:root{--ink:#303030;--muted:#575b61;--blue:#316ca8;--line:#e5e8ed;--wam:#b34f58;--wrench:#a06320;--cw:#316ca8;--adm:#34734f;--wrap:1040px}
*{box-sizing:border-box}
html{scroll-behavior:smooth;scroll-padding-top:100px}
body{margin:0;background:#fff;color:var(--ink);font-family:"Helvetica Neue",Arial,sans-serif;font-size:21px;line-height:1.65;-webkit-font-smoothing:antialiased}
[hidden]{display:none!important}
a{color:inherit;text-underline-offset:5px}
button{font:inherit;cursor:pointer}
img{display:block;max-width:100%;height:auto}
video{display:block;width:100%;height:auto;aspect-ratio:16/9;object-fit:contain;background:#111820}
a,button{-webkit-tap-highlight-color:transparent}
a:focus-visible,button:focus-visible,[tabindex]:focus-visible{outline:3px solid #7da9d6;outline-offset:5px}
::selection{background:#dceafa}
.wrap{width:min(var(--wrap),calc(100% - 72px));margin-inline:auto}
.narrow{width:min(860px,calc(100% - 72px));margin-inline:auto}
.skip-link{position:fixed;top:-90px;left:20px;background:#fff;padding:12px 20px;z-index:30}
.skip-link:focus{top:12px}


/* Chrome-like tabs for experiment and result selectors. */
.tab-strip{display:flex;align-items:stretch;gap:4px;min-width:0;max-width:100%;padding:6px 6px 0;background:#f0f2f5;border-radius:16px 16px 0 0;border-bottom:1px solid var(--line);overflow-x:auto;scrollbar-width:thin;scrollbar-color:#c8d0da transparent;scroll-padding-inline:6px}
.tab-button{position:relative;display:inline-flex;flex:0 0 auto;align-items:center;justify-content:center;gap:9px;min-height:50px;padding:12px 20px;border:1px solid transparent;border-bottom:0;border-radius:12px 12px 0 0;background:transparent;color:var(--muted);font-size:19px;font-weight:500;line-height:1.4;white-space:nowrap;text-decoration:none;transition:background .15s,color .15s}
.tab-button:hover{background:#e4e9ef;color:var(--ink)}
.tab-button:is([aria-pressed=true],[aria-selected=true],[aria-current=location]){background:#fff;color:var(--blue);border-color:#e0e5eb;box-shadow:0 -2px 5px #283f5810}
.tab-button:focus-visible{outline-offset:-4px}
/* Publication resource buttons, visually separate from in-page tabs. */
.hero-actions{display:flex;flex-wrap:wrap;justify-content:center;align-items:center;gap:10px}
.resource-button{display:inline-flex;align-items:center;justify-content:center;gap:9px;min-height:44px;padding:9px 21px;border:1px solid #363636;border-radius:999px;background:#363636;color:#fff;font-size:18px;font-weight:500;line-height:1.35;text-decoration:none;white-space:nowrap;transition:background .15s,border-color .15s}
.resource-button:hover{background:#242424;border-color:#242424}
.resource-button:disabled,.resource-button:disabled:hover{background:#eceef1;border-color:#e3e6ea;color:#9299a3;cursor:not-allowed;opacity:1}
.resource-button svg{width:21px;height:21px}



svg{width:25px;height:25px;fill:none;stroke:currentColor;stroke-width:1.7;stroke-linecap:round;stroke-linejoin:round}
.hero{text-align:center;padding:48px 0 58px}
h1{margin:0}
.project-name{display:block;font-size:clamp(62px,7vw,88px);font-weight:750;letter-spacing:-4px;line-height:1.1;color:var(--blue);margin-bottom:25px}
.project-subtitle{display:block;font-size:clamp(28px,3.2vw,42px);font-weight:600;line-height:1.3;letter-spacing:-1.1px}
.authors{font-size:22px;color:var(--muted);margin:26px 0 0}
.hero-actions{width:fit-content;margin:22px auto 44px}
.hero-actions .paper-link{padding-inline:21px}
