diff --git "a/onshape/shard-00951.report.json" "b/onshape/shard-00951.report.json"
--- "a/onshape/shard-00951.report.json"
+++ "b/onshape/shard-00951.report.json"
@@ -227,7 +227,7 @@
         "mjcf_ms": 137.83906679600477,
         "compile_ms": 611.043652985245,
         "graph_ms": 819.7291889227927,
-        "render_total_ms": 2222.382779698819
+        "render_total_ms": 2897.7553509175777
       },
       "mesh_preparation": {
         "status": "complete",
@@ -432,16 +432,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 215.4974676668644,
-        "render_ms": 1862.6757860183716,
-        "compose_ms": 52.47579514980316,
-        "write_ms": 74.91199905052781,
-        "foreground_fraction": 0.2123
+        "compile_ms": 674.5378733612597,
+        "render_ms": 2048.348397947848,
+        "compose_ms": 57.054631877690554,
+        "write_ms": 98.67983916774392,
+        "foreground_fraction": 0.2123,
+        "style": "link-palette-v1",
+        "colored_bodies": 117
       },
       "artifacts": {
         "robot.mjcf": "ec5bc5706d6a9b3224d5c423a2d54e817f65f18df6b3ec52a8ffa4098a9ce791",
         "meshes.tar": "35d573bf678604fa8fb3ea772acee65d78edef7e1e32fb1b562bcc09456763d4",
-        "render.png": "9d0e7a2fe4518335472eea5269e957b3d7a4ba0c3002409119c7d3421cb8f9b9",
+        "render.png": "35acd3df8d8612d60f0c25d7b49c32b43fbe6cfaded057e24f567ed445504f71",
         "graph-raw.svg": "a31640f07f25e4ec7ee35a1e50672c4316017cd8a7d7a38b677e1df5d745eccf",
         "graph-robot.svg": "f2a78a84051c4aa6f6de7ce6bc722fb3819ef73522c84957bee91dc349c0e578"
       },
@@ -479,7 +481,7 @@
         "mjcf_ms": 2.3660422302782536,
         "compile_ms": 40.23793339729309,
         "graph_ms": 91.31432976573706,
-        "render_total_ms": 1715.3677479363978
+        "render_total_ms": 1692.7819289267063
       },
       "mesh_preparation": {
         "status": "complete",
@@ -558,16 +560,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.046141963452101,
-        "render_ms": 1547.906531020999,
-        "compose_ms": 67.42674810811877,
-        "write_ms": 73.38468916714191,
-        "foreground_fraction": 0.49335
+        "compile_ms": 50.49656704068184,
+        "render_ms": 1477.3424789309502,
+        "compose_ms": 69.15536895394325,
+        "write_ms": 74.88330500200391,
+        "foreground_fraction": 0.49335,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "33ddf785689e863b45cc987a91d85d7c6ef2d905bd697cf144425a0333736a7b",
         "meshes.tar": "300947c43dd0286c99166339f056b67656558acf2f6ab1c9ae37c684fb4a8ca5",
-        "render.png": "09f7496dcaccb5a432172aea4f870ad1016be719ee9d31eeb5388cac4b784283",
+        "render.png": "a837b5fbac7dc471bb32c85235c206f83f6af0b72cf0438c2543c983841385e7",
         "graph-raw.svg": "49abc96a164d372369467bd31a3483c525b50caa60d9559d2c1852dd5baebd65",
         "graph-robot.svg": "53a2db1855ca6ec7e45ac3aadcde85b41d36ce8d29ade419f6c28a4811712d49"
       },
@@ -607,7 +611,7 @@
         "mjcf_ms": 2.3849280551075935,
         "compile_ms": 15.388938132673502,
         "graph_ms": 100.98555916920304,
-        "render_total_ms": 1952.5828938931227
+        "render_total_ms": 1684.3878822401166
       },
       "mesh_preparation": {
         "status": "complete",
@@ -655,16 +659,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.395718220621347,
-        "render_ms": 1772.7544279769063,
-        "compose_ms": 78.55499908328056,
-        "write_ms": 75.17101196572185,
-        "foreground_fraction": 0.6734
+        "compile_ms": 14.310774859040976,
+        "render_ms": 1515.247360803187,
+        "compose_ms": 60.63057202845812,
+        "write_ms": 80.43895522132516,
+        "foreground_fraction": 0.6734,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "617c8547f0f189208b27fc6fe7cd6266e1d489d8f3652418983a39d3aad2a94d",
         "meshes.tar": "9c5d6adb9fa595497394abd51e9ae473894356b7b64e34dd0084978502c72290",
-        "render.png": "c1694db1439e69daf0626c6928178462a9c5fee0ae818c45b0f5b466ae076301",
+        "render.png": "0f3f45d0e65bd29b5446e97dc702fdfcf19f2947ff38e7ae9caa4ec4c49a8861",
         "graph-raw.svg": "a8e9e1529c71d1a6d7efb7b626a1fdb4facdffeb75cf825d26a3f753250714de",
         "graph-robot.svg": "c458fa2bff1e78b8369a18877e018037aaceaca7ef8c45e9bbabe8fd6e263ca3"
       },
