor speeds: [899.61 899.95 900.0 899.94]
Final coordinates: [-0.12 -0.11 45.19] 

*******
  [0.0625823485675 0.00772683639508 4.81209759641]
  [-0.0625823485675 0.00772683639508 45.1879024036]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 140 6
Final rotor speeds: [900.0 899.94 900.0 899.94]
Final coordinates: [-0.06 0.01 45.19] 

*******
  [0.00533795796835 0.188527900348 4.8128085604]
  [0.00533795796835 0.188527900348 45.1871914396]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 140 7
Final rotor speeds: [900.0 900.0 899.84 900.0]
Final coordinates: [0.01 0.19 45.19] 

*******
  [0.0771238281133 0.14836423813 4.81283840155]
  [0.0771238281133 0.14836423813 45.1871615985]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 140 8
Final rotor speeds: [900.0 900.0 899.63 899.99]
Final coordinates: [0.08 0.15 45.19] 

*******
  [0.0195268278068 0.110997709881 4.81372218764]
  [-0.0195268278068 0.110997709881 45.1862778124]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 140 9
Final rotor speeds: [899.54 899.97 900.0 899.99]
Final coordinates: [-0.02 0.11 45.19] 


episode: 140 AVG Reward: 180.711428593 AVG Reward per ep: 6.4235337209 AVG reward delta: -0.00667258801122 avg j: 28.0 

*******
  [0.0475226255946 0.738309327041 4.80210447171]
  [-0.0475226255946 0.738309327041 45.1978955283]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 141
Final rotor speeds: [900.0 900.0 900.0 899.97]
Final coordinates: [-0.05 0.74 45.2] 

*******
  [0.486958772696 0.544752682556 4.80881794401]
  [-0.486958772696 -0.544752682556 45.191182056]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 142
Final rotor speeds: [899.96 900.0 899.74 900.0]
Final coordinates: [-0.49 -0.54 45.19] 

*******
  [0.460418448256 0.039685854997 4.81431924074]
  [0.460418448256 -0.039685854997 45.1856807593]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 143
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.46 -0.04 45.19] 

*******
  [0.0417999487111 0.0964865509716 4.82228127452]
  [-0.0417999487111 0.0964865509716 45.1777187255]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 144
Final rotor speeds: [899.82 899.55 900.0 899.76]
Final coordinates: [-0.04 0.1 45.18] 

*******
  [0.347207455368 0.249503524172 4.81314661187]
  [-0.347207455368 0.249503524172 45.1868533881]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 145
Final rotor speeds: [899.97 899.9 900.0 900.0]
Final coordinates: [-0.35 0.25 45.19] 

*******
  [0.157352904022 0.150551692225 4.81532941762]
  [-0.157352904022 0.150551692225 45.1846705824]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 146
Final rotor speeds: [900.0 899.95 899.67 900.0]
Final coordinates: [-0.16 0.15 45.18] 

*******
  [0.0294373575338 0.110904414744 4.8116792907]
  [-0.0294373575338 -0.110904414744 45.1883207093]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 147
Final rotor speeds: [900.0 900.0 900.0 899.93]
Final coordinates: [-0.03 -0.11 45.19] 

*******
  [0.743463168439 0.16344753314 4.80389636295]
  [-0.743463168439 -0.16344753314 45.196103637]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 148
Final rotor speeds: [900.0 900.0 899.4 900.0]
Final coordinates: [-0.74 -0.16 45.2] 

*******
  [0.0866528653105 0.0114426722239 4.81189201809]
  [-0.0866528653105 -0.0114426722239 45.1881079819]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 149
Final rotor speeds: [899.88 900.0 899.94 899.98]
Final coordinates: [-0.09 -0.01 45.19] 

*******
  [0.244312302596 0.101037163156 4.81428475994]
  [0.244312302596 -0.101037163156 45.1857152401]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 150
Final rotor speeds: [900.0 900.0 899.92 899.86]
Final coordinates: [0.24 -0.1 45.19] 

*******
  [0.0303917334884 0.164057023878 4.81124590607]
  [-0.0303917334884 -0.164057023878 45.1887540939]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 150 0
Final rotor speeds: [900.0 899.93 900.0 900.0]
Final coordinates: [-0.03 -0.16 45.19] 

*******
  [0.0484439283225 0.199923029409 4.81320273388]
  [-0.0484439283225 -0.199923029409 45.1867972661]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 150 1
Final rotor speeds: [900.0 900.0 900.0 899.66]
Final coordinates: [-0.05 -0.2 45.19] 

*******
  [0.731056018076 0.460611138161 4.80933950343]
  [0.731056018076 0.460611138161 45.1906604966]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 150 2
Final rotor speeds: [900.0 899.95 900.0 899.81]
Final coordinates: [0.73 0.46 45.19] 

*******
  [0.693964090671 0.287387253398 4.81022357335]
  [0.693964090671 0.287387253398 45.1897764267]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 150 3
Final rotor speeds: [900.0 899.86 900.0 900.0]
Final coordinates: [0.69 0.29 45.19] 

*******
  [0.306857212377 0.00276853637607 4.81347581684]
  [0.306857212377 -0.00276853637607 45.1865241832]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 150 4
Final rotor speeds: [900.0 900.0 900.0 899.75]
Final coordinates: [0.31 -0.0 45.19] 

*******
  [0.229069952278 0.417674865649 4.81064096754]
  [-0.229069952278 -0.417674865649 45.1893590325]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 150 5
Final rotor speeds: [900.0 900.0 899.58 899.95]
Final coordinates: [-0.23 -0.42 45.19] 

