@import url('./assets/fonts/fonts.css');
:root{--paper:#f5f6f7;--ink:#192630;--muted:#64717b;--line:#dce1e4;--blue:#2661db;--lime:#cefa78;--hip:#31b9bd;--knee:#ed8658;--dark:#111c28;--mono:'Consolas','SFMono-Regular',monospace;--display:'Space Grotesk',sans-serif;--body:'DM Sans',sans-serif;color-scheme:light;font-family:var(--body);color:var(--ink);background:var(--paper);font-synthesis:none}
*{box-sizing:border-box}html{scroll-behavior:smooth;scroll-padding-top:32px}body{margin:0;font-size:16px;line-height:1.55}button,input,select{font:inherit}button,a,input,select{-webkit-tap-highlight-color:transparent}button,a{touch-action:manipulation}button{cursor:pointer}button:disabled{cursor:wait;opacity:.55}button:focus-visible,a:focus-visible,select:focus-visible,input:focus-visible,[role=slider]:focus-visible{outline:3px solid var(--blue);outline-offset:4px}a{color:inherit;text-decoration:none}a:hover{text-decoration:underline;text-underline-offset:4px}button{color:inherit}h1,h2,h3,h4,p{margin:0}h1,h2,h3,h4{font-family:var(--display);font-weight:500}h2{font-size:22px;letter-spacing:-.6px}h3{font-size:18px}button svg{flex:none}[hidden]{display:none!important}.site-header{height:86px;max-width:1440px;margin:auto;padding:0 48px;display:flex;align-items:center;justify-content:space-between;border-bottom:1px solid var(--line);gap:24px}.brand{display:flex;align-items:center;gap:14px;font-family:var(--display);font-weight:700;font-size:14px;letter-spacing:.035em;white-space:nowrap}.brand-mark{position:relative;font-size:37px;letter-spacing:-10px;line-height:1;padding-right:10px}.brand-mark span{color:var(--blue)}.brand-light{font-weight:400;color:var(--muted)}nav{display:flex;gap:32px;align-items:center;font-size:14px}.paper-link{border:1px solid #aeb8bf;padding:8px 15px;border-radius:5px}.paper-link span{margin-left:15px}main{max-width:1440px;margin:auto;padding:0 48px}.intro{display:flex;justify-content:space-between;gap:40px;padding:54px 0 48px;align-items:flex-end}.eyebrow{font-size:12px;font-weight:600;letter-spacing:.11em;line-height:1.5}.small-cross{font-size:19px;color:var(--blue);vertical-align:middle;margin-right:7px}h1{font-size:clamp(44px,4.8vw,68px);line-height:1.03;letter-spacing:-3.5px;margin-top:18px}h1>span{color:var(--blue)}.intro-copy{max-width:420px;padding-bottom:5px}.intro-copy>p:first-child{font-size:19px;font-weight:500;max-width:350px}.muted{color:var(--muted);margin-top:12px}.text-link{display:inline-flex;gap:35px;align-items:center;font-weight:600;font-size:14px;border-bottom:1px solid currentColor;padding-bottom:4px}.intro-copy .text-link{margin-top:23px}.section-top{display:flex;justify-content:space-between;gap:15px;align-items:center;padding:22px 0}.section-label{display:flex;gap:16px;align-items:center}.number{font:13px var(--mono);color:var(--muted);border:1px solid var(--line);padding:5px 7px;border-radius:4px}.model-label{font-size:12px;color:var(--muted);letter-spacing:.04em}.model-label a{font-size:13px;letter-spacing:0}.divider{padding:0 9px}.playground{border-top:1px solid var(--line)}.workbench{display:grid;grid-template-columns:minmax(230px,1fr) minmax(330px,1.7fr) minmax(260px,1.15fr);border:1px solid #ccd3d8;border-radius:10px;overflow:hidden;background:white;box-shadow:0 8px 24px #19263005}.panel{padding:23px 23px 18px;min-width:0}.panel-heading{display:flex;gap:11px;align-items:center}.panel-heading h3{font-size:17px;font-weight:600;letter-spacing:-.4px}.step{background:#edf0f3;font:12px var(--mono);padding:4px 7px;border-radius:3px}.motor-drawing{margin:14px 0 23px;text-align:center}.motor-drawing svg{display:block;width:100%;height:115px}.motor-drawing>span{font:12px var(--mono);letter-spacing:.09em;color:var(--muted)}.slider-field{margin:19px 0}.slider-field>div:first-child{display:flex;justify-content:space-between;align-items:baseline;gap:4px;font-size:14px}.slider-field output{font:13px var(--mono);font-weight:600;padding:3px 6px;background:#f1f3f5;border-radius:3px;white-space:nowrap}.range-labels{display:flex;justify-content:space-between;font:12px var(--mono);color:var(--muted);margin-top:3px}input[type=range]{appearance:none;width:100%;height:4px;display:block;border-radius:10px;margin:15px 0 10px;background:linear-gradient(to right,var(--blue) 0%,var(--blue) var(--fill,30%),#dfe4e8 var(--fill,30%));cursor:pointer}input[type=range]::-webkit-slider-thumb{appearance:none;width:15px;height:15px;border:3px