@@ -695,7 +701,7 @@
         "mjcf_ms": 3.7584337405860424,
         "compile_ms": 92.05354377627373,
         "graph_ms": 71.8893650919199,
-        "render_total_ms": 1881.5416311845183
+        "render_total_ms": 1850.2962826751173
       },
       "mesh_preparation": {
         "status": "complete",
@@ -756,16 +762,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.39707186445594,
-        "render_ms": 1672.8630606085062,
-        "compose_ms": 81.72036008909345,
-        "write_ms": 86.52139129117131,
-        "foreground_fraction": 0.74855
+        "compile_ms": 97.15808089822531,
+        "render_ms": 1574.0983369760215,
+        "compose_ms": 75.20062802359462,
+        "write_ms": 90.91856982558966,
+        "foreground_fraction": 0.74855,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "42cc5de537a2df9b954ad5479395e00933316f9ccf76e4687c164d76b1363754",
         "meshes.tar": "2896e613e5dcf3cdea447ab9b423405825778cc31d5d58ccc14d1d354c69abe2",
-        "render.png": "f3f1c9c6d08d8a39943bb7a933f9901335b021a0595ae3bd49e2f504f76f763e",
+        "render.png": "8eb68cb00d4be896321facbc4e34ae38b41f5d8350218cb4c38b735ed8603a60",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "bbfc6be3be86835a73fef0fe6c69aefbbbd710314beffb678d314c9a52ac225c"
@@ -809,7 +817,7 @@
         "mjcf_ms": 2.541325055062771,
         "compile_ms": 16.34042104706168,
         "graph_ms": 174.2560830898583,
-        "render_total_ms": 1781.9234901107848
+        "render_total_ms": 1620.0700630433857
       },
       "mesh_preparation": {
         "status": "complete",
@@ -924,16 +932,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.459291093051434,
-        "render_ms": 1623.3169357292354,
-        "compose_ms": 75.17431117594242,
-        "write_ms": 60.053535271435976,
-        "foreground_fraction": 0.5918
+        "compile_ms": 12.654074002057314,
+        "render_ms": 1473.9554300904274,
+        "compose_ms": 59.48513001203537,
+        "write_ms": 60.78753899782896,
+        "foreground_fraction": 0.5918,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "28a99550c6b56c7132241c538d6c5fa77f8a88381dcf2b6a9aa6a94588d4f2a1",
         "meshes.tar": "878c4cf6ffa97b9b6ca015370440a0a33c317fe650b252cc2b2b3f03bbc53017",
-        "render.png": "3ead6f4ff0cab0244d1747c310c41dbb07eeea5a7447376a1dd73d78e75259bb",
+        "render.png": "e44771b75e6be38590edca6d6a4508bd9d3679fb3e7a0cf604910b7a84ea4f6d",
         "graph-raw.svg": "37ddd172c1a22cfef1aafb17882fe05413055d7874943486e6d5afbf6e377360",
         "graph-robot.svg": "ff47056deebc26bbb9df41dccae33cb1e84583454bfc7db5df6fea71e235a4a5"
       },
@@ -971,7 +981,7 @@
         "mjcf_ms": 2.055239863693714,
         "compile_ms": 50.78888824209571,
         "graph_ms": 78.22817470878363,
-        "render_total_ms": 1997.0183377154171
+        "render_total_ms": 1677.176565863192
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1019,16 +1029,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.705141324549913,
-        "render_ms": 1820.3778914175928,
-        "compose_ms": 70.48564590513706,
-        "write_ms": 78.76800326630473,
-        "foreground_fraction": 0.4598
+        "compile_ms": 42.04673878848553,
+        "render_ms": 1483.4801759570837,
+        "compose_ms": 54.989953991025686,
+        "write_ms": 83.4994432516396,
+        "foreground_fraction": 0.4598,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "8c934bd5cf5ea8411e3e88ec74216aad77319cf99ebe62705b1be33a2c3d0c16",
         "meshes.tar": "7f9e8b60407c295e4551502f49566e36e18512b70f2f8d76a3b5f1693df5da53",
-        "render.png": "97d604b064ee1d3d626c84c97150b3def11fc2d7d0342a8cefe5b2f31e2de60d",
+        "render.png": "c078e85a93f1d275340d7459008ea346d6162eb672f49f27977f2ab2b9b4bea0",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -1061,7 +1073,7 @@
         "mjcf_ms": 2.6733861304819584,
         "compile_ms": 115.34817703068256,
         "graph_ms": 106.90147476270795,
-        "render_total_ms": 1974.443051032722
+        "render_total_ms": 1807.8779610805213
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1122,16 +1134,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.310617983341217,
-        "render_ms": 1782.123567070812,
-        "compose_ms": 65.65304705873132,
-        "write_ms": 89.86170124262571,