*******
  [0.0678273376902 0.48536117719 4.81189994598]
  [0.0678273376902 -0.48536117719 45.188100054]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 150 6
Final rotor speeds: [899.42 900.0 900.0 899.95]
Final coordinates: [0.07 -0.49 45.19] 

*******
  [0.00596079529087 0.259745989982 4.81402138838]
  [-0.00596079529087 -0.259745989982 45.1859786116]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 150 7
Final rotor speeds: [900.0 900.0 899.84 899.97]
Final coordinates: [-0.01 -0.26 45.19] 

*******
  [0.770121545059 0.232595159985 4.80379852295]
  [0.770121545059 0.232595159985 45.1962014771]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 150 8
Final rotor speeds: [900.0 900.0 899.83 900.0]
Final coordinates: [0.77 0.23 45.2] 

*******
  [0.593825286101 0.195023017671 4.81540387943]
  [0.593825286101 -0.195023017671 45.1845961206]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 150 9
Final rotor speeds: [899.76 899.99 899.46 900.0]
Final coordinates: [0.59 -0.2 45.18] 


episode: 150 AVG Reward: 179.110065214 AVG Reward per ep: 6.41685143252 AVG reward delta: -0.00668228838015 avg j: 28.0 

*******
  [0.0884530354824 0.0775811795503 4.8122838659]
  [0.0884530354824 0.0775811795503 45.1877161341]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 151
Final rotor speeds: [900.0 899.73 900.0 899.98]
Final coordinates: [0.09 0.08 45.19] 

*******
  [0.442986808657 0.24313492923 4.81483886685]
  [0.442986808657 -0.24313492923 45.1851611332]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 152
Final rotor speeds: [900.0 900.0 900.0 899.8]
Final coordinates: [0.44 -0.24 45.19] 

*******
  [0.0787791355969 0.138369813705 4.81079520845]
  [0.0787791355969 -0.138369813705 45.1892047916]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 153
Final rotor speeds: [899.9 900.0 900.0 900.0]
Final coordinates: [0.08 -0.14 45.19] 

*******
  [0.000759619315163 0.111397536645 4.81656763975]
  [-0.000759619315163 0.111397536645 45.1834323603]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 154
Final rotor speeds: [899.69 900.0 899.75 900.0]
Final coordinates: [-0.0 0.11 45.18] 

*******
  [0.438611940302 0.02309702265 4.811488982]
  [-0.438611940302 -0.02309702265 45.188511018]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 155
Final rotor speeds: [899.9 899.82 899.62 899.52]
Final coordinates: [-0.44 -0.02 45.19] 

*******
  [0.305881382016 0.181165918752 4.81627456401]
  [0.305881382016 0.181165918752 45.183725436]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 156
Final rotor speeds: [899.95 900.0 900.0 900.0]
Final coordinates: [0.31 0.18 45.18] 

*******
  [0.74703513338 0.109596338877 4.8126360487]
  [0.74703513338 -0.109596338877 45.1873639513]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 157
Final rotor speeds: [900.0 899.7 899.92 899.43]
Final coordinates: [0.75 -0.11 45.19] 

*******
  [0.900912366077 0.395961215173 4.80776506809]
  [-0.900912366077 -0.395961215173 45.1922349319]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 158
Final rotor speeds: [900.0 900.0 900.0 899.77]
Final coordinates: [-0.9 -0.4 45.19] 

*******
  [0.720991773049 0.103888291124 4.81403356327]
  [-0.720991773049 0.103888291124 45.1859664367]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 159
Final rotor speeds: [899.96 900.0 900.0 899.8]
Final coordinates: [-0.72 0.1 45.19] 

*******
  [0.244446954581 0.0473350091823 4.81371906119]
  [0.244446954581 -0.0473350091823 45.1862809388]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 160
Final rotor speeds: [900.0 899.86 900.0 900.0]
Final coordinates: [0.24 -0.05 45.19] 

*******
  [0.307414698315 0.0333934041901 4.80746429452]
  [-0.307414698315 0.0333934041901 45.1925357055]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 160 0
Final rotor speeds: [900.0 899.9 900.0 900.0]
Final coordinates: [-0.31 0.03 45.19] 

*******
  [0.0512590109787 0.901609754596 4.81153989709]
  [-0.0512590109787 -0.901609754596 45.1884601029]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 160 1
Final rotor speeds: [899.98 899.94 899.74 899.73]
Final coordinates: [-0.05 -0.9 45.19] 

*******
  [0.0720752108709 0.0153805243899 4.81370065795]
  [0.0720752108709 0.0153805243899 45.186299342]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 160 2
Final rotor speeds: [900.0 899.84 899.6 899.65]
Final coordinates: [0.07 0.02 45.19] 

*******
  [0.0280922473216 0.120803703271 4.81305506646]
  [0.0280922473216 -0.120803703271 45.1869449335]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 160 3
Final rotor speeds: [900.0 899.61 899.75 900.0]
Final coordinates: [0.03 -0.12 45.19] 

*******
  [0.684079339139 0.0832567960963 4.79163378663]
  [0.684079339139 -0.0832567960963 45.2083662134]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 160 4
Final rotor speeds: [900.0 899.61 900.0 900.0]
Final coordinates: [0.68 -0.08 45.21] 

*******
  [0.00750943144279 0.223747307871 4.81767689727]
  [0.00750943144279 0.223747307871 45.1823231027]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 160 5
Final rotor speeds: [900.0 900.0 899.71 900.0]
Final coordinates: [0.01 0.22 45.18] 