solid #fff;background:var(--blue);border-radius:50%;box-shadow:0 0 0 1px var(--blue)}input[type=range]::-moz-range-thumb{width:11px;height:11px;border:3px solid #fff;background:var(--blue);border-radius:50%;box-shadow:0 0 0 1px var(--blue)}.actuator-metrics{border-top:1px solid var(--line);padding-top:12px;margin:24px 0 0}.actuator-metrics>div{display:flex;justify-content:space-between;gap:8px;margin:9px 0}.actuator-metrics dt{font-size:12px;color:var(--muted)}.actuator-metrics dd{font:12px var(--mono);margin:0;white-space:nowrap}.actuator-metrics dd small{font:12px var(--body);color:var(--muted)}.panel-note{font-size:12px;line-height:1.65;color:var(--muted);margin-top:20px}.simulation{background:var(--dark);color:white;display:flex;flex-direction:column;min-width:0;position:relative}.stage-top{display:flex;justify-content:space-between;align-items:center;gap:12px;padding:21px 22px 0;font:12px var(--mono);letter-spacing:.045em;color:#a8bac9}.stage-tag{border:1px solid #3b4753;padding:5px 8px;border-radius:4px}#phase-label{color:var(--lime);font-size:12px}.stage-canvas-wrap{position:relative;flex:1;min-height:413px}.stage-canvas-wrap canvas{width:100%;height:100%;position:absolute;inset:0}.height-display{position:absolute;top:23px;left:24px;pointer-events:none;max-width:calc(100% - 48px)}.height-display>span:first-child{font-size:12px;color:#b2c0ce}.height-display strong{display:block;font:500 51px/1.2 var(--display);letter-spacing:-2.5px;color:var(--lime);margin:5px 0}.height-display small{font-size:22px;letter-spacing:0;color:#ccd4dc;margin-left:8px}.height-display>span:last-child{font-size:12px;color:#9cacbc;display:block;max-width:230px}.stage-legend{position:absolute;bottom:14px;left:23px;display:flex;gap:16px;font-size:12px;color:#aebfce;pointer-events:none}.legend-dot{display:inline-block;width:7px;height:7px;vertical-align:middle;border-radius:50%;margin-right:5px}.current{background:var(--lime)}.previous{background:#768698}.hip{background:var(--hip)}.knee{background:var(--knee)}.transport{margin:0 22px;padding:16px 0 0;display:flex;align-items:center;gap:11px;border-top:1px solid #31404e}.jump-button{background:var(--lime);border:0;color:#182619;display:flex;align-items:center;justify-content:center;gap:10px;padding:11px 26px;border-radius:5px;font-size:15px;font-weight:650;min-width:110px;transition:background .15s}.jump-button:hover{background:#dfffaa}.icon-button{background:transparent;color:#b8c8d5;border:1px solid #445361;border-radius:5px;width:39px;height:43px;font-size:23px}.speed-control{margin-left:auto;font-size:12px;color:#aebfce;display:flex;flex-direction:column;gap:1px}.speed-control select{background:transparent;color:white;border:0;font:12px var(--mono);padding:0;cursor:pointer}.speed-control option{background:var(--dark)}#time-label{font:12px var(--mono);align-self:flex-end;padding-bottom:7px;min-width:45px}.timeline-row{padding:5px 23px 18px;display:flex;align-items:center;gap:15px}.timeline-row input{--blue:var(--lime);background:linear-gradient(to right,var(--lime) 0%,var(--lime) var(--fill,0%),#3a4956 var(--fill,0%));height:3px}.timeline-row input::-webkit-slider-thumb{width:10px;height:10px;border:0;background:var(--lime);box-shadow:none}.timeline-row span{font:12px var(--mono);white-space:nowrap;color:#8ea0b0}.control-intro{font-size:13px;color:var(--muted);margin-top:15px;line-height:1.6}.joint-legend{display:flex;gap:22px;margin:17px 0 18px;font-size:13px}.joint-legend span{display:inline-flex;align-items:center;gap:7px}.joint-marker{display:inline-block;width:10px;height:10px;border:2px solid;border-radius:50%}.joint-marker.hip{border-color:#31b9bd}.joint-marker.knee{border-color:#ed8658;border-radius:0;transform:rotate(45deg)}.curve-caption{display:flex;justify-content:space-between;font-size:12px;color:var(--muted)}.curve-caption output{font-family:var(--mono);font-size:12px}.policy svg{display:block;width:100%;overflow:visible}#policy-chart{margin-top:6px;touch-action:none}.curve-x-label{text-align:center;font-size:12px;color:var(--muted);margin-top:-7px}.preset-group{display:grid;grid-template-columns:1fr 1fr;gap:6px;margin:16px 0 12px}.preset-group button{font-size:12px;padding:6px 4px;border:1px solid var(--line);border-radius:4px;background:#fff}.preset-group