.section-nav{display:flex;align-items:center;gap:12px;padding-block:4px 30px;overflow-x:auto;scrollbar-width:thin}
.section-nav a{display:inline-flex;flex:0 0 auto;align-items:center;justify-content:center;white-space:nowrap;min-height:44px;padding:8px 0;color:var(--blue);font-size:17px;font-weight:600;line-height:1.5;text-align:center;text-decoration:none;transition:color .15s}
.section-nav a:first-child{margin-left:auto}
.section-nav a:last-child{margin-right:auto}
.section-nav a:hover{color:#204e7c}
.nav-separator{flex-shrink:0;color:var(--muted);font-size:18px;line-height:1}
.cover-previews{margin-top:0}
.hero-grid{max-width:1040px;margin-inline:auto;display:grid;grid-template-columns:repeat(2,minmax(0,1fr));gap:32px;align-items:start}
.hero-tile{display:block;text-decoration:none}
.hero-preview{width:100%;aspect-ratio:16/9;object-fit:contain;border-radius:9px;transition:transform .2s}
.hero-tile:hover .hero-preview{transform:translateY(-3px)}
.preview-actions{max-width:1040px;margin:12px auto 0;display:flex;justify-content:flex-end}
.preview-toggle.resource-button{min-height:36px;width:36px;padding:7px}
.preview-pause{stroke-width:3}
.hero-tile span{display:block;font-size:19px;font-weight:500;line-height:1.4;margin-top:16px}
.overview video{border-radius:8px;border:1px solid var(--line)}
h2{font-size:36px;line-height:1.25;letter-spacing:-.8px;font-weight:600;margin:0 0 28px;text-align:center;text-wrap:balance}
.abstract-section{padding:48px 0}
.abstract-section h2{margin-bottom:25px}
.abstract-section p{font-size:21px;line-height:1.75;margin:0;text-align:justify}
.research-section{padding:50px 0}
main>.section-nav~section{border-top:1px solid #d5dbe2}
.footer{border-top:1px solid #d5dbe2}
figure{margin:0}
figure>a{display:block}
.model-section{width:min(1280px,calc(100% - 72px))}
.method-overview,.method-part.control-section{max-width:1040px;margin-inline:auto}
.method-part+.method-part{margin-top:72px}
.method-part>h3,.control-copy>h3{font-size:30px;font-weight:600;line-height:1.3;letter-spacing:-.6px;margin:0 0 28px;text-align:center}
.model-layout{display:grid;grid-template-columns:minmax(0,1fr) 340px;gap:44px;align-items:center}
.model-figure{min-width:0}
.model-figure img{width:100%}
.model-notes{display:grid;grid-template-columns:1fr;gap:28px}
.model-notes article{padding-left:20px;border-left:2px solid #dce7f2}
.model-notes h4{font-size:23px;line-height:1.35;font-weight:600;letter-spacing:-.35px;color:var(--blue);margin:0 0 12px}
.model-notes p{font-size:20px;line-height:1.65;color:var(--muted);margin:0}
figcaption{font-size:18px;line-height:1.7;color:var(--muted);margin:24px auto 0;max-width:920px}
figcaption a{font-weight:600;color:var(--blue);white-space:nowrap;text-decoration:none;margin-right:5px}
.control-section{display:grid;grid-template-columns:1fr 1fr;gap:48px;align-items:center}
.control-copy h3{max-width:480px;text-align:left}
.control-copy p{font-size:21px;line-height:1.65;margin:0;max-width:510px;color:var(--muted)}
.control-section figure{max-width:470px;justify-self:end}
.control-section figcaption{font-size:18px}
.section-intro{margin-bottom:48px}
.section-intro p{max-width:860px;color:var(--muted);font-size:21px;margin:0 auto;text-align:center}
.task-demo{scroll-margin-top:100px;margin-top:76px}
.task-demo:first-of-type{margin-top:0}
.task-heading{margin:0 auto 25px;max-width:920px;text-align:center}
.task-heading h3{font-size:30px;font-weight:600;line-height:1.3;letter-spacing:-.6px;margin:0 0 15px}
.task-heading p{font-size:21px;color:var(--muted);max-width:860px;margin:0 auto}