-        "foreground_fraction": 0.6764333333333333
+        "compile_ms": 97.78323210775852,
+        "render_ms": 1503.6891708150506,
+        "compose_ms": 76.97580615058541,
+        "write_ms": 109.90482196211815,
+        "foreground_fraction": 0.6764333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "ecc6c30d88592bcf3d4dcc4b7917869430fe99575d2e31d1b1efac889d8f7ad7",
         "meshes.tar": "2f38c2648f4b01309839ff4b63c0b16448e67305518c80d358b6d0c245a85666",
-        "render.png": "d401e6c3b6b49c338de9bb3f24c65a5f92d6a4f9f1acd42bb402d217a47c8777",
+        "render.png": "c3b1d71408d9e40d789aae8c83e9e7023bdab730aad70df5d0757e6cea1f12d3",
         "graph-raw.svg": "3cb7c625a29921bf925c321073c8a8a821f93d2031c6f3e51d541345cccbd8ee",
         "graph-robot.svg": "1d000db073e20eabba876614c9bb0f643fe5856b65bbca71f515997ebb8d9411",
         "robot.urdf": "72b94a85596ff5d59a4ac50362c56ec5f667616c5b6c6d343d28bfe41c3a15a2"
@@ -1167,7 +1181,7 @@
         "mjcf_ms": 3.4812050871551037,
         "compile_ms": 227.40442724898458,
         "graph_ms": 113.07813692837954,
-        "render_total_ms": 2184.206633362919
+        "render_total_ms": 1858.0184769816697
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1235,16 +1249,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 38.98509405553341,
-        "render_ms": 1987.2626289725304,
-        "compose_ms": 66.54819939285517,
-        "write_ms": 72.24457990378141,
-        "foreground_fraction": 0.3465
+        "compile_ms": 162.0655870065093,
+        "render_ms": 1558.885307982564,
+        "compose_ms": 53.95162524655461,
+        "write_ms": 69.99425310641527,
+        "foreground_fraction": 0.3465,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "daca66fc19e0de71f0667f4100b04f1734dabbea3bd07c83c35ec0d29892ce0c",
         "meshes.tar": "a946ed2ffce740cef523f51940d500a2613925b7399db6a1e4f251bdd25bc298",
-        "render.png": "614a324899b4be0a4d5bc6918b0ca3c668e881894d97f20810b43462ad059f0d",
+        "render.png": "49bc0c70d0f89215f7b58bc09b1de91fafcd375b86acc48102f0e9befb839523",
         "graph-raw.svg": "3303da85ba9f5aad9cc054fe33f4db5e8efd2920c368a77746ef0117ddb0eedd",
         "graph-robot.svg": "9e3ab16dd5de49376545f42c4492b8504c8516bbefd3a090ace67f591d78cb80",
         "robot.urdf": "920cc3c30ed043e7a518aaef1df29545dd37ae8f695680fae1e73f9a53829d6c"
@@ -1287,7 +1303,7 @@
         "mjcf_ms": 2.3648259229958057,
         "compile_ms": 87.7335169352591,
         "graph_ms": 226.85236390680075,
-        "render_total_ms": 1959.9209898151457
+        "render_total_ms": 1710.104166995734
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1480,16 +1496,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.224292874336243,
-        "render_ms": 1788.9534779824317,
-        "compose_ms": 69.46475990116596,
-        "write_ms": 71.3991248048842,
-        "foreground_fraction": 0.7886666666666666
+        "compile_ms": 55.49651477485895,
+        "render_ms": 1501.6343160532415,
+        "compose_ms": 66.59471709281206,
+        "write_ms": 73.43978201970458,
+        "foreground_fraction": 0.7886666666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4fc4f3495bac349f39a49df2e703ed326e4ddf5b5482bc96cb238422b99cdee0",
         "meshes.tar": "125bc6b3ee0fcf5c8457823f404733c0fbe33d545d2ad813b483852a2af7aee5",
-        "render.png": "e98724e422df26f6042026de309f943e95576ebfee8f5f1bc29c6d8180256482",
+        "render.png": "72400441ad7b72a41cb69539255a908f7659b9bc99dcb5033ef3a49cfc449d5d",
         "graph-raw.svg": "053b33318bfffb33c0a2ee82ff1c25e0321b77fb50fb42eafa60200c46e9124c",
         "graph-robot.svg": "d15d9d23c86c7ab5844a142d5ec532e661591c498d28048dc3c22525d1aded09"
       },
@@ -1535,7 +1553,7 @@
         "mjcf_ms": 3.0510262586176395,
         "compile_ms": 234.34573877602816,
         "graph_ms": 230.23406695574522,
-        "render_total_ms": 1873.5656631179154
+        "render_total_ms": 1962.6611857675016
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1704,16 +1722,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.81520517542958,
-        "render_ms": 1644.7652531787753,
-        "compose_ms": 78.1929730437696,
-        "write_ms": 91.12120606005192,
-        "foreground_fraction": 0.77825
+        "compile_ms": 222.1358446404338,