*******
  [0.0537196650317 0.00262422116732 4.81278191827]
  [0.0537196650317 0.00262422116732 45.1872180817]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 160 6
Final rotor speeds: [900.0 899.92 900.0 899.74]
Final coordinates: [0.05 0.0 45.19] 

*******
  [0.363943680283 0.157836952661 4.81022574457]
  [0.363943680283 -0.157836952661 45.1897742554]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 160 7
Final rotor speeds: [900.0 899.67 899.89 899.55]
Final coordinates: [0.36 -0.16 45.19] 

*******
  [0.234841677237 0.467292673985 4.80189099734]
  [0.234841677237 0.467292673985 45.1981090027]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 160 8
Final rotor speeds: [899.86 899.49 899.52 899.74]
Final coordinates: [0.23 0.47 45.2] 

*******
  [0.181501285227 0.199652103695 4.81156081442]
  [0.181501285227 0.199652103695 45.1884391856]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 160 9
Final rotor speeds: [899.67 899.56 900.0 900.0]
Final coordinates: [0.18 0.2 45.19] 


episode: 160 AVG Reward: 179.846059612 AVG Reward per ep: 6.42271306047 AVG reward delta: 0.0058616279436 avg j: 28.0 

*******
  [0.000383813991502 0.499450242394 4.81820592419]
  [0.000383813991502 -0.499450242394 45.1817940758]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 161
Final rotor speeds: [900.0 899.99 900.0 899.65]
Final coordinates: [0.0 -0.5 45.18] 

*******
  [0.127256188544 0.222488144008 4.81791507858]
  [-0.127256188544 0.222488144008 45.1820849214]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 162
Final rotor speeds: [900.0 900.0 899.81 899.94]
Final coordinates: [-0.13 0.22 45.18] 

*******
  [0.508838981169 1.19317268723 4.80343580631]
  [0.508838981169 1.19317268723 45.1965641937]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 163
Final rotor speeds: [899.84 900.0 900.0 899.9]
Final coordinates: [0.51 1.19 45.2] 

*******
  [0.0954256339284 0.856213100275 4.80583600196]
  [-0.0954256339284 -0.856213100275 45.194163998]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 164
Final rotor speeds: [899.96 899.39 900.0 900.0]
Final coordinates: [-0.1 -0.86 45.19] 

*******
  [0.178489007041 0.186673317059 4.81264353587]
  [0.178489007041 -0.186673317059 45.1873564641]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 165
Final rotor speeds: [899.92 900.0 900.0 900.0]
Final coordinates: [0.18 -0.19 45.19] 

*******
  [0.279091500231 0.103971904407 4.81343677929]
  [0.279091500231 0.103971904407 45.1865632207]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 166
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.28 0.1 45.19] 

*******
  [0.375182786084 0.182973692747 4.80904076857]
  [-0.375182786084 0.182973692747 45.1909592314]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 167
Final rotor speeds: [899.78 900.0 899.92 899.69]
Final coordinates: [-0.38 0.18 45.19] 

*******
  [0.427807285987 0.0230418661634 4.82108772769]
  [-0.427807285987 0.0230418661634 45.1789122723]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 168
Final rotor speeds: [900.0 899.59 900.0 899.84]
Final coordinates: [-0.43 0.02 45.18] 

*******
  [0.119165109606 0.594231610743 4.81599740658]
  [-0.119165109606 -0.594231610743 45.1840025934]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 169
Final rotor speeds: [899.85 899.96 899.88 900.0]
Final coordinates: [-0.12 -0.59 45.18] 

*******
  [0.00743001624497 0.0467675510993 4.81674999772]
  [0.00743001624497 0.0467675510993 45.1832500023]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 170
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.01 0.05 45.18] 

*******
  [0.429914679979 0.0507393226677 4.81272032969]
  [0.429914679979 -0.0507393226677 45.1872796703]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 170 0
Final rotor speeds: [899.58 900.0 900.0 899.94]
Final coordinates: [0.43 -0.05 45.19] 

*******
  [0.217091880397 0.436460221168 4.80142257639]
  [-0.217091880397 -0.436460221168 45.1985774236]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 170 1
Final rotor speeds: [900.0 900.0 900.0 899.85]
Final coordinates: [-0.22 -0.44 45.2] 

*******
  [0.0769708810975 0.132632297229 4.81661114277]
  [0.0769708810975 -0.132632297229 45.1833888572]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 170 2
Final rotor speeds: [899.93 899.5 899.97 900.0]
Final coordinates: [0.08 -0.13 45.18] 

*******
  [0.0225613317198 0.38556050612 4.81362782358]
  [-0.0225613317198 -0.38556050612 45.1863721764]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 170 3
Final rotor speeds: [900.0 899.89 900.0 899.64]
Final coordinates: [-0.02 -0.39 45.19] 

*******
  [0.0822901302001 0.15879428328 4.81223612825]
  [-0.0822901302001 -0.15879428328 45.1877638717]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 170 4
Final rotor speeds: [900.0 899.9 900.0 900.0]
Final coordinates: [-0.08 -0.16 45.19] 

*******
  [0.00292788139795 0.369967317117 4.81643061023]
  [-0.00292788139795 -0.369967317117 45.1835693898]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 170 5
Final rotor speeds: [900.0 899.64 899.67 900.0]
Final coordinates: [-0.0 -0.37 45.18] 