button.active{color:var(--blue);border-color:#7699e4;background:#eff4fe}.curve-help{font-size:12px;color:var(--muted);line-height:1.55}.envelope-header{display:flex;align-items:baseline;justify-content:space-between;gap:5px;border-top:1px solid var(--line);padding-top:17px;margin-top:18px}.envelope-header h4{font-size:13px;font-weight:600}.envelope-header span{font:12px var(--mono);color:var(--muted)}#envelope-chart{margin-top:5px}.envelope-legend{display:flex;justify-content:center;gap:10px;font-size:12px;color:var(--muted);margin-top:-5px}.legend-line{width:12px;height:2px;display:inline-block;vertical-align:middle;margin-right:3px}.envelope{background:#8299b1}.insight-bar{display:flex;align-items:center;gap:15px;border:1px solid #d9e2f0;background:#edf2fa;border-radius:6px;padding:17px 20px;margin-top:14px}.insight-icon{color:var(--blue);font-size:25px}.insight-bar p{font-size:13px;line-height:1.65;flex:1}.insight-bar button{flex:none;border:0;background:transparent;font-size:12px;color:var(--blue);font-weight:600}.insight-bar button span{padding-left:8px}.comparison-section{margin:36px 0 53px}.comparison-heading{display:flex;justify-content:space-between;gap:25px;align-items:center}.comparison-heading .eyebrow{color:var(--blue);font-size:12px;margin-bottom:7px}.comparison-heading h3{font-size:24px;letter-spacing:-.6px}.comparison-heading p:not(.eyebrow){font-size:14px;color:var(--muted);margin-top:6px}.secondary-button{border:1px solid #a5b2bd;border-radius:5px;background:white;font-weight:550;font-size:13px;padding:12px 17px;white-space:nowrap}.secondary-button:hover{background:#e9eef3}.secondary-button span{margin-left:15px}.fine-print{font-size:12px;color:var(--muted);line-height:1.65}#comparison-note{margin-top:15px}.search-progress{display:flex;align-items:center;gap:15px;margin-top:20px;font-size:13px}.search-progress progress{accent-color:var(--blue);width:190px;height:6px}.search-progress button{border:0;background:none;text-decoration:underline;font-size:12px;margin-left:auto}.comparison-results{display:grid;grid-template-columns:repeat(4,1fr);gap:12px;margin-top:22px}.result-card{padding:20px;background:white;border:1px solid var(--line);border-radius:6px;display:flex;flex-direction:column}.result-card:last-child{border-color:var(--blue);background:#edf3fe}.result-card h4{font-size:15px}.result-card .result-height{font:500 34px var(--display);margin-top:12px;letter-spacing:-1.5px}.result-height small{font-size:15px;margin-left:4px;letter-spacing:0}.result-card p{font-size:12px;color:var(--muted);margin-top:5px}.result-card .result-change{font:12px var(--mono);color:var(--blue);margin:6px 0 12px}.result-card button{margin-top:auto;border:0;border-top:1px solid #d8dfe8;padding:12px 0 0;background:transparent;text-align:left;font-size:12px;font-weight:600}.research{border-top:1px solid var(--line);padding-bottom:48px}.research-grid{display:grid;grid-template-columns:1fr 1.1fr;gap:60px;margin-top:12px;align-items:center}.research-image{background:#e6eaed;border-radius:8px;overflow:hidden;position:relative;height:330px}.research-image img{display:block;width:100%;height:100%;object-fit:cover;object-position:center}.research-image>span{position:absolute;bottom:14px;left:14px;background:#ffffffed;padding:6px 11px;border-radius:3px;font-size:12px}.research-copy .eyebrow{font-size:12px;color:var(--blue)}.research-copy h3{font-size:34px;line-height:1.2;letter-spacing:-1.2px;margin:13px 0 18px}.research-copy>p:not(.eyebrow){font-size:14px;color:var(--muted);max-width:510px}.paper-stats{display:flex;gap:30px;margin:22px 0}.paper-stats>div{display:flex;flex-direction:column;max-width:220px}.paper-stats strong{font:500 30px var(--display);letter-spacing:-1px}.paper-stats strong span{font:12px var(--body);letter-spacing:0;margin-left:5px}.paper-stats>div>span{font-size:12px;color:var(--muted);margin-top:4px}.research-copy .text-link{font-size:13px}.experiment-comparison{display:grid;grid-template-columns:1fr 1fr;gap:70px;margin:45px 0 22px;padding-top:30px;border-top:1px solid var(--line)}.experiment-comparison h3{font-size:23px;letter-spacing:-.6px}.experiment-comparison p{font-size:14px;color:var(--muted);margin-top:12px;max-width:440px}.experiment-comparison .fine-print{font-size:12px}.experimental-bars>div{margin-bottom:15px}.experimental-bars>div>span{display:flex;justify-content:space-between;font-size:12px;margin-bottom:6px}.experimental-bars