+        "render_ms": 1559.5813766121864,
+        "compose_ms": 68.03115364164114,
+        "write_ms": 99.67075707390904,
+        "foreground_fraction": 0.77825,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "8e7cb823248b95d6fae76bf388d799fbcffafb397252f2cb9ea6a0f888e98d35",
         "meshes.tar": "8b6e4507d4d5fa08350d7037e60a3c2b0c41065106033ca4c40d440476fcabed",
-        "render.png": "96a77e10982b4fdb50ca903cb13157510c97ec980866d7798deacccf24cb8859",
+        "render.png": "a01f97727b419663efe3e818524773622b70da8768f429dfb1f3497c1f063f95",
         "graph-raw.svg": "33aaf9c9717dba2a031e9153e3e8cab0ed8e53a465890b1550cd62ae26915fd3",
         "graph-robot.svg": "2b7457407dee3a6f42ab675feff34498aa0b3cfd1e8ca7006d93fc35e623d4a2"
       },
@@ -1751,7 +1771,7 @@
         "mjcf_ms": 2.09682434797287,
         "compile_ms": 827.2045170888305,
         "graph_ms": 77.30726804584265,
-        "render_total_ms": 2170.532503630966
+        "render_total_ms": 2545.306826941669
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1799,16 +1819,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 50.29221810400486,
-        "render_ms": 1901.9782319664955,
-        "compose_ms": 66.5749846957624,
-        "write_ms": 132.08333728834987,
-        "foreground_fraction": 0.5522
+        "compile_ms": 702.2978239692748,
+        "render_ms": 1608.9631114155054,
+        "compose_ms": 59.51647274196148,
+        "write_ms": 161.38667613267899,
+        "foreground_fraction": 0.5522,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "8e40511e787e3ba73a8ece2a0c38623bf90a7bc69e5a75596aca53511b380426",
         "meshes.tar": "df57e1d86c3c94341deadc967ab7870477eedcfbfcbc9a073af6e03fff166e23",
-        "render.png": "fc76294a974d5224952b1cec94eb58b4d1e650ad9e1eac9850475386a8e6f31b",
+        "render.png": "d99819f5da83653c0c169347a694ccb9abafa70a0bc15ff7123cb2e45ec8eddb",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -1838,7 +1860,7 @@
         "mjcf_ms": 2.578885294497013,
         "compile_ms": 480.07879592478275,
         "graph_ms": 67.00624991208315,
-        "render_total_ms": 2051.124851219356
+        "render_total_ms": 2465.5842878855765
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1899,16 +1921,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 88.58619071543217,
-        "render_ms": 1731.3479189760983,
-        "compose_ms": 67.73448828607798,
-        "write_ms": 142.39903120324016,
-        "foreground_fraction": 0.286
+        "compile_ms": 551.8485251814127,
+        "render_ms": 1620.7468248903751,
+        "compose_ms": 65.88919507339597,
+        "write_ms": 209.3539941124618,
+        "foreground_fraction": 0.286,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "c5938189737f6f54026ad5155107d4d0dcb1a42f0ebe9845bbf5d852827661d1",
         "meshes.tar": "9fef19fcac7e33c6139c695d3f5fc398d2a01b0bf46cf8535d69837e332a0a95",
-        "render.png": "ff958cd90f7dfc2f34d05ef1feda043a491ce3f91b52034cf21f0925e7930d53",
+        "render.png": "058c48bc59a8e86215fb499cbdf63eb34db12afab2938ad46500c6bab93ce9cf",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "11804b1a2727f96b4c5227b99996c7f166d20cf3aad27bf6edb1b326c427f8e8"
@@ -1941,7 +1965,7 @@
         "mjcf_ms": 2.6816600002348423,
         "compile_ms": 5.537040065973997,
         "graph_ms": 91.46259119734168,
-        "render_total_ms": 1715.825580060482
+        "render_total_ms": 1590.761217288673
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2002,16 +2026,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.12026496976614,
-        "render_ms": 1553.0001567676663,
-        "compose_ms": 75.73392381891608,
-        "write_ms": 64.09428222104907,
-        "foreground_fraction": 0.6468583333333333
+        "compile_ms": 6.048910785466433,
+        "render_ms": 1443.9262789674103,
+        "compose_ms": 63.4497650898993,
+        "write_ms": 63.97807830944657,
+        "foreground_fraction": 0.6468583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "181ae60ca23e0ce97ad5d5d5ca00f921b46d89f1fe876a72265549d70692d3b3",
         "meshes.tar": "dd7f79028d475645817944ff2a03eb988858ba4e9885b8378236f3b4b5dc577d",
-        "render.png": "53359f72d08a981e04c60c03acf08ebbc49c2e8de04689bcc98dde809d5fbe2d",