*******
  [0.0042848843745 0.0569995605685 4.81791622099]
  [-0.0042848843745 -0.0569995605685 45.182083779]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 170 6
Final rotor speeds: [900.0 899.8 899.88 899.69]
Final coordinates: [-0.0 -0.06 45.18] 

*******
  [0.0443153288983 0.0396235622995 4.81224438374]
  [-0.0443153288983 0.0396235622995 45.1877556163]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 170 7
Final rotor speeds: [900.0 900.0 900.0 899.51]
Final coordinates: [-0.04 0.04 45.19] 

*******
  [0.251351879146 0.0164047243705 4.81590798131]
  [-0.251351879146 0.0164047243705 45.1840920187]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 170 8
Final rotor speeds: [900.0 899.82 900.0 900.0]
Final coordinates: [-0.25 0.02 45.18] 

*******
  [0.0300978147346 0.139972973226 4.81466152686]
  [0.0300978147346 -0.139972973226 45.1853384731]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 170 9
Final rotor speeds: [900.0 899.84 899.76 900.0]
Final coordinates: [0.03 -0.14 45.19] 


episode: 170 AVG Reward: 180.730110491 AVG Reward per ep: 6.42977256385 AVG reward delta: 0.00705950338159 avg j: 28.0 

*******
  [0.0335364125005 0.220028412635 4.80863897842]
  [0.0335364125005 0.220028412635 45.1913610216]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 171
Final rotor speeds: [900.0 900.0 899.93 900.0]
Final coordinates: [0.03 0.22 45.19] 

*******
  [0.529299377325 0.0581629461917 4.81200284882]
  [-0.529299377325 -0.0581629461917 45.1879971512]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 172
Final rotor speeds: [900.0 899.81 899.79 899.77]
Final coordinates: [-0.53 -0.06 45.19] 

*******
  [0.0454258143174 0.255391378772 4.81196104345]
  [0.0454258143174 0.255391378772 45.1880389566]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 173
Final rotor speeds: [900.0 899.99 899.89 900.0]
Final coordinates: [0.05 0.26 45.19] 

*******
  [0.15149862035 0.571837941993 4.80815601908]
  [-0.15149862035 0.571837941993 45.1918439809]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 174
Final rotor speeds: [899.88 900.0 899.9 900.0]
Final coordinates: [-0.15 0.57 45.19] 

*******
  [0.000519942101122 0.0535505608242 4.81423334875]
  [0.000519942101122 -0.0535505608242 45.1857666512]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 175
Final rotor speeds: [899.95 899.75 900.0 900.0]
Final coordinates: [0.0 -0.05 45.19] 

*******
  [0.0212804810038 0.141025560123 4.81780585157]
  [0.0212804810038 -0.141025560123 45.1821941484]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 176
Final rotor speeds: [899.6 900.0 900.0 899.73]
Final coordinates: [0.02 -0.14 45.18] 

*******
  [0.0856488934947 0.160832674022 4.81554344015]
  [-0.0856488934947 -0.160832674022 45.1844565598]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 177
Final rotor speeds: [899.65 900.0 900.0 900.0]
Final coordinates: [-0.09 -0.16 45.18] 

*******
  [0.228868902617 0.121202804832 4.81887008296]
  [-0.228868902617 -0.121202804832 45.181129917]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 178
Final rotor speeds: [900.0 899.9 900.0 899.86]
Final coordinates: [-0.23 -0.12 45.18] 

*******
  [0.11198463669 0.130900257778 4.81338290781]
  [0.11198463669 -0.130900257778 45.1866170922]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 179
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [0.11 -0.13 45.19] 

*******
  [0.00527707423236 0.0731025432652 4.81406153192]
  [0.00527707423236 -0.0731025432652 45.1859384681]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 180
Final rotor speeds: [899.92 900.0 899.89 900.0]
Final coordinates: [0.01 -0.07 45.19] 

*******
  [0.173597259856 0.0342400537049 4.81510092478]
  [-0.173597259856 0.0342400537049 45.1848990752]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 180 0
Final rotor speeds: [900.0 900.0 899.92 900.0]
Final coordinates: [-0.17 0.03 45.18] 

*******
  [0.0333739142661 0.0862473518957 4.81393898539]
  [0.0333739142661 0.0862473518957 45.1860610146]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 180 1
Final rotor speeds: [899.99 900.0 900.0 899.28]
Final coordinates: [0.03 0.09 45.19] 

*******
  [0.0379200026841 0.564416121502 4.80808662442]
  [-0.0379200026841 0.564416121502 45.1919133756]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 180 2
Final rotor speeds: [900.0 899.75 899.76 899.8]
Final coordinates: [-0.04 0.56 45.19] 

*******
  [0.0662964116287 0.0954787002806 4.81406932546]
  [-0.0662964116287 0.0954787002806 45.1859306745]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 180 3
Final rotor speeds: [900.0 900.0 899.82 900.0]
Final coordinates: [-0.07 0.1 45.19] 

*******
  [0.209311176014 0.0895866808225 4.81715454719]
  [-0.209311176014 -0.0895866808225 45.1828454528]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 180 4
Final rotor speeds: [900.0 899.7 899.83 900.0]
Final coordinates: [-0.21 -0.09 45.18] 

*******
  [0.00622291769601 0.237158741876 4.81775148752]
  [-0.00622291769601 0.237158741876 45.1822485125]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 180 5
Final rotor speeds: [900.0 899.84 899.92 900.0]
Final coordinates: [-0.01 0.24 45.18] 