small{font:12px var(--mono);color:var(--muted)}.bar-track{height:32px;background:#e8edf2;border-radius:3px}.bar-track>div{height:100%;border-radius:3px;display:flex;align-items:center;justify-content:flex-end;padding:0 10px}.bar-track strong{font:12px var(--mono);color:white}.reference-bar{background:#71818f}.prototype-bar{background:var(--blue)}.experimental-bars>p{font-size:12px;text-align:right;max-width:none}.experimental-bars>p strong{color:var(--blue);font-size:17px;margin-right:8px}.research-footnote{font-size:12px;color:var(--muted);padding:15px 18px;border-left:2px solid #a5b2bd;background:#edf0f2}.model-notes{border-top:1px solid var(--line);padding:35px 0 50px}.model-notes>p{font-size:14px;color:var(--muted);max-width:800px;margin:20px 0 26px}.model-columns{display:grid;grid-template-columns:repeat(3,1fr);gap:35px}.model-columns h3{font-size:15px;font-weight:600}.model-columns p{font-size:13px;line-height:1.8;color:var(--muted);margin:10px 0}.model-columns code{font:12px var(--mono);color:#53687c}.model-columns a{font-size:12px;text-decoration:underline;text-underline-offset:4px}footer{max-width:1440px;margin:auto;border-top:1px solid var(--line);padding:25px 48px 35px;display:flex;justify-content:space-between;gap:30px;align-items:center}footer .brand{font-size:12px}footer>span{font-size:12px;color:var(--muted);max-width:430px}footer>a:last-child{font-size:12px;white-space:nowrap}.sr-only{position:absolute;overflow:hidden;width:1px;height:1px;clip:rect(0,0,0,0);white-space:nowrap}.skip-link{position:fixed;top:-100px;left:10px;z-index:10;padding:10px;background:white}.skip-link:focus{top:10px}.noscript{position:fixed;bottom:0;left:0;right:0;background:#fff3b1;padding:16px;z-index:9;text-align:center}
@media(min-width:1500px){.stage-canvas-wrap{min-height:455px}.intro{padding-top:62px;padding-bottom:55px}.panel{padding-left:25px;padding-right:25px}}
@media(max-width:1150px){main{padding:0 28px}.site-header{padding:0 28px}.workbench{grid-template-columns:225px minmax(310px,1fr) 250px}.panel{padding:20px 17px 15px}.panel-heading h3{font-size:15px}.stage-top{padding:18px 17px 0;gap:7px;font-size:12px}.stage-tag{font-size:12px}.height-display{left:20px}.transport{margin:0 16px;gap:7px}.jump-button{padding:11px 15px;min-width:94px}.timeline-row{padding-left:17px;padding-right:17px}.timeline-row span{font-size:12px}.research-grid{gap:35px}.research-copy h3{font-size:30px}.paper-stats{gap:20px}.model-columns{gap:25px}.comparison-heading h3{font-size:22px}footer{padding-left:28px;padding-right:28px}}
@media(max-width:900px){.intro{padding:36px 0;gap:20px}h1{font-size:51px}.intro-copy{max-width:310px}.intro-copy>p:first-child{font-size:17px}.intro-copy .muted{font-size:14px}.workbench{grid-template-columns:1fr 1.6fr}.hardware{grid-column:1;grid-row:1}.simulation{grid-column:2;grid-row:1}.policy{grid-column:1/-1;display:grid;grid-template-columns:1fr 1.15fr 1fr;gap:0 25px;border-top:1px solid var(--line)}.policy .panel-heading{grid-column:1}.control-intro{grid-column:1}.joint-legend{grid-column:1;margin:12px 0}.curve-caption{grid-column:2;grid-row:1;align-self:end}#policy-chart{grid-column:2;grid-row:2/6}.curve-x-label{grid-column:2;grid-row:6}.preset-group{grid-column:1;grid-row:4/6;margin:5px 0}.curve-help{grid-column:1;grid-row:6;font-size:12px}.envelope-header{grid-column:3;grid-row:1;border:0;margin:0;padding:0;align-self:end;display:block}#envelope-chart{grid-column:3;grid-row:2/6;align-self:center}.envelope-legend{grid-column:3;grid-row:6;display:block;text-align:center}.envelope-legend span{display:block;margin:3px 0}.stage-canvas-wrap{min-height:370px}.intro .eyebrow{font-size:12px}.comparison-heading{align-items:flex-start}.comparison-heading h3{max-width:300px}.comparison-heading p{max-width:350px}.comparison-results{grid-template-columns:repeat(2,1fr)}.research-grid{gap:28px}.research-copy h3{font-size:26px}.research-image{height:330px}.paper-stats{flex-direction:column;gap:14px}.experiment-comparison{gap:35px}.model-columns{grid-template-columns:1fr}.model-columns p{max-width:750px}.model-columns code{font-size:12px}footer>span{display:none}}
