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/* Results retain the original deck's figures, matrix, wipe and typography. */
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dialog{background:var(--base);border:0;padding:50px;max-width:800px;width:calc(100% - 36px);box-shadow:0 20px 100px #38664122;color:var(--primary);max-height:85svh;overflow:auto}dialog::backdrop{background:#ffffffdd;backdrop-filter:blur(8px)}dialog h2{font-size:38px;margin-bottom:24px}dialog p:not(.eyebrow){font-size:17px;line-height:1.7;color:var(--muted);margin-top:16px}.dialog-close{position:absolute;right:20px;top:12px;font-size:30px}.keyboard-help{border-top:1px solid var(--line);padding-top:20px}.noscript{position:fixed;bottom:70px;left:var(--side);background:var(--base);padding:15px;z-index:20}
@media(max-width:800px){:root{--side:6vw;--type-body:16px;--type-small:12px;--type-label:17px}.masthead{top:22px}.wordmark{font-size:18px}.text-button{font-size:11px}.screen-footer{bottom:15px}.screen-footer>#chapter-label{font-size:9px}.screen-footer .text-button{font-size:0}.screen-footer .text-button span{font-size:21px}.chapter-nav{right:2vw;gap:12px}.chapter-nav span{display:none}.hero-copy{top:20svh;width:85vw}.hero-copy h1{font-size:clamp(52px,12.5vw,90px)}.hero-caption{left:10vw;right:10vw;top:84svh}.context-copy{left:7vw;right:10vw;top:13svh}.context-copy h2{font-size:32px}.context-copy h2 br{display:none}.context-copy p{font-size:15px;max-width:80vw;margin-top:14px}.section-heading{top:13svh}.section-heading h2{font-size:32px}.section-heading>p{font-size:16px;margin-top:15px}.comparison-pair{left:5vw;right:7vw;top:37svh;height:38svh;gap:5vw}.comparison-pair strong{font-size:20px}.comparison-pair span{font-size:12px}.scoop-section{height:calc(100% - 65px)}.reference-video{top:38svh;width:87vw}.reference-video figcaption{font-size:10px;gap:8px}.scrub-hint{gap:5px}.scrub-hint i{width:24px}.measure-grid{left:5vw;right:7vw;top:37svh;gap:10px;height:40svh}.measure-grid h3{font-size:15px;white-space:normal;line-height:1.25;height:38px}.metric-slot,.measure-grid canvas{height:30svh;margin-top:10px}.condensation-intro,.thesis-intro{left:6vw;top:13svh;width:83vw}.condensation-intro h2,.thesis-intro h2{font-size:32px}.condensation-intro>p:not(.eyebrow),.thesis-intro>p:not(.eyebrow){font-size:16px}.condensation-pad{left:5vw;top:31svh;width:83vw}#condensation-pad-view{height:20svh}.condensation-pad figcaption{gap:8px;margin-top:0}.condensation-legend{font-size:12px;gap:15px}.condensation-operator{left:5vw;top:58svh;width:83vw}#condensation-matrix{height:calc(25svh - 8svh * var(--condensed));margin-top:5px}.condensation-equation{margin-top:4px}.condensation-equation .math{font-size:21px}.condensation-equation p{font-size:13px;margin-top:7px}.condensation-footnote{display:none}.thesis-comparison{left:5vw;top:32svh;width:83vw}.thesis-view{height:29svh}.thesis-comparison figcaption{margin-top:5px}.thesis-comparison figcaption>div{gap:1px}.thesis-results{left:6vw;top:73svh;width:83vw}.thesis-results>.eyebrow,.scale-results>.eyebrow{display:none}.thesis-metrics{display:grid;grid-template-columns:.8fr 1fr 1.2fr;gap:12px}.thesis-metrics>div{gap:10px;justify-content:flex-end}.thesis-metrics dd,.scale-results .thesis-metrics dd{font-size:clamp(30px,7vw,50px);letter-spacing:-.06em}.thesis-metrics dt{font-size:11px;line-height:1.4}.thesis-results #thesis-details-open{font-size:11px;margin-top:12px}.scalability-intro{left:6vw;top:13svh;width:83vw}.scalability-intro h2{font-size:32px}.scalability-intro p{font-size:16px}.scale-visual{left:5vw;top:30svh;width:83vw;height:37svh}.view-switch{gap:20px}.view-switch button{font-size:12px}.scale-results{left:6vw;top:73svh;width:83vw}.reference-note{font-size:11px;margin-top:12px}.dome-video{top:44svh}.dome-video figcaption{display:grid;gap:10px;font-size:12px}.dome-video figcaption span{font-size:11px}.closing-copy{top:21svh}.closing-copy h2{font-size:43px}#closing-surface{left:9vw;top:48svh;width:81vw;height:35svh}dialog{padding:35px 25px}.eyebrow{font-size:12px}}
@media(prefers-reduced-motion:reduce){html{scroll-behavior:auto}*,*::before,*::after{transition:none!important}}

