body>main {
  min-height: 100%;
  background-color: #fff;
  font-family: "Open Sans", sans-serif;
  color: #333;
  margin: 0 2em;
  box-sizing: border-box;
  line-height: 1.5em;
}

#preface-section {
  position: relative;
  width: 100%;
  height: 100vh;
  overflow: hidden;
  transition: height 1s ease, opacity 1s ease;
}

#preface-video {
  width: 100%;
  height: 100%;
  object-fit: cover;
  filter: brightness(0.7);
}

.overlay {
  position: absolute;
  top: 0;
  left: 0;
  height: 100%;
  width: 100%;
  color: white;
  display: flex;
  flex-direction: column;
  justify-content: center;
  align-items: center;
  text-align: center;
  font-family: Lato, sans-serif;
  z-index: 1;
}

#video-preface.hidden {
  height: 0;
  opacity: 0;
  pointer-events: none;
}

.preface-title {
  font-size: 2em;
  font-family: "Michroma", sans-serif;
  text-align: center;
  line-height: 1.5em;
  margin-bottom: 0.5em;
}

.fade-transition {
  height: 15em;
  background: linear-gradient(to bottom, #c7c7c7, #ffffff);
}

h1 {
  font-size: 2em;
  text-align: center;
  line-height: 1.5em;
  margin-bottom: 0.5em;
}

h2 {
  text-align: left;
  font-size: 1.3em;
  font-weight: 600;
}

a,
a:link,
a:visited {
  color: inherit;
}

section {
  padding-bottom: 1em;
  max-width: 50em;
  margin: 0 auto;
}

p {
  font-size: 1.1em;
  line-height: 1.5em;
  margin-left: auto;
  margin-right: auto;
  text-align: justify;
}

button {
  background: #fff;
  border-radius: 0.5em;
  border: 1.5px solid #333;
  padding: 0.5em 2em;
  text-align: center;
  text-decoration: none;
  color: #333;
  display: inline-block;
  font-size: 16px;
  cursor: pointer;
  min-width: 12em;
}

#authors {
  display: flex;
  flex-wrap: wrap;
  justify-content: center;
  gap: 0.75em 1.5em;
  text-align: center;
  font-weight: 600;
  color: #666;
  max-width: 35em;
  margin: 0 auto;
}

#affiliations {
  display: flex;
  flex-direction: column;
  flex-wrap: wrap;
  text-align: center;
  justify-content: center;
  gap: 0.4em 1.25em;
  margin: 0 auto;
  font-weight: 400;
}

#links {
  display: flex;
  justify-content: center;
  flex-wrap: wrap;
  gap: 1em;
}

.split-cta {
  display: inline-flex;
  align-items: stretch;
  border-radius: 999px;
  background: #e5e7eb;
  padding: 0.3em;
  box-shadow:
    0 12px 26px rgba(15, 23, 42, 0.2),
    inset 0 1px 0 rgba(255, 255, 255, 0.35);
  border: 1px solid rgba(148, 163, 184, 0.6);
  overflow: hidden;
  position: relative;
}

.split-cta::before {
  content: "";
  position: absolute;
  inset: 1px;
  border-radius: 999px;
  background: linear-gradient(
    180deg,
    rgba(255, 255, 255, 0.6),
    rgba(255, 255, 255, 0)
  );
  pointer-events: none;
}

.split-cta__half {
  display: inline-flex;
  align-items: center;
  gap: 0.6em;
  padding: 0.65em 1.6em;
  color: #0f172a;
  text-decoration: none;
  font-weight: 600;
  letter-spacing: 0.01em;
  position: relative;
  z-index: 1;
  transition: transform 0.2s ease, background 0.2s ease, box-shadow 0.2s ease;
}

.split-cta__half--arxiv {
  background: linear-gradient(135deg, #f9fafb 0%, #e5e7eb 100%);
  color: #0b1220;
  border-radius: 999px 0 0 999px;
}

.split-cta__half--code {
  background: linear-gradient(135deg, #f9fafb 0%, #e5e7eb 100%);
  color: #0b1220;
  text-shadow: none;
  border-radius: 0 999px 999px 0;
}

.split-cta__half + .split-cta__half {
  border-left: 1px solid rgba(255, 255, 255, 0.2);
}

.split-cta__half:hover {
  transform: translateY(-1px);
  box-shadow: inset 0 0 0 1px rgba(255, 255, 255, 0.2);
}

.split-cta__icon {
  display: inline-flex;
  font-size: 1.1em;
}

.tldr {
  text-align: center;
  font-size: 1.1em;
  line-height: 1.5em;
  margin: 2em auto;
  max-width: 41em;
}

.tldr em {
  font-style: italic;
  font-weight: 400;
  display: inline;
  white-space: normal;
}

/* Center the MuJoCo container with 16:9 ratio */
#mujoco-container {
  position: relative;
  width: 100%;
  max-width: 800px;
  margin: 0 auto;
  aspect-ratio: 16 / 9;
  display: flex;
  justify-content: center;
  align-items: center;
}