@media(max-width:620px){main{padding:0 16px}.site-header{height:68px;padding:0 16px;gap:10px}.brand{font-size:12px;gap:8px}.brand-mark{font-size:29px;letter-spacing:-8px}.brand-light{display:none}nav{gap:14px;font-size:12px}nav>a:first-child{display:none}.paper-link{padding:6px 9px}.paper-link span{margin-left:5px}.intro{display:block;padding:32px 0 28px}.intro h1{font-size:53px;letter-spacing:-2.8px}.intro-copy{margin-top:23px;max-width:380px}.intro-copy>p:first-child{max-width:370px;font-size:16px}.intro-copy .muted{margin-top:6px;font-size:14px}.intro-copy .text-link{margin-top:14px}.section-top{padding:18px 0;align-items:flex-start}.section-label{gap:10px}h2{font-size:19px}.model-label{font-size:12px;text-align:right;max-width:135px}.model-label .divider{display:none}.model-label a{display:block;font-size:12px}.workbench{display:flex;flex-direction:column}.simulation{order:0;min-height:440px}.hardware{order:1;padding:22px;border-top:1px solid var(--line);display:grid;grid-template-columns:1fr 1fr;gap:0 22px}.hardware .panel-heading{grid-column:1/-1}.motor-drawing{grid-column:2;grid-row:2/4;margin:20px 0 5px;align-self:center}.motor-drawing svg{height:105px}.motor-drawing>span{font-size:12px}.slider-field{grid-column:1/-1;margin:14px 0}.slider-field:first-of-type{margin-top:10px}.hardware .slider-field:nth-child(3){grid-column:1;grid-row:2}.hardware .slider-field:nth-child(4){grid-column:1;grid-row:3}.hardware .slider-field:nth-child(5){grid-column:1/-1;grid-row:4}.actuator-metrics{grid-column:1/-1;margin-top:10px;display:grid;grid-template-columns:1fr 1fr;gap:0 20px}.actuator-metrics>div{display:block;margin:8px 0}.actuator-metrics dt{font-size:12px}.actuator-metrics dd{font-size:14px;margin-top:3px}.actuator-metrics dd small{font-size:12px}.panel-note{grid-column:1/-1;font-size:12px;margin-top:10px}.panel-note br{display:none}.policy{order:2;display:block;padding:22px}.panel-heading h3{font-size:17px}.control-intro{font-size:14px}.curve-caption{font-size:12px}.policy #policy-chart{max-width:400px;margin:10px auto 0}.curve-x-label{font-size:12px}.preset-group{grid-template-columns:repeat(4,1fr);margin:20px 0 15px;gap:5px}.preset-group button{font-size:12px;padding:9px 3px}.curve-help{font-size:13px}.envelope-header{border-top:1px solid var(--line);padding-top:20px;margin-top:20px;display:flex}.envelope-header h4{font-size:15px}.envelope-header span{font-size:12px}.policy #envelope-chart{max-width:400px;margin:10px auto 0}.envelope-legend{display:flex;font-size:12px;gap:15px}.envelope-legend span{display:inline}.stage-canvas-wrap{min-height:320px}.stage-top{padding:18px 20px 0}.stage-tag,#phase-label{font-size:12px}.height-display{top:20px}.height-display strong{font-size:48px}.height-display>span:first-child{font-size:12px}.transport{margin:0 20px}.jump-button{min-width:125px}.timeline-row{padding-left:20px;padding-right:20px}.timeline-row span{font-size:12px}.stage-legend{font-size:12px}.insight-bar{gap:9px;flex-wrap:wrap;padding:14px}.insight-bar p{font-size:13px;flex-basis:calc(100% - 35px)}.insight-bar button{margin-left:32px;font-size:13px}.comparison-heading{display:block}.comparison-heading h3{max-width:none;font-size:24px}.comparison-heading p{max-width:none;font-size:14px}.secondary-button{margin-top:20px;width:100%;text-align:left;display:flex;justify-content:space-between;font-size:14px}.comparison-results{gap:8px}.result-card{padding:14px}.result-card h4{font-size:13px}.result-card p{font-size:12px}.result-card .result-height{font-size:30px}.search-progress{flex-wrap:wrap;gap:10px}.search-progress progress{width:100%}.research-grid{grid-template-columns:1fr;gap:25px}.research-image{height:270px}.research-copy h3{font-size:32px}.research-copy>p:not(.eyebrow){font-size:15px}.research-copy .eyebrow{font-size:12px}.paper-stats{flex-direction:row;gap:22px}.paper-stats strong{font-size:29px}.paper-stats strong span{font-size:12px}.paper-stats>div>span{font-size:12px}.experiment-comparison{grid-template-columns:1fr;gap:25px;margin-top:35px}.research-footnote{font-size:12px}.model-notes h2{font-size:18px}.model-columns p{font-size:14px}.model-columns h3{font-size:16px}.model-columns code{font-size:12px}.model-notes>p{font-size:14px}footer{padding:23px 16px;gap:14px}footer .brand{font-size:12px}footer>a:last-child{font-size:12px}}
/* Keep the primary action in view even before scrolling through the lab. */
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/* Lead the research companion with the manuscript's full title. */
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.insight-bar #challenge-button{margin-left:auto}