*******
  [0.0735527006138 0.147049447306 4.81485876949]
  [-0.0735527006138 -0.147049447306 45.1851412305]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 180 6
Final rotor speeds: [900.0 899.68 900.0 900.0]
Final coordinates: [-0.07 -0.15 45.19] 

*******
  [0.03290867053 0.0352672488855 4.81280765434]
  [-0.03290867053 0.0352672488855 45.1871923457]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 180 7
Final rotor speeds: [899.78 900.0 900.0 900.0]
Final coordinates: [-0.03 0.04 45.19] 

*******
  [0.533736587768 0.133365511916 4.81716688975]
  [-0.533736587768 -0.133365511916 45.1828331102]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 180 8
Final rotor speeds: [899.96 900.0 899.85 899.56]
Final coordinates: [-0.53 -0.13 45.18] 

*******
  [0.198735697191 0.23342877035 4.81134552962]
  [0.198735697191 -0.23342877035 45.1886544704]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 180 9
Final rotor speeds: [899.71 900.0 900.0 899.47]
Final coordinates: [0.2 -0.23 45.19] 


episode: 180 AVG Reward: 180.741414182 AVG Reward per ep: 6.46435767368 AVG reward delta: 0.0345851098349 avg j: 28.0 

*******
  [0.0769024913662 0.504157126513 4.80885741176]
  [-0.0769024913662 -0.504157126513 45.1911425882]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 181
Final rotor speeds: [899.79 900.0 899.98 899.83]
Final coordinates: [-0.08 -0.5 45.19] 

*******
  [0.257659972729 0.204259256608 4.81498843694]
  [-0.257659972729 -0.204259256608 45.1850115631]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 182
Final rotor speeds: [899.81 899.91 900.0 899.87]
Final coordinates: [-0.26 -0.2 45.19] 

*******
  [0.369206161607 0.288092866727 4.82219254419]
  [0.369206161607 -0.288092866727 45.1778074558]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 183
Final rotor speeds: [899.87 900.0 899.87 900.0]
Final coordinates: [0.37 -0.29 45.18] 

*******
  [0.524322419187 0.193317485769 4.81798705709]
  [0.524322419187 -0.193317485769 45.1820129429]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 184
Final rotor speeds: [900.0 899.6 900.0 899.82]
Final coordinates: [0.52 -0.19 45.18] 

*******
  [0.486042623179 0.0401648291048 4.80355181056]
  [-0.486042623179 0.0401648291048 45.1964481894]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 185
Final rotor speeds: [899.98 900.0 900.0 899.79]
Final coordinates: [-0.49 0.04 45.2] 

*******
  [0.00141085799124 0.434741336382 4.81160504861]
  [0.00141085799124 -0.434741336382 45.1883949514]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 186
Final rotor speeds: [899.93 899.81 899.27 899.79]
Final coordinates: [0.0 -0.43 45.19] 

*******
  [0.512881531037 0.00936948040795 4.81164018364]
  [0.512881531037 0.00936948040795 45.1883598164]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 187
Final rotor speeds: [899.55 900.0 899.87 899.76]
Final coordinates: [0.51 0.01 45.19] 

*******
  [0.256677478584 0.329654312281 4.81265433526]
  [-0.256677478584 -0.329654312281 45.1873456647]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 188
Final rotor speeds: [900.0 900.0 900.0 900.0]
Final coordinates: [-0.26 -0.33 45.19] 

*******
  [0.27868792733 0.0663930842287 4.81367791105]
  [-0.27868792733 0.0663930842287 45.186322089]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 189
Final rotor speeds: [899.69 900.0 900.0 899.85]
Final coordinates: [-0.28 0.07 45.19] 

*******
  [0.590367448947 0.110491994388 4.81532524195]
  [0.590367448947 -0.110491994388 45.1846747581]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 190
Final rotor speeds: [900.0 900.0 900.0 899.29]
Final coordinates: [0.59 -0.11 45.18] 

*******
  [0.0958121909399 0.0406282861955 4.812401028]
  [-0.0958121909399 0.0406282861955 45.187598972]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 190 0
Final rotor speeds: [900.0 900.0 899.88 900.0]
Final coordinates: [-0.1 0.04 45.19] 

*******
  [0.0662372708713 1.27472709574 4.7980831015]
  [-0.0662372708713 1.27472709574 45.2019168985]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 190 1
Final rotor speeds: [900.0 900.0 899.81 900.0]
Final coordinates: [-0.07 1.27 45.2] 

*******
  [0.232091221209 0.0241969830097 4.81345628748]
  [-0.232091221209 0.0241969830097 45.1865437125]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 190 2
Final rotor speeds: [899.79 900.0 899.79 900.0]
Final coordinates: [-0.23 0.02 45.19] 

*******
  [0.115207498524 0.11433113108 4.81288660029]
  [0.115207498524 -0.11433113108 45.1871133997]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 190 3
Final rotor speeds: [899.57 899.54 900.0 900.0]
Final coordinates: [0.12 -0.11 45.19] 

*******
  [0.00202220683161 0.0241890207747 4.81479217637]
  [0.00202220683161 0.0241890207747 45.1852078236]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 190 4
Final rotor speeds: [900.0 899.87 899.81 900.0]
Final coordinates: [0.0 0.02 45.19] 

*******
  [0.274303628338 0.536262769537 4.8107960512]
  [0.274303628338 -0.536262769537 45.1892039488]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 190 5
Final rotor speeds: [899.99 899.91 900.0 899.91]
Final coordinates: [0.27 -0.54 45.19] 