.video-modes{margin:0}
.task-video{border-radius:0 0 8px 8px}
.method-controls{border-radius:0;background:#f7f8fa;padding-top:8px}
.method-controls .tab-button{font-size:18px}
[data-method=wam]{--method:var(--wam);--tint:#fcf0f1}
[data-method=wam_wrench]{--method:var(--wrench);--tint:#fff5e8}
[data-method=cw_wam]{--method:var(--cw);--tint:#edf4fc}
[data-method=cw_wam_admittance]{--method:var(--adm);--tint:#eef7f1}
.method-controls button::before{content:"";width:8px;height:8px;border-radius:50%;background:var(--method);flex-shrink:0}
.method-controls .tab-button[aria-pressed=true]{color:var(--method)}
.result-tabs{margin:30px 0 0}
.result-tabs .tab-button{flex:1 0 auto;font-size:18px}
.result-panel{padding-top:34px}
.result-panel img{width:100%;max-width:1030px;margin:auto}
#result-profiles img,#result-load img,#result-feedback img{max-width:900px}
.citation-section h2{text-align:left}
.citation-section pre{max-width:100%;overflow-x:auto;white-space:pre-wrap;overflow-wrap:anywhere;margin:0;padding:28px 30px;background:#f5f6f8;border:1px solid #e8ebef;border-radius:8px;color:var(--ink);font:17px/1.75 ui-monospace,SFMono-Regular,Consolas,"Liberation Mono",monospace;tab-size:2}
.citation-section code{font:inherit}
.footer{padding-block:44px;background:#f8f9fb;font-size:18px;line-height:1.75;color:var(--muted)}
.footer-content p{margin:0 0 18px}
.footer-identity{display:flex;justify-content:center;flex-wrap:wrap;gap:24px;margin-top:32px}
.footer a{font-weight:600;text-decoration:none;color:var(--blue)}
@media(max-width:900px){
 .model-layout{grid-template-columns:1fr;gap:30px}.model-notes{gap:24px}.model-notes h4{font-size:23px}
 .project-subtitle br{display:none}
 .hero-grid{gap:18px}.hero-tile span{font-size:18px}
 .control-section{gap:35px}.control-copy p{font-size:21px}.control-copy h3{font-size:34px}

}
@media(max-width:640px){
 .wrap,.narrow{width:calc(100% - 36px)}
 .section-nav a{font-size:16px}

 .hero{padding-top:34px;padding-bottom:38px}.project-name{font-size:60px;letter-spacing:-2.5px;margin-bottom:22px}.project-subtitle{font-size:28px;letter-spacing:-.7px;line-height:1.35}
 .authors{font-size:20px;margin-top:22px}
 .hero-actions{margin-bottom:36px}
 .hero-grid{grid-template-columns:1fr;gap:30px}.hero-tile span{font-size:18px;margin-top:12px}
 .abstract-section{padding:36px 0 32px}.abstract-section h2{font-size:30px}.abstract-section p{font-size:19px;line-height:1.75;text-align:left}
 .method-part+.method-part{margin-top:48px}.method-part>h3{font-size:27px}
 .research-section{padding:36px 0}h2{font-size:32px;letter-spacing:-.7px;margin-bottom:25px}
 figcaption{font-size:17px;margin-top:20px}.control-section{grid-template-columns:1fr;gap:30px}.control-copy h3{font-size:32px;text-align:center}.control-copy p{font-size:20px;text-align:center}.control-section figure{justify-self:center;max-width:440px}.control-section figcaption{font-size:17px}
 .section-intro{margin-bottom:40px}.section-intro p{font-size:20px}.task-demo{margin-top:56px}.task-heading h3{font-size:28px}.task-heading p{font-size:19px}
 .tab-button{font-size:18px;padding:12px 16px}.method-controls .tab-button{font-size:18px}
 .result-panel{padding-top:25px}.citation-section pre{padding:20px 18px;font-size:16px}.footer{font-size:17px}
}
@media(max-width:390px){.hero-grid{gap:25px 14px}.hero-tile span{font-size:17px}.project-subtitle{font-size:26px}}
@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}*{transition:none!important}}