+        "render.png": "2ce6ec002f37e37d92baf6f6b393d629dac81573a82fa84b2c8c3ce3971d6578",
         "graph-raw.svg": "1d2ed994d9b5c84f18e858ea1528097e8b9cf3f1e60ddcf296dcc212e2e6c985",
         "graph-robot.svg": "8417cb830a8e6535cc2566bd1db58ca00b54f510e25c04295c1131bb0598187e",
         "robot.urdf": "0264b75c027a78f97722806dff2460336bd8a7c0b39ba0c848ecb026e30995a0"
@@ -2045,7 +2071,7 @@
         "mjcf_ms": 2.956366166472435,
         "compile_ms": 3.6699799820780754,
         "graph_ms": 108.15638303756714,
-        "render_total_ms": 1784.558838699013
+        "render_total_ms": 1622.4329499527812
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2106,16 +2132,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.7502798475325108,
-        "render_ms": 1626.7757010646164,
-        "compose_ms": 80.65685397014022,
-        "write_ms": 58.5699612274766,
-        "foreground_fraction": 0.6094
+        "compile_ms": 3.3027799800038338,
+        "render_ms": 1478.3360827714205,
+        "compose_ms": 65.25066820904613,
+        "write_ms": 62.227643094956875,
+        "foreground_fraction": 0.6094,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "239cc40a5fa4c159f6800aa4b999fa8dcd24c0d5a89b05ef97729fdf6b86a838",
         "meshes.tar": "e101dcb78efe9576f2501ea9156039c2e85cfb2dbc8a6abc75ef55602ba57258",
-        "render.png": "1cb7c7dacb9c99b81d66acd01ca1daef79ff22354125ac47a092407b18988fed",
+        "render.png": "c6c078971a9f10d63ad1c72bcc29bdd2826b1f3f208dea9daa1f1e80cdaa9b0e",
         "graph-raw.svg": "cb8609879149df1edef36e65188d88bfe0fd6fac6952c744b1a351bb01afca5b",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3397b3e11e44f68adf7337e07ed6e4b6178f334664033869578703941585ff4c"
@@ -2155,7 +2183,7 @@
         "mjcf_ms": 3.182070329785347,
         "compile_ms": 3.2310313545167446,
         "graph_ms": 133.17029317840934,
-        "render_total_ms": 1864.4763897173107
+        "render_total_ms": 1615.7045769505203
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2203,16 +2231,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.665415871888399,
-        "render_ms": 1702.1090961061418,
-        "compose_ms": 65.12408517301083,
-        "write_ms": 75.83322515711188,
-        "foreground_fraction": 0.6677
+        "compile_ms": 4.2402902618050575,
+        "render_ms": 1464.4615910947323,
+        "compose_ms": 57.67268221825361,
+        "write_ms": 75.99883992224932,
+        "foreground_fraction": 0.6677,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "636fb8bee53e6d36777a0dc143e2a2f6fc45e46310a059d158d3c797ceefa03d",
         "meshes.tar": "18a695064f4170f296eb26d34b8bf1f27fd744db5f35a9545cfc2dab5c07af14",
-        "render.png": "11cf6dac5e43ccf58572e4b20784f721e7d81b8c66fd4e9f2082edb958935f44",
+        "render.png": "78e1b1c51a9281105a831d2cfa642b483951e7d5c8a8007b6efbda31895774eb",
         "graph-raw.svg": "78891f901cb0c6423d4ef493d6fecaad1c7893bc58c9c7ad0273bdac89aab55f",
         "graph-robot.svg": "f58c60cc32e05a1653d02aea881ad7b1d09eba3c257a608ebceec971fd2e9919"
       },
@@ -2250,7 +2280,7 @@
         "mjcf_ms": 3.077666275203228,
         "compile_ms": 5.168394185602665,
         "graph_ms": 137.39611906930804,
-        "render_total_ms": 1759.5418109558523
+        "render_total_ms": 1598.6210769042373
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2347,16 +2377,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.4753610379993916,
-        "render_ms": 1597.7761102840304,
-        "compose_ms": 77.68315123394132,
-        "write_ms": 68.32942180335522,
-        "foreground_fraction": 0.38995
+        "compile_ms": 5.331600084900856,
+        "render_ms": 1436.6145343519747,
+        "compose_ms": 73.84175062179565,
+        "write_ms": 69.61589911952615,
+        "foreground_fraction": 0.38995,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "5d748fc155eaa67352b39ee59e4997ef3b7c83ce7d147bff87ee8c7fa1e724f0",
         "meshes.tar": "ec499df9b2fbf3f9cdc22fe948abe12e6fc84ec76e368e6d2d5d85ef380d6609",
-        "render.png": "07d915fb9e4faa56bebd49ca7a01ad7c79c684fe38b0b7dff4f846aa1dc0f0b5",
+        "render.png": "c95b43c8e01f73528d7a8bfd51f5aec9c5efed99bc0b292c4fe852ff541e26a1",
         "graph-raw.svg": "eeabdd4a57e94d91ca2b846fae3a52bee007745b1920cd5469ddaebd35124ad4",