*******
  [0.0321109011758 0.199225031856 4.81145694884]
  [-0.0321109011758 -0.199225031856 45.1885430512]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 190 6
Final rotor speeds: [899.99 899.99 900.0 900.0]
Final coordinates: [-0.03 -0.2 45.19] 

*******
  [0.106036222925 0.50384626948 4.80336004181]
  [-0.106036222925 0.50384626948 45.1966399582]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 190 7
Final rotor speeds: [900.0 900.0 899.55 900.0]
Final coordinates: [-0.11 0.5 45.2] 

*******
  [0.726067104346 0.0161777505275 4.82366397829]
  [-0.726067104346 0.0161777505275 45.1763360217]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 190 8
Final rotor speeds: [900.0 899.82 899.97 900.0]
Final coordinates: [-0.73 0.02 45.18] 

*******
  [0.0454239338068 0.610586929756 4.80857294791]
  [0.0454239338068 -0.610586929756 45.1914270521]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 190 9
Final rotor speeds: [900.0 900.0 900.0 899.36]
Final coordinates: [0.05 -0.61 45.19] 


episode: 190 AVG Reward: 179.330866877 AVG Reward per ep: 6.41926509792 AVG reward delta: -0.0450925757601 avg j: 28.0 

*******
  [0.0567674698128 0.29398468987 4.8110443947]
  [-0.0567674698128 0.29398468987 45.1889556053]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 191
Final rotor speeds: [899.6 900.0 899.56 899.94]
Final coordinates: [-0.06 0.29 45.19] 

*******
  [0.40793640211 0.0470086355171 4.81038075105]
  [-0.40793640211 -0.0470086355171 45.1896192489]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 192
Final rotor speeds: [899.76 899.99 899.43 900.0]
Final coordinates: [-0.41 -0.05 45.19] 

*******
  [0.390813846201 0.503336319441 4.79999765518]
  [0.390813846201 -0.503336319441 45.2000023448]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 193
Final rotor speeds: [899.6 899.61 899.97 900.0]
Final coordinates: [0.39 -0.5 45.2] 

*******
  [0.234866933831 0.0137366657461 4.81560882302]
  [0.234866933831 -0.0137366657461 45.184391177]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 194
Final rotor speeds: [899.69 899.94 899.8 899.86]
Final coordinates: [0.23 -0.01 45.18] 

*******
  [0.522766540833 0.206850053161 4.81693814687]
  [-0.522766540833 0.206850053161 45.1830618531]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 195
Final rotor speeds: [900.0 900.0 900.0 899.48]
Final coordinates: [-0.52 0.21 45.18] 

*******
  [0.0550181627121 0.842047817082 4.79960666601]
  [0.0550181627121 0.842047817082 45.200393334]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 196
Final rotor speeds: [900.0 900.0 899.72 900.0]
Final coordinates: [0.06 0.84 45.2] 

*******
  [0.149770986916 0.0135655856678 4.81416581828]
  [0.149770986916 -0.0135655856678 45.1858341817]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 197
Final rotor speeds: [900.0 900.0 899.87 900.0]
Final coordinates: [0.15 -0.01 45.19] 

*******
  [0.194786408168 0.000731273850956 4.81498279377]
  [-0.194786408168 0.000731273850956 45.1850172062]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 198
Final rotor speeds: [899.85 899.98 899.44 900.0]
Final coordinates: [-0.19 0.0 45.19] 

*******
  [0.386192932123 0.244088017564 4.80084114127]
  [0.386192932123 -0.244088017564 45.1991588587]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 199
Final rotor speeds: [900.0 899.93 900.0 900.0]
Final coordinates: [0.39 -0.24 45.2] 

*******
  [0.201511137986 0.895160193335 4.80750141581]
  [-0.201511137986 -0.895160193335 45.1924985842]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 200
Final rotor speeds: [900.0 900.0 900.0 899.74]
Final coordinates: [-0.2 -0.9 45.19] 

*******
  [0.02458044185 0.110262754147 4.81321942651]
  [-0.02458044185 0.110262754147 45.1867805735]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 200 0
Final rotor speeds: [899.59 899.98 900.0 900.0]
Final coordinates: [-0.02 0.11 45.19] 

*******
  [0.281551547407 0.0242311665194 4.81865143116]
  [-0.281551547407 0.0242311665194 45.1813485688]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 200 1
Final rotor speeds: [899.8 899.85 899.91 899.62]
Final coordinates: [-0.28 0.02 45.18] 

*******
  [0.103015864559 0.359603671939 4.80779442137]
  [0.103015864559 -0.359603671939 45.1922055786]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 200 2
Final rotor speeds: [899.57 899.57 900.0 899.89]
Final coordinates: [0.1 -0.36 45.19] 

*******
  [0.129262426521 0.151890653194 4.81181297441]
  [-0.129262426521 0.151890653194 45.1881870256]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 200 3
Final rotor speeds: [899.79 899.81 899.72 900.0]
Final coordinates: [-0.13 0.15 45.19] 

*******
  [0.0454283805915 0.0602822337935 4.81408053882]
  [0.0454283805915 -0.0602822337935 45.1859194612]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 200 4
Final rotor speeds: [900.0 899.91 899.93 899.67]
Final coordinates: [0.05 -0.06 45.19] 

*******
  [0.335557569977 0.0722812474878 4.81153886464]
  [0.335557569977 -0.0722812474878 45.1884611354]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 200 5
Final rotor speeds: [899.78 899.91 900.0 900.0]
Final coordinates: [0.34 -0.07 45.19] 