/* Paper variable table, expressed as nested design domains. */
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.slot-pole-options>span{display:inline}

/* Consistent type hierarchy across every research-variable domain. */
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/* Balance research domains by sharing width and pairing the long gear families. */
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  .design-space .reducer-variable-groups{grid-template-columns:minmax(0,1fr)}
}
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/* Collapsible teaching-model notes belong to the jump lab. */
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.model-notes-content>p{font-size:16px;color:var(--muted);max-width:800px;margin:0 0 24px}
.model-columns h4{font-size:15px;font-weight:600}
@media(max-width:620px){.model-notes>summary{padding:16px}.model-notes-content{padding:0 16px 20px}.model-columns h4{font-size:16px}}

.strategy-result{display:block;width:100%;padding:10px 12px;text-align:left;border:1px solid var(--line);border-radius:6px;background:white}.strategy-result:hover{border-color:#94aac9;background:#f6f9fc}.strategy-result[aria-pressed=true]{border-color:var(--blue);box-shadow:inset 3px 0 var(--blue)}.strategy-result-heading,.strategy-result-caption{display:flex;justify-content:space-between;align-items:baseline;gap:8px}.strategy-result-heading{font-size:13px}.strategy-result-heading strong{font:600 14px var(--mono);white-space:nowrap}.strategy-result-track{display:block;height:5px;margin:9px 0 7px;background:#e5ebf3;border-radius:4px;overflow:hidden}.strategy-result-track>span{display:block;height:100%;background:#879cb2;border-radius:4px}.strategy-codesign{background:#edf3fe;border-color:#bccff0}.strategy-codesign .strategy-result-track>span{background:var(--blue)}.strategy-result-caption{font-size:11px;color:var(--muted)}.strategy-codesign .strategy-result-caption{color:var(--blue)}.comparison-details{margin-top:14px;font-size:12px}.comparison-details summary{padding:8px 0;cursor:pointer;font-size:13px;font-weight:500}.comparison-details summary:focus-visible{outline:3px solid var(--blue);outline-offset:2px}.comparison-details h5{font-size:13px;margin:12px 0 0}.comparison-details p{font-size:12px;color:var(--muted);margin:8px 0}.comparison-details .comparison-hardware{font-size:12px;margin:12px 0;padding:10px 0}.comparison-details .fine-print{font-size:11px;line-height:1.6;margin-top:14px}
/* One shared action-and-results area beneath the three lab panels. */
.hardware.searching .motor-drawing{background:#edf3fb;border-radius:6px}.hardware.searching input[type=range]:disabled{opacity:1;cursor:progress}.hardware.searching .slider-field output{color:var(--blue);background:#eaf0fd}
.codesign-console{grid-column:1/-1;order:3;min-width:0;padding:22px 24px;background:#f6f8fb;border-top:1px solid var(--line)}.codesign-console-top{display:flex;align-items:center;justify-content:space-between;gap:24px}.codesign-console .eyebrow{font-size:11px;color:var(--blue);margin-bottom:5px}.codesign-console h3{font-size:22px;line-height:1.25;letter-spacing:-.5px}.codesign-console .secondary-button{display:flex;justify-content:space-between;align-items:center;gap:24px;margin:0;flex-shrink:0;background:var(--blue);color:white;border-color:var(--blue);padding:12px 18px;font-size:14px}.codesign-console #comparison-empty{font-size:13px;color:var(--muted);line-height:1.6;margin-top:10px}.codesign-console .comparison-results{display:grid;grid-template-columns:repeat(4,minmax(0,1fr));gap:12px;margin-top:10px}.comparison-instruction{display:none}.comparison-ready-line{display:flex;gap:14px;align-items:baseline;margin-top:16px;font-size:12px;color:var(--muted)}#comparison-status{font-size:11px;font-weight:600;color:var(--blue);letter-spacing:.04em}.codesign-console .search-progress{display:grid;grid-template-columns:auto minmax(90px,180px) 1fr auto;gap:12px;align-items:center;margin-top:16px;font-size:12px}.codesign-console .search-progress progress{width:100%}.search-live-tag{font-size:11px;color:var(--blue);font-weight:600}.codesign-console .search-progress button{margin:0;white-space:nowrap}.codesign-console .comparison-details{margin-top:10px}.codesign-console #comparison-selected-details{max-width:600px}.codesign-console .comparison-details .fine-print{max-width:1000px}