         "graph-robot.svg": "0048e65947d5db1f22b5166d6a1b772f1a549130f94aa567890df2cd6becd9c2"
       },
@@ -2387,7 +2419,7 @@
         "mjcf_ms": 2.6656249538064003,
         "compile_ms": 122.56796890869737,
         "graph_ms": 71.29989098757505,
-        "render_total_ms": 1782.8781479038298
+        "render_total_ms": 1809.4051158986986
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2448,16 +2480,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.30759422853589,
-        "render_ms": 1582.1777870878577,
-        "compose_ms": 66.04107283055782,
-        "write_ms": 104.50172796845436,
-        "foreground_fraction": 0.6749166666666667
+        "compile_ms": 119.461121968925,
+        "render_ms": 1489.780423231423,
+        "compose_ms": 57.40429321303964,
+        "write_ms": 130.1098852418363,
+        "foreground_fraction": 0.6749166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "9ab830f5adc1f92b3a883780a70ded93fb7b91a56e3f182d0471eacd5eceff0a",
         "meshes.tar": "1c078337a2cdde2d3d61466414a5fefa6fd8fdb4b9dfbac784f8cbfe20c3ac82",
-        "render.png": "fff900af79827abdcc45ed39c51ffe6db36c844874c69c9131ed1ea24a1372b0",
+        "render.png": "32e9c07f9624dcfe2ee5256cefea6b56b35cff54e985c3804899d21be2178331",
         "graph-raw.svg": "1134e124af1898aba5ea06eadca73ce3dd6a2877beb65e5c3b3bf63d80c0e6ab",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "38b478d6800e77f41f05d8a976a7a91ae259289d1ef4372e1fb4ead0855c28b5"
@@ -2507,7 +2541,7 @@
         "mjcf_ms": 5.174820311367512,
         "compile_ms": 15.225189737975597,
         "graph_ms": 607.6735337264836,
-        "render_total_ms": 1801.9542917609215
+        "render_total_ms": 1608.0226954072714
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2555,16 +2589,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.258792322129011,
-        "render_ms": 1627.925822045654,
-        "compose_ms": 70.43042313307524,
-        "write_ms": 69.89934016019106,
-        "foreground_fraction": 0.4455
+        "compile_ms": 16.466423869132996,
+        "render_ms": 1445.2112256549299,
+        "compose_ms": 60.61331508681178,
+        "write_ms": 72.55833083763719,
+        "foreground_fraction": 0.4455,
+        "style": "link-palette-v1",
+        "colored_bodies": 26
       },
       "artifacts": {
         "robot.mjcf": "4fefaac113b5acf1fda4474761071f555b74ff70476d219b3a0ff8c80d50f3e7",
         "meshes.tar": "544be017acfef8d2d53d5ad51f4c177c52a6e27f159056f3631e8c8fc5c952b7",
-        "render.png": "81cdbd0455ecd7a29386c87face95219d7a94be5f524f5b2f6dee580a4c9ba8e",
+        "render.png": "32d5571f2f2cea3c8c996c4594e947fa987dcf8621f3bccb6bf5e20f8215a79a",
         "graph-raw.svg": "93ac759313cc33dba467e70dad3eac4c11ed25c536343872e1387e9ab5358872",
         "graph-robot.svg": "47184dfa7024ba33b5a22adac341ee22f129f700b03fca9d11e361ecb31e7a90"
       },
@@ -2619,7 +2655,7 @@
         "mjcf_ms": 5.951428320258856,
         "compile_ms": 23.09186290949583,
         "graph_ms": 642.6232676021755,
-        "render_total_ms": 1872.0906409434974
+        "render_total_ms": 1600.0048220157623
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2667,16 +2703,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.93993702530861,
-        "render_ms": 1687.8163730725646,
-        "compose_ms": 74.50237683951855,
-        "write_ms": 68.10595886781812,
-        "foreground_fraction": 0.4455
+        "compile_ms": 25.68210382014513,
+        "render_ms": 1432.016063015908,
+        "compose_ms": 58.51288512349129,
+        "write_ms": 70.30712999403477,
+        "foreground_fraction": 0.4455,
+        "style": "link-palette-v1",
+        "colored_bodies": 31
       },
       "artifacts": {
         "robot.mjcf": "e89c2e23b9de97b2db8ca7b032fee908f6f15c3c198dd1f990e033b257117111",
         "meshes.tar": "35276db6dee372d79c964b644500ea9dabe1137d6b979f20de1b9db81cd2d48f",
-        "render.png": "5610fa6acc4f42db800848bf8219b75776a2257fdd31a8f5866885a385951a0c",
+        "render.png": "083df4129ac4e7dc597611cad1cf3b66ec81341732eb3746e7d6fee49253ce7b",
         "graph-raw.svg": "d368927d9d40c1231054c0db0a33e6913453f5d9c4ce7da4f43cfe442f2f9c8e",
         "graph-robot.svg": "8caf5568d3b44fd8318f89789dc6946eb24a1d4777b3b2df1beb9368c987dbfc"
       },
@@ -2707,7 +2745,7 @@
         "mjcf_ms": 2.7491007931530476,