*******
  [0.00417526532332 0.339196002476 4.81034094672]
  [0.00417526532332 0.339196002476 45.1896590533]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 200 6
Final rotor speeds: [899.86 899.86 899.79 900.0]
Final coordinates: [0.0 0.34 45.19] 

*******
  [0.0115800375059 0.246477384505 4.81257274765]
  [0.0115800375059 -0.246477384505 45.1874272523]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 200 7
Final rotor speeds: [899.99 899.91 900.0 900.0]
Final coordinates: [0.01 -0.25 45.19] 

*******
  [0.968597575597 0.3467297478 4.79331712037]
  [0.968597575597 -0.3467297478 45.2066828796]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 200 8
Final rotor speeds: [900.0 899.78 900.0 900.0]
Final coordinates: [0.97 -0.35 45.21] 

*******
  [0.524707259529 0.363811167275 4.80732739686]
  [-0.524707259529 0.363811167275 45.1926726031]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TESTING 200 9
Final rotor speeds: [899.95 899.76 900.0 899.94]
Final coordinates: [-0.52 0.36 45.19] 


episode: 200 AVG Reward: 179.552260058 AVG Reward per ep: 6.44352850988 AVG reward delta: 0.0242634119546 avg j: 28.0 

*******
  [0.28717212459 0.57891276701 4.81751861449]
  [0.28717212459 0.57891276701 45.1824813855]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 201
Final rotor speeds: [899.55 899.95 900.0 899.75]
Final coordinates: [0.29 0.58 45.18] 

*******
  [0.286138383631 0.021573993913 4.81010146917]
  [-0.286138383631 0.021573993913 45.1898985308]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 202
Final rotor speeds: [899.76 900.0 899.75 900.0]
Final coordinates: [-0.29 0.02 45.19] 

*******
  [0.120514566316 0.0259512181735 4.81522660454]
  [-0.120514566316 -0.0259512181735 45.1847733955]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 203
Final rotor speeds: [900.0 899.6 900.0 899.88]
Final coordinates: [-0.12 -0.03 45.18] 

*******
  [0.70427503405 0.172166467407 4.81381208463]
  [-0.70427503405 0.172166467407 45.1861879154]
  [0.0, 0.0, 50.0]
 Target reached!
*******

TRAINING 204
Final rotor speeds: [899.7 900.0 900.0 900.0]
Final coordinates: [-0.7 0.17 45.19] 


Successes: 340
</pre>
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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="cell border-box-sizing code_cell rendered">
<div class="input">
<div class="prompt input_prompt">In&nbsp;[25]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## TODO: 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">row</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="k">for</span> <span class="n">row</span> <span class="ow">in</span> <span class="n">ave_reward_arr</span><span class="p">],[</span><span class="n">row</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="k">for</span> <span class="n">row</span> <span class="ow">in</span> <span class="n">ave_reward_arr</span><span class="p">])</span>
<span class="n">plt</span><span class="o">.</span><span class="n">xlabel</span><span class="p">(</span><span class="s1">&#39;Episode&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">ylabel</span><span class="p">(</span><span class="s1">&#39;Reward&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
<span class="n">plt</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
</pre></div>

</div>
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</div>

</div>
</div>

</div>
<div class="cell border-box-sizing code_cell rendered">
<div class="input">
<div class="prompt input_prompt">In&nbsp;[26]:</div>
<div class="inner_cell">
    <div class="input_area">
<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">row</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="k">for</span> <span class="n">row</span> <span class="ow">in</span> <span class="n">ave_reward_per_ep_arr</span><span class="p">],[</span><span class="n">row</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="k">for</span> <span class="n">row</span> <span class="ow">in</span> <span class="n">ave_reward_per_ep_arr</span><span class="p">])</span>
<span class="n">plt</span><span class="o">.</span><span class="n">xlabel</span><span class="p">(</span><span class="s1">&#39;Episode&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">ylabel</span><span class="p">(</span><span class="s1">&#39;Reward per ep&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
<span class="n">plt</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
</pre></div>

</div>
</div>
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<h2 id="Reflections">Reflections<a class="anchor-link" href="#Reflections">&#182;</a></h2><p><strong>Question 1</strong>: Describe the task that you specified in <code>task.py</code>.  How did you design the reward function?</p>
<p><strong>Answer</strong>: The task I am trying to accomplish is for the quadcopter to reach a given target position. I picked this task specifically because it is one of the harder tasks you can train as the coordinates in the space play a big role, as opposed to take off, landing and hovering.</p>
<p>To make the goal more attainable, I added a termination condition when the copter is within 5m of the target in either direciton. The likelihood of exactly hitting a point in the space with continuous state and action spaces is low so this was deemed as a "good enough" solution.</p>
<p>Something I played around with quite a bit was including velocities/angular velocities as part of the state space. The thinking behind this was that a policy shouldn't treat a quadcopter zooming past a given xyz coordinate at high velocities the same way it does that copter doing a slow hover. However, this does increase the state space to 36 variables instead of 18 with the action repeats and I did not attain meaningful learning behavior with this approach.</p>
<p>One more variable I played around with was the runtime - I set the maximum episode length to 30s instead of the given 5s to see if this would help the copter recover from bad trajectories and reach the goal given a longer timespan. I stuck to this runtime for a while but in the end found that it gave too much leeway for the model to explore the space without making progress towards the goal at the outset. Perhaps this would have worked better if I left the model to train for several thousand episodes but given time constraints and feedback I received from several mentors about how long a training session should be I decided to go back to the shorter total episode length.</p>
<p>It took a very long time to design a reward function that worked for the task of reaching a given position. I tried many different iterations and versions, using tanh, exponential decay, the simple linear function, stepped reward, etc. For the final function, the main component is the distance reward that I have included based on suggestions from <a href="https://www.youtube.com/watch?v=0R3PnJEisqk">https://www.youtube.com/watch?v=0R3PnJEisqk</a>. It takes the distance to target and scales it by the absolute furthest distance the drone can be from that target in each dimension. This allows for stronger penalties the further the drone is instead of a simple linear function.</p>
<p>I have included two further additions - a big reward for getting within the range of the coordinates and a sizable penalty when the copter is going beyond the boundaries of the environment. This was a big part in reinforcing the nature of the task - not crashing/flying too far and achieving the target.</p>