/* Workshop revisions: one-click condensation and the original finger study. */
.presentation-date{font-size:var(--type-body);color:var(--muted);margin-top:28px;letter-spacing:-.025em}
.playback-toggle{font-size:13px;color:var(--primary);padding:6px 0;min-width:65px;text-align:right}.playback-toggle span{margin-left:10px}
.operator-action{position:absolute;bottom:12svh;left:50%;transform:translateX(-50%);font-weight:700;font-size:var(--type-small);border-bottom:1px solid var(--primary);padding:10px 0}.operator-action span{margin-left:20px}.operator-action:disabled{cursor:default;opacity:.6}
#condensation-matrix-title{min-height:2.6em;display:flex;align-items:center;justify-content:center;line-height:1.25;text-align:center}
.dome-interactive{position:absolute;left:12vw;right:12vw;top:33svh;height:50svh}#dome-view{width:100%;height:calc(100% - 30px);cursor:grab;touch-action:pan-y}#dome-view:active,.finger-orbit:active{cursor:grabbing}#dome-view canvas{display:block;width:100%;height:100%}.dome-interactive figcaption{display:flex;justify-content:space-between;margin:10px 7vw 0;font-size:var(--type-small);color:var(--muted)}.dome-interactive figcaption span:last-child{font-size:13px;color:var(--muted)}
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.comparison-copy{top:17svh}.mismatch-stat{display:grid;grid-template-columns:1fr;gap:7px;margin-top:24px;padding:20px 24px 23px;border-left:5px solid var(--accent);background:#f8eeee;color:var(--accent)}.mismatch-alert{display:flex;align-items:center;gap:8px;font-size:10px;font-weight:800;letter-spacing:.14em}.mismatch-alert svg{width:18px;height:18px;fill:none;stroke:currentColor;stroke-width:1.7}.mismatch-stat strong{font-size:clamp(105px,11vw,178px);line-height:.95;font-weight:800;letter-spacing:-.075em}.mismatch-stat p{font-size:var(--type-body);line-height:1.4;letter-spacing:-.02em}.comparison-context{margin-top:14px}.comparison-context p{font-size:var(--type-small);line-height:1.5;color:var(--muted)}.comparison-limits{margin-top:7px}.tip-label{position:absolute;display:grid;gap:1px;padding:5px 9px;background:#ffffffe8;font-size:var(--type-small);line-height:1.25}.tip-label strong{font-size:var(--type-label);font-weight:800}.mujoco-label{color:var(--primary)}.abaqus-label{color:var(--reference)}#comparison-annotations{position:fixed;inset:0;pointer-events:none}.measurement-overlay{position:absolute;width:100%;height:100%;overflow:visible}#measurement-path{stroke:#8e9e7d;stroke-width:1;stroke-dasharray:3;fill:none}.motion-note{position:fixed;left:5.5vw;top:76svh;max-width:46vw;font-size:var(--type-small);line-height:1.5;color:var(--muted)}
@media(max-height:780px) and (min-width:801px){.comparison-copy{top:14svh}.mismatch-stat{padding:15px 22px;margin-top:18px}.mismatch-stat strong{font-size:clamp(90px,10vw,145px)}.comparison-context{margin-top:10px}.comparison-copy .eyebrow{margin-bottom:14px}}
@media(max-width:800px){.presentation-date{font-size:16px;margin-top:22px}.operator-action{bottom:9svh;font-size:13px}#condensation-matrix-title{font-size:17px;min-height:2.6em}.dome-interactive{left:5vw;right:8vw;top:33svh;height:48svh}.dome-interactive figcaption{margin:10px 3vw 0;font-size:12px}.dome-interactive figcaption span:last-child{font-size:11px}.story-copy{left:7vw;width:83vw;top:60svh}.story-copy h2{font-size:32px}.story-copy>p:not(.eyebrow){font-size:15px}.load-copy{top:57svh}.load-copy .eyebrow{margin-bottom:12px}.load-copy h2 br{display:none}.load-stat{gap:10px;margin:16px 0 12px}.load-stat strong{font-size:65px}.load-stat span{font-size:24px}.finger-orbit{left:4vw;top:20svh;width:88vw;height:35svh}.comparison-copy{top:12svh}.comparison-copy .eyebrow{margin-bottom:10px}.comparison-copy h2{font-size:29px}.comparison-copy h2 br{display:none}.mismatch-stat{position:absolute;top:44svh;left:0;width:83vw;margin:0;gap:5px;padding:12px 16px 14px}.mismatch-stat strong{font-size:78px}.mismatch-stat p{font-size:14px}.mismatch-alert{font-size:8px}.comparison-context{position:absolute;left:0;margin:0}.comparison-context p{font-size:10px}.comparison-limits{margin-top:3px}.motion-note{left:7vw;top:51svh;max-width:83vw;font-size:9px}.tip-label{font-size:10px;padding:4px 6px}.tip-label strong{font-size:13px}#load-label{font-size:10px}}
@media(max-width:800px){#condensation-matrix{height:21svh}}