         "compile_ms": 89.92505306378007,
         "graph_ms": 75.6055461242795,
-        "render_total_ms": 1863.1762969307601
+        "render_total_ms": 1778.8155148737133
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2768,16 +2806,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.569644626230001,
-        "render_ms": 1662.020721938461,
-        "compose_ms": 64.48880163952708,
-        "write_ms": 107.7872640453279,
-        "foreground_fraction": 0.50765
+        "compile_ms": 68.8926069997251,
+        "render_ms": 1485.9273983165622,
+        "compose_ms": 68.7109911814332,
+        "write_ms": 137.44929898530245,
+        "foreground_fraction": 0.50765,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "76a08c415538c50d353a6d727cf855d3659a5991c440f1dc4929697393ced37a",
         "meshes.tar": "6110a029607c70b01e6b63c7bff8dfe6f9f2cd02af4981a39fb471e1ad5e571b",
-        "render.png": "b4361264fabc967659300f1fd3d790edf8bdc74b66ac90d5e4c0cfd91cc5fe5a",
+        "render.png": "63a642676d6cc4324affc052b1c28cd8ad858bee729a2cd5462d9adb68a913be",
         "graph-raw.svg": "3a75bed63d3460fdb300c0bf097528393cc335c13aaaf6e311af6465c3adb8a0",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "ccc3758da60a91d42eff88adbe62b1bf171efd05cec278bf0b6bf22284096514"
@@ -2827,7 +2867,7 @@
         "mjcf_ms": 5.170086864382029,
         "compile_ms": 240.54440995678306,
         "graph_ms": 245.79322757199407,
-        "render_total_ms": 2182.363132946193
+        "render_total_ms": 1996.5299130417407
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2875,16 +2915,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 86.73799596726894,
-        "render_ms": 1905.2229542285204,
-        "compose_ms": 80.9466321952641,
-        "write_ms": 84.40261008217931,
-        "foreground_fraction": 0.6832583333333333
+        "compile_ms": 215.98580572754145,
+        "render_ms": 1606.0038600116968,
+        "compose_ms": 66.11512694507837,
+        "write_ms": 93.03262503817677,
+        "foreground_fraction": 0.6832583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "62a220a810e8ed157710c227d40c659894a1838f4c4b75548ea46edac92badc4",
         "meshes.tar": "3d2464d268a17d0e1fe33d5494df311bb19bbf89b8e0d7796d189b7e78a08886",
-        "render.png": "d375ac049965fbee6354ccd0bec41b5fb42e795298dad84ac1d459a4688d928d",
+        "render.png": "0f10b62f53cc8a165488d449499900f5076837ae0012cd5820a0d8ab7cbad519",
         "graph-raw.svg": "856fee37a56159bbeb3c5002462e676d6f6644b73db22ff35c98f746fe071f09",
         "graph-robot.svg": "6a50ebd72309a7d7f2f134bef15cde2f0440e517d40c99cf01c83e515447e84b"
       },
@@ -2915,7 +2957,7 @@
         "mjcf_ms": 2.436614129692316,
         "compile_ms": 7.615551818162203,
         "graph_ms": 84.97546892613173,
-        "render_total_ms": 1801.6703622415662
+        "render_total_ms": 1535.108087118715
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2976,16 +3018,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.4746332094073296,
-        "render_ms": 1649.6964022517204,
-        "compose_ms": 66.08449015766382,
-        "write_ms": 65.48419035971165,
-        "foreground_fraction": 0.5951
+        "compile_ms": 4.195346962660551,
+        "render_ms": 1387.3232840560377,
+        "compose_ms": 64.31688088923693,
+        "write_ms": 66.3842367939651,
+        "foreground_fraction": 0.5951,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e548da6d99fe61159d02528013f798335930bb93a5a7d1aa138b6b8cae97ccc7",
         "meshes.tar": "97a1a29fd5670cd7c76b8e55f158cc8b51a5a4db2007571c600c9a8e390b5c11",
-        "render.png": "b1900337884a5197c889705e8793a8eaa235cc7c8c3d623187c26f5dece861ed",
+        "render.png": "1b0b419c887693b648132e0731b1e57386294ffc53f1e4dda713200831b55cfe",
         "graph-raw.svg": "c471cab9825f6857ed702326984a0aeea4fd2588686acb1196f081e340806fce",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "bf93b0552321a58f27cc45ce6a51b95f9b00666cc876852777de6a3b2a75193f"
@@ -3019,7 +3063,7 @@
         "mjcf_ms": 2.8912671841681004,
         "compile_ms": 2.7914298698306084,
         "graph_ms": 99.93806621059775,
-        "render_total_ms": 1682.798190973699
+        "render_total_ms": 1517.9329090751708