@media(max-width:900px){.codesign-console h3{font-size:20px}.strategy-result-heading{display:block}.strategy-result-heading strong{display:block;margin-top:4px}.strategy-result-caption{flex-wrap:wrap}.codesign-console .search-progress{grid-template-columns:1fr auto}.search-live-tag{grid-column:1/-1}.codesign-console .search-progress progress{grid-column:1/-1}}
@media(max-width:620px){.codesign-console{padding:20px}.codesign-console-top{display:block}.codesign-console .secondary-button{width:100%;margin-top:14px}.codesign-console .comparison-results{grid-template-columns:repeat(2,minmax(0,1fr));gap:8px}.comparison-ready-line{display:block}.comparison-ready-line>span{display:block;margin-top:4px}}

/* Keep jump feedback visible and fold the contact diagnostics. */
.simulation .ground-control{display:grid;grid-template-columns:auto minmax(70px,1fr);align-items:center;gap:16px;margin:12px 22px 0;padding:12px 0 0}
.simulation .ground-control>div:first-child{align-items:center;gap:10px;font-size:13px;white-space:nowrap}.simulation .ground-control output{font-size:13px}.simulation .ground-control input{margin:8px 0}
.foot-sliding-readout{order:5;display:flex;align-items:baseline;justify-content:space-between;gap:12px;margin:0 22px 12px;font-size:13px;color:#5e7180}.foot-sliding-readout strong{font:16px var(--mono);color:#b9512a}
.motion-details{order:6;margin:0 22px 18px;border-top:1px solid #d2dce4}.motion-details>summary{display:flex;align-items:center;justify-content:space-between;gap:12px;padding:12px 0;cursor:pointer;list-style:none;font-size:13px;color:#526c80;font-weight:500}.motion-details>summary::-webkit-details-marker{display:none}.motion-details>summary::after{content:'+';font:18px var(--mono);line-height:1}.motion-details[open]>summary::after{content:'−'}.motion-details>summary:focus-visible{outline:3px solid var(--blue);outline-offset:2px}.motion-details>summary:hover{color:var(--blue)}
.motion-details .motion-results{grid-template-columns:repeat(2,minmax(0,1fr));border:0;margin:0 0 16px;padding:4px 0 0}.simulation .motion-details .motion-results strong{color:var(--blue)}.motion-details .contact-panel{margin:0 0 16px}.motion-details .previous-control{margin:0 0 4px}
@media(max-width:620px){.simulation .ground-control{margin-left:20px;margin-right:20px;gap:12px}.foot-sliding-readout{margin-left:20px;margin-right:20px}.motion-details{margin-left:20px;margin-right:20px}}

/* Native objective-space plot, using the site's type and surfaces. */
.pareto-section{margin-top:32px;padding-top:28px;border-top:1px solid var(--line)}.pareto-heading .eyebrow{font-size:11px;color:var(--blue)}.pareto-heading h4{font:500 clamp(24px,2.7vw,32px)/1.2 var(--display);letter-spacing:-.03em;margin:8px 0 10px}.pareto-heading>p:last-child{font-size:16px;color:var(--muted)}.pareto-figure{margin:22px 0 0;padding:0;background:transparent}.pareto-legend{display:flex;flex-wrap:wrap;gap:8px 10px}.pareto-key{display:inline-flex;align-items:center;gap:8px;font:13px var(--body);color:var(--ink);padding:6px 9px;border:1px solid transparent;border-radius:4px;background:transparent}.pareto-key:hover{background:#e9edf2}.pareto-key[aria-pressed=true]{border-color:var(--series);background:#e9eef5}.pareto-key-marker{display:block;width:8px;height:8px;border-radius:50%;background:var(--series);flex-shrink:0}.pareto-key.pareto-color-7 .pareto-key-marker,.pareto-key.pareto-color-8 .pareto-key-marker{background:none;border-radius:0;width:12px;height:auto;line-height:1;font-size:17px;color:var(--series)}
.pareto-color-0{--series:#2661db}.pareto-color-1{--series:#ce7c4e}.pareto-color-2{--series:#368d8e}.pareto-color-3{--series:#ad6c79}.pareto-color-4{--series:#8976ab}.pareto-color-5{--series:#af954a}.pareto-color-6{--series:#5c788f}.pareto-color-7,.pareto-color-8{--series:#192630}