/* MuJoCo simulator within the container */
#mujoco {
  position: relative;
  width: 100%;
  max-width: 800px;
}

/* Floating Control Panel (top-right corner) */
#mujoco-controls {
  position: absolute;
  top: 0;
  right: 0;
}

/* Video section for consistent layout */
section>div {
  display: flex;
  flex-direction: column;
  align-items: center;
  gap: 1em;
  max-width: 800px;
  margin: 0 auto;
}

/* Video element */
.video-container {
  position: relative;
  width: 100%;
  max-width: 800px;
  padding-top: 56.25%;
}

.video-container iframe {
  position: absolute;
  top: 0;
  left: 0;
  width: 100%;
  height: 100%;
}

figcaption {
  font-size: 1.1em;
  line-height: 1.5em;
  margin-left: auto;
  margin-right: auto;
  text-align: justify;
}

.code-snippet {
  background-color: #f5f8fa;
  padding: 1em;
  border-radius: 6px;
  font-family: "Courier New", monospace;
  font-size: 0.95em;
  overflow-x: auto;
  white-space: pre;
  line-height: 1.5em;
  color: #222;
  max-width: 100%;
}

.code-snippet--footer {
  background-color: #ffffff;
  border: 1px solid #e6edf2;
}

/* Text Card Styling */
.text-card {
  background-color: #f8f9fa;
  border-radius: 12px;
  padding: 2em;
  box-shadow: 0 4px 6px rgba(0, 0, 0, 0.05);
  margin-bottom: 2em;
  border: 1px solid #e9ecef;
  transition: transform 0.3s ease, box-shadow 0.3s ease;
}

.text-card:hover {
  transform: translateY(-5px);
  box-shadow: 0 10px 20px rgba(0, 0, 0, 0.1);
}

.text-card.significance {
  position: relative;
  background: radial-gradient(
    circle at var(--mx, 50%) var(--my, 35%),
    #fffafd 0%,
    #fff2fd 45%,
    #fff5fb 70%,
    #faf5f8 100%
  );
  border: none;
  margin-top: 6em;
  box-shadow:
    0 18px 40px rgba(90, 30, 70, 0.22),
    inset 0 1px 0 rgba(255, 255, 255, 0.7);
  overflow: hidden;
}

.text-card h2 {
  margin-top: 0;
  color: #2c3e50;
}


/* Video Section Styling */
.video-section {
  max-width: 80em;
  /* Even wider layout */
  margin: 0 auto;
}

.video-section h2 {
  font-size: 1.8em;
  /* Smaller title */
  margin: 0 auto 1em;
  text-align: left;
  width: min(90vw, 72em);
  max-width: none;
  box-sizing: border-box;
  padding-left: 2em;
}

/* Media Card Styling */
.media-card {
  background-color: #000;
  /* Black background for video part */
  border-radius: 12px;
  overflow: hidden;
  box-shadow: 0 4px 10px rgba(0, 0, 0, 0.15);
  transition: transform 0.3s ease, box-shadow 0.3s ease;
  margin-bottom: 3em;
  border: none;
  /* Remove border for cleaner look */
  padding: 0;
  /* Remove padding so video touches edges */
}

.media-card:hover {
  transform: translateY(-5px);
  box-shadow: 0 15px 30px rgba(0, 0, 0, 0.25);
}

.media-card figcaption {
  font-size: 1.1em;
  line-height: 1.6em;
  padding: 2em;
  /* Increase padding for whitespace */
  text-align: justify;
  /* Justify text for clean block look */
  background-color: #fff;
  /* White background for text part */
  color: #333;
  margin: 0;
  /* Reset margin */
  max-width: 100%;
  /* Full width */
}

/* Wider cards for the video section while keeping the title aligned */
.video-section .media-card {
  display: block;
  width: min(90vw, 72em);
  max-width: none;
  margin-left: auto;
  margin-right: auto;
}

.video-section .video-container {
  max-width: none;
}

/* Footer / Citation */
.site-footer {
  margin-top: 4em;
  padding: 3em 2em 4em;
  background: radial-gradient(120% 120% at 10% 0%, #f7f8fa 0%, #eceff3 45%, #e5e9ee 100%);
  border-top: 1px solid #d7dde4;
  box-shadow: 0 -18px 36px rgba(15, 23, 42, 0.12);
  position: relative;
  overflow: hidden;
}

.site-footer .footer-inner {
  max-width: 60em;
  margin: 0 auto;
}

.site-footer h2 {
  margin-top: 0;
  font-size: 1.6em;
}

.footer-note {
  margin: 0.5em 0 1.25em;
  color: #52606d;
  font-size: 1em;
}

.site-footer::before {
  content: "";
  position: absolute;
  top: 0;
  left: 10%;
  right: 10%;
  height: 3px;
  background: linear-gradient(90deg, rgba(39, 48, 59, 0), rgba(39, 48, 59, 0.25), rgba(39, 48, 59, 0));
}