/* Chapter steps use the original presentation's expanding ring and centre dot. */
.hero-copy h1{font-size:clamp(48px,6.1vw,112px)}
.chapter-nav .chapter-with-progress{position:relative}
.chapter-nav .chapter-with-progress i{position:relative}
.chapter-progress-marker{position:absolute;left:50%;top:50%;width:30px;height:30px;overflow:visible;opacity:0;transform:translate(-50%,-50%) scale(.15);transition:transform .28s ease,opacity .18s ease;pointer-events:none}
.chapter-step-ring{fill:var(--base);stroke:var(--primary);stroke-width:1.3}
.chapter-step-outlines{fill:var(--base);stroke:var(--primary);stroke-width:1}
.chapter-step-fills{fill:var(--primary)}
.chapter-nav .chapter-with-progress>span{transition:opacity .2s,transform .28s ease}
.chapter-nav .chapter-with-progress[aria-current] i{background:transparent;transform:none}
.chapter-nav .chapter-with-progress[aria-current] .chapter-progress-marker{opacity:1;transform:translate(-50%,-50%) scale(1)}
.chapter-nav .chapter-with-progress[aria-current]>span{transform:translateX(-12px)}
.chapter-nav .chapter-with-progress[aria-current]::after{content:"";position:absolute;right:-13px;top:50%;width:32px;height:32px;transform:translateY(-50%)}
.reference-video{opacity:1}
.thesis-comparison figcaption strong{font-size:clamp(17px,1.7vw,26px)}
@media(max-width:800px){.hero-copy h1{font-size:clamp(40px,10.9vw,80px)}.chapter-nav{right:18px}.thesis-comparison figcaption strong{font-size:16px}}

/* Align the two diagram headings; leave the figures free of node-type legends. */
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#condensation-pad-view{margin-top:10px}
@media(max-width:800px){#condensation-pad-view{margin-top:5px}}

/* The complete gripper gives way to one continuously tracked finger. */
.gripper-copy{position:absolute;left:var(--side);top:30svh;width:45vw}
.gripper-copy h2{font-size:clamp(34px,4.05vw,68px);line-height:1.1;letter-spacing:-.055em}
.gripper-orbit{position:absolute;left:51vw;top:22svh;width:43vw;height:65svh;cursor:grab;touch-action:pan-y}
.gripper-orbit:active{cursor:grabbing}
#load-title{font-size:clamp(32px,3.8vw,62px)}
@media(max-width:800px){.gripper-copy{left:7vw;top:15svh;width:83vw}.gripper-copy h2{font-size:32px}.gripper-orbit{left:6vw;top:36svh;width:84vw;height:43svh}#load-title{font-size:30px}.load-copy{top:56svh}.load-copy h2 br{display:initial}}