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<p><strong>Question 2</strong>: Discuss your agent briefly, using the following questions as a guide:</p>
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<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>
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<p><strong>Answer</strong>: As outlined in the project, I tried the DDPG agent presented. I also attempted to use two other DDPG agent implementations from Github: <a href="https://pemami4911.github.io/blog/2016/08/21/ddpg-rl.html">https://pemami4911.github.io/blog/2016/08/21/ddpg-rl.html</a> and <a href="https://github.com/floodsung/DDPG">https://github.com/floodsung/DDPG</a>. The end result is farily similar and I ended up switching to the udacity provided DDPG agent so I could get a better understanding of how other students were tackling the project in the Student Hub.</p>
<p>I used hyperparameters provided in the original DDPG paper, with the actor and critic networks having two main branches of 400 and 300 units, with a further 300 units for the acion pathway in critic network. Upon trying out several architectures, I found that having a dropout layer and batch normalization in the critic network gave the agent a better chance at exploring the space and diverging to a good policy. Batch normalization in particular was very beneficial, it prevented the model form being stuck in a suboptimal policy.</p>
<p>I spent many hours tweaking the hyperparameters but did not get significantly different results from the base set. In the end I tweaked LR to be 0.0001 for both actor and critic networks, changed gamma to 0.9 and halved the OU theta and sigma to 0.075 and 0.1.|</p>

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<p><strong>Question 3</strong>: Using the episode rewards plot, discuss how the agent learned over time.</p>
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<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>
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<p><strong>Answer</strong>: Once the correct architecture was in place, the task became more or less easy to learn. Before that moment it was next to impossible. There are certain runs I do that still fail to converge for a long time if they do not hit the "aha" moment where they land on a policy that takes them close to the goal. I did not see a slow gradual learning curve. This is also in part due to the nature of how I structured the rewards - there is a very high bonus for hitting the target so the agent is likely to stick to a policy that got it there once it reaches the goal a couple of times.</p>
<p>In terms of evaluating performance, I relied more on the agent achieving its goal and terminating as well as 3D visual plots of what it was doing instead of looking at mean rewards. I did this for a couple of reasons - the total mean reward for an episode varies greatly depending on how long the episode is and is therefore not very telling - a short episode where the copter just falls down can have a better looking reward than a longer episode where it flies but gets further away from the target. Additionally, due to the "aha" moment nature of learning, the rewards plot tends to be pretty simple and does not explain well what is going on within the model.</p>
<p>Reward per episode is a better metric but again not 100% reliable - if it takes longer for the copter to get to its reward the total average reward is smaller but the task was still completed.</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>
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<p><strong>Answer</strong>: This was all in all an very time consuming project. There was little guidance to start off with and very little support from the community, especially with slack deprecated and the Student Hub in its place.</p>
<p>It was also very tedious in the sense that there was very little I was tweaking in terms of the code and the hyperparameters. The results were random and hard to interpret, especially in trying to discern whether or not I was getting closer to a good model. Many hours were spent waiting for enough episodes to elapse so I could once again see that the agent was getting nowhere.</p>
<p>There was no real instruction in terms of how to measure performance of the model beside the episode plot and the positional plot. I spent a good amount of time coming up with how to properly measure what was going on so I could get feedback as the agent was training.</p>
<p>In the end, I am saving several files for analysis - a CSV with the testing episode data, png files showing the 3D trajetory of the quadcopter and plots for the total and the average rewards per episode over training episodes.</p>
<p>Something that seemed very strange to me is no mattter how much I played around with the architecture, reward function and hyperparameters, the rotor speeds would always converge at 0 or 900, especially towards the end of a given task. In the end, even though most of the tasks I tested were a vertical rise, the policy would often converge on only two rotors spinning at the same time (I clipped rotor speeds to [1,900] because speeds close to 0 and over 900 had weird effects on physics_sim). It would be intersting to find out what kind of rotor speeds other students and mentors witnessed and why this "desire" to minimize or maximize speed was so inherent in this task.</p>
<p>One good idea I found in another DDPG implementation was recording performance based on test episodes instead of training episodes. This consists of training the model for 10 episodes and then running 10 instances of the model that have the same policy. This shows whether or not the policy results in stable trajectories or not and I found that to be a good extra layer of validation.</p>
<p>Determining a proper reward function and comparing different reward functions against each other was another really time consuming process. I would say the most time was spent tweaking the reward function and trying to understand what effect it was having on the model. There was a whole array of reward functions previous students had posted which was interesting to explore but ultimately only the one I am using gave me decent results for the task I chose.</p>
<p>To end on a positive note, this was a good learning exercise in model visualization and tracking. I acquired several skills necessary to more accurately eveluate reinforcement learning models beyond just looking at the reward function plot.</p>

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