.pareto-help{font-size:12px;color:var(--muted);margin:10px 9px 12px}.pareto-chart{width:100%;min-width:0}.pareto-chart svg{display:block;width:100%;height:auto;touch-action:pan-y;overflow:visible}.pareto-chart svg:focus-visible{outline:2px solid var(--blue);outline-offset:4px}.pareto-axis-title{font:13px var(--body);fill:var(--muted)}.pareto-tick{font:12px var(--mono);fill:var(--muted)}.pareto-grid-line{stroke:var(--line);stroke-width:1;stroke-dasharray:3 5}.pareto-baseline{stroke:#bdc9d3;stroke-width:1}.pareto-point{fill:var(--series);fill-opacity:.8;stroke:var(--paper);stroke-width:.65}.pareto-reference-cross{fill:none;stroke:var(--series);stroke-width:2.3}.pareto-reference-diamond{fill:var(--series);fill-opacity:1;stroke:var(--paper);stroke-width:1.4}.pareto-point-focus{fill:none;stroke:var(--ink);stroke-width:1.3}.pareto-readout{font-size:13px;font-variant-numeric:tabular-nums;color:var(--ink);padding:10px 12px;margin-top:8px;min-height:42px;border-radius:4px;background:#eaf0f5}.pareto-figure figcaption{font-size:13px;line-height:1.65;color:var(--muted);margin-top:12px;max-width:980px}@media(max-width:620px){.pareto-legend{gap:4px}.pareto-key{font-size:12px;padding:6px}.pareto-heading>p:last-child{font-size:14px}.pareto-figure figcaption{font-size:12px}.pareto-readout{font-size:12px}.pareto-axis-title{font-size:12px}}

/* Prototype overview alongside the portrait slow-motion experiment. */
.research-media-grid{grid-template-columns:minmax(0,1.25fr) minmax(0,.75fr);gap:48px;align-items:center}.research-overview{min-width:0}.research-overview .research-image{height:280px;margin-bottom:26px}.research-overview .research-copy>p:not(.eyebrow){max-width:580px}.research-video{margin:0;min-width:0;width:100%;max-width:360px;justify-self:center}.research-video video{display:block;width:100%;height:auto;aspect-ratio:9/16;object-fit:contain;border-radius:8px;background:#e6eaed}.research-video figcaption{font-size:12px;line-height:1.6;color:var(--muted);margin-top:10px;text-align:center}
@media(min-width:621px) and (max-width:900px){.research-media-grid{gap:28px;grid-template-columns:minmax(0,1fr) minmax(0,.8fr)}.research-overview .research-image{height:220px}.research-overview .paper-stats{flex-direction:row;flex-wrap:wrap;gap:16px}}
@media(max-width:620px){.research-media-grid{grid-template-columns:1fr;gap:28px}.research-overview .research-image{height:270px}.research-video{max-width:330px}}

.research-overview .research-image{margin-top:26px;margin-bottom:0}

/* Three hardware and task metrics share one comparison row. */
.experiment-comparison{display:block}.experiment-heading{margin-bottom:24px}.experiment-heading p{max-width:none;margin-top:8px}.experiment-metrics{display:grid;grid-template-columns:repeat(3,minmax(0,1fr));gap:22px}.experiment-metric{min-width:0;padding:20px;border:1px solid var(--line);border-radius:7px;background:#f0f3f6}.experiment-metric-heading{display:flex;justify-content:space-between;align-items:flex-start;gap:12px;min-height:44px}.experiment-metric-heading h4{font-size:16px;line-height:1.35;font-weight:500;max-width:190px}.experiment-metric-heading>strong{font:500 23px var(--display);letter-spacing:-.6px;white-space:nowrap;color:var(--blue)}.metric-direction{display:block;font-size:11px;color:var(--muted);margin:6px 0 18px}.experiment-metric .experimental-bars>div{margin-bottom:14px}.experiment-metric .bar-track{height:30px;background:#e0e7ef}.experiment-metric .bar-track strong{font-size:12px;white-space:nowrap}.experiment-comparison .experiment-metric-note{font-size:12px;line-height:1.65;margin:16px 0 0;max-width:none}.experiment-metric .experimental-bars>div>span{font-size:12px}
@media(max-width:1000px){.experiment-metrics{gap:14px}.experiment-metric{padding:16px}.experiment-metric-heading{display:block;min-height:77px}.experiment-metric-heading>strong{display:block;margin-top:6px}}@media(max-width:700px){.experiment-metrics{grid-template-columns:1fr;gap:16px}.experiment-metric-heading{display:flex;min-height:0}.experiment-metric-heading>strong{margin:0}.experiment-metric-heading h4{max-width:none}.experiment-metric{padding:20px}}

/* Optical alignment of the lowercase mark with its uppercase wordmark. */
.site-header .brand-mark{transform:translateY(-3px)}
/* Give metric titles their own row so the full label fits without shrinking. */
.experiment-metric-heading{display:flex;flex-direction:column;align-items:flex-start;gap:7px;min-height:68px}
.experiment-metric-heading h4{max-width:none}
.experiment-metric-heading>strong{margin:0}
@media(min-width:1100px){.experiment-metric-heading h4{white-space:nowrap}}
@media(min-width:701px) and (max-width:1000px){.experiment-metric-heading{min-height:90px}}

/* Let the footer paper title use the space between the two links. */
footer>span{max-width:none}
@media(min-width:1100px){footer{gap:20px}footer>span{white-space:nowrap;font-size:12px}}