/* Reproducibility lives in the comparison dialog, leaving the slide uncluttered. */
#thesis-details{max-width:1000px;padding:44px 48px}
#thesis-details>p:not(.eyebrow){font-size:16px;line-height:1.55}
.comparison-config{margin-top:30px;color:var(--muted)}
.build-heading{display:flex;align-items:center;justify-content:space-between;gap:24px;padding-top:25px;border-top:1px solid var(--line)}
.config-kicker{font-size:10px;font-weight:800;letter-spacing:.12em;color:var(--muted)}
.build-heading h3{font-size:30px;letter-spacing:-.05em;color:var(--primary);margin:8px 0 0}
#thesis-details .build-heading p{font-size:14px;margin-top:6px;line-height:1.5}
.config-download{font-size:13px;font-weight:700;color:var(--primary);padding:12px 0;border-bottom:1px solid var(--primary);white-space:nowrap}
.config-download span{margin-left:14px}
#thesis-details .build-commit{font-size:12px;line-height:1.6;margin:18px 0 24px}
.comparison-config details{border-top:1px solid var(--line);padding:17px 0}
.comparison-config summary{color:var(--primary);font-size:16px;font-weight:800;cursor:pointer}
.parameter-table{width:100%;border-collapse:collapse;table-layout:fixed;margin-top:14px;text-align:left;font-size:13px;line-height:1.55}
.parameter-table th,.parameter-table td{vertical-align:top;border-bottom:1px solid var(--line);padding:10px 12px 10px 0}
.parameter-table th{width:38%;font-weight:600;color:var(--muted)}
.parameter-table td{padding-left:14px}
.comparison-config code{font:12px/1.55 ui-monospace,SFMono-Regular,Consolas,monospace;overflow-wrap:anywhere;color:var(--primary)}
.parameter-table a{color:var(--primary);text-underline-offset:3px;text-decoration:underline}
.dome-interactive figcaption #dome-phase{font-weight:700;color:var(--primary);min-width:75px;text-align:center;font-size:13px}
.dome-interactive figcaption a{text-decoration:none;border-bottom:1px solid var(--line);padding-bottom:3px}
.gripper-copy>p{font-size:var(--type-body);line-height:1.5;color:var(--muted);margin-top:24px;max-width:30em}
.hero-copy{top:50svh;translate:0 -50%}
.author-credit{margin-top:30px}
.author-credit p{font-size:clamp(16px,1.55vw,24px);font-weight:600;line-height:1.5;letter-spacing:-.02em;color:var(--primary)}
.author-supervision{margin-top:6px}
.author-credit .author-affiliation{margin-top:9px;font-weight:400;color:var(--muted)}
.hero-copy .presentation-date{font-size:clamp(14px,1.2vw,18px);margin-top:24px}
@media(max-width:800px){.hero-copy{top:13svh;translate:none}.author-credit{margin-top:20px}.author-credit p{font-size:15px}.author-supervision{margin-top:5px}.hero-copy .presentation-date{font-size:14px;margin-top:18px}}
/* Red accents carry the controls, contact objects and result highlights. */
.mark,.thesis-metrics dd,.presentation-date,#next-stage,.playback-toggle,#load-label{color:var(--accent)}
.mismatch-stat p{color:var(--accent-ink)}
.presentation-date,.playback-toggle,#load-label,.chapter-nav a[aria-current]{color:var(--accent-ink)}
.chapter-nav a[aria-current]{color:var(--accent-ink)}
.chapter-nav a[aria-current] i,#progress{background:var(--accent)}
.chapter-step-ring,.chapter-step-outlines{stroke:var(--accent)}
.chapter-step-fills{fill:var(--accent)}
.view-switch button[aria-pressed=true]{color:var(--accent-ink);border-bottom-color:var(--accent)}
button:focus-visible,a:focus-visible,[tabindex]:focus-visible{outline-color:var(--accent)}
#comparison-title{font-size:clamp(26px,3.2vw,54px);white-space:nowrap}
@media(min-width:801px){
  .gripper-copy,.load-copy,.comparison-copy{top:50svh;translate:0 -50%}
  .gripper-orbit{top:17.5svh}
  .thesis-intro,.scalability-intro{width:87vw}
  .thesis-intro h2,.scalability-intro h2{font-size:clamp(32px,3.7vw,62px)}
  .thesis-results,.scale-results{top:50svh;translate:0 -50%}
  .thesis-results>#thesis-details-open,.scale-results>.reference-note{position:absolute;top:100%;left:0;width:100%}
}
@media(max-width:800px){#comparison-title{font-size:clamp(20px,7.1vw,29px)}}
@media(max-width:800px){#thesis-details{padding:36px 22px}.build-heading{align-items:flex-start;flex-direction:column;gap:10px}.parameter-table{font-size:11px}.parameter-table th{width:35%}.comparison-config code{font-size:10px}.parameter-table td{padding-left:8px}.dome-interactive figcaption{gap:8px;font-size:11px}.dome-interactive figcaption span:last-child{font-size:10px}.dome-interactive figcaption #dome-phase{font-size:11px;min-width:52px}}

/* Keep the build disclosure secondary to the results, with a text-only affordance. */
.thesis-results #thesis-details-open{display:inline-flex;align-items:center;justify-content:flex-start;gap:8px;width:fit-content;padding:4px 0;border:0;border-radius:0;background:none;color:var(--accent-ink);font-weight:700;transition:color .18s}
.thesis-results #thesis-details-open span{font-size:18px;line-height:1;font-weight:600}
.thesis-results #thesis-details-open:hover{color:var(--accent)}
.dome-media{position:absolute;left:6vw;right:8vw;top:29svh;height:55svh}
.dome-media>.dome-interactive{position:relative;inset:auto;width:100%;height:calc(100% - 50px);margin-top:15px}
#dome-recording{height:calc(100% - 50px);margin-top:15px;display:flex;align-items:center}
#dome-video{display:block;width:100%;max-height:100%;object-fit:contain}
@media(max-width:800px){.dome-media{left:5vw;right:8vw;top:31svh;height:51svh}.thesis-results #thesis-details-open{padding:4px 0}.thesis-results #thesis-details-open span{font-size:18px}}

@media(min-width:801px){
  .thesis-comparison figcaption{min-height:32px;align-items:center}
  /* Cancel the metric column's 50% centering to share the model-caption row. */
  .thesis-results #thesis-details-open{top:calc(25svh + 14px + 50%);min-height:32px;margin-top:0}
}