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3080,16 +3124,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.616490237414837,
-        "render_ms": 1519.665545783937,
-        "compose_ms": 72.18833407387137,
-        "write_ms": 64.91790618747473,
-        "foreground_fraction": 0.6028
+        "compile_ms": 3.392771352082491,
+        "render_ms": 1378.5464433021843,
+        "compose_ms": 56.71242484822869,
+        "write_ms": 66.27543503418565,
+        "foreground_fraction": 0.6028,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b236977fc6b60a264eedcca40fd5116181599a537378e84058731f87c39f5673",
         "meshes.tar": "5a574f9e7f73698e6887cafd9bf54b254f3c17e55a9314e92fd480284ea996b8",
-        "render.png": "175cdf3fae8eed6c7fc387845cc3b3f5e93554411e9215947a834b3c75c23ddc",
+        "render.png": "2bcab0fb6ae64ccfa3e64895b453e82203184361a107c0322c44e85361dcfd5f",
         "graph-raw.svg": "56a2e896f9ebde8d3c8f924481a08503456b7cc2cd26883939020a56b695468f",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "1ca793672b7373ddd8232da0d8a1219aa0bd6e5f885dda6688643b1efc15a77d"
@@ -3130,7 +3176,7 @@
         "mjcf_ms": 3.374244086444378,
         "compile_ms": 66.69625313952565,
         "graph_ms": 158.3391330204904,
-        "render_total_ms": 1806.4523530192673
+        "render_total_ms": 1603.726495988667
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3215,16 +3261,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 19.239994697272778,
-        "render_ms": 1623.185117263347,
-        "compose_ms": 70.4725356772542,
-        "write_ms": 72.42145296186209,
-        "foreground_fraction": 0.6718833333333334
+        "compile_ms": 51.85580672696233,
+        "render_ms": 1407.3054948821664,
+        "compose_ms": 60.45564683154225,
+        "write_ms": 70.89422410354018,
+        "foreground_fraction": 0.6718833333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "db4e7060454f124bd3a269f16533a73ee08bb9e2af570d1f660976523c96f4b3",
         "meshes.tar": "e1ee2ddecbd544b4f075aba4cfb4da10d8db639bd259b1958b5e8ba11439420a",
-        "render.png": "738ecc2ec131619020e2bcb667ae1e3ab725fe927c135c6016516481903b0d75",
+        "render.png": "2fdcb067e1c5ea0f12524206bcd09ec09264f24c00317bd164b10c2558653246",
         "graph-raw.svg": "24b59124d827cbee3ec227a270de55f22c16db18eafe5718b2d3087d6d796f49",
         "graph-robot.svg": "47383bfc1a18fba30c44b3241e1f7da356275e8fb7353d83feaf32e2ccea4a3e"
       },
@@ -3255,7 +3303,7 @@
         "mjcf_ms": 3.910558298230171,
         "compile_ms": 60.566526371985674,
         "graph_ms": 206.8858640268445,
-        "render_total_ms": 1896.6400339268148
+        "render_total_ms": 1666.9511729851365
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3316,16 +3364,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.680570922791958,
-        "render_ms": 1684.358678292483,
-        "compose_ms": 99.18350912630558,
-        "write_ms": 79.18755384162068,
-        "foreground_fraction": 0.657475
+        "compile_ms": 33.549114130437374,
+        "render_ms": 1443.8545759767294,
+        "compose_ms": 99.09121319651604,
+        "write_ms": 77.91038602590561,
+        "foreground_fraction": 0.657475,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "7373c50e8fe1f2bc4f1c9242a5370fca39fb150c694a3b6faccac1d03da888a3",
         "meshes.tar": "8a00b1e226a957cd4b48657cf157520337c46e7445a7c06e42f84b8d3a1d36c4",
-        "render.png": "59a4ad7eacbd85f5d0284876edd2732f0606b434951a45412f345012edfb8dbf",
+        "render.png": "1accdf00901c8e3d570b3a3b572ae99cfbfa2153ed5887422886d99c60a26777",
         "graph-raw.svg": "2f30ce5b8a370f7b06a6e0b3293d259c268285493abc9f60b434aabc5d3b48bd",
         "graph-robot.svg": "8588d39962a2e35d972035dbfa6affd5874946a2fc91b8b16d691cedc02353b2",
         "robot.urdf": "8c851674a0ac5fa43aaf584d83cfd32d3cc7d160e9b09b552e228b18958555eb"
@@ -3357,7 +3407,7 @@
         "mjcf_ms": 3.7905629724264145,
         "compile_ms": 17.98554603010416,
         "graph_ms": 87.75694901123643,
-        "render_total_ms": 2039.2007459886372
+        "render_total_ms": 1575.0287789851427
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3418,16 +3468,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.758858121931553,
-        "render_ms": 1858.9799436740577,
-        "compose_ms": 79.97489022091031,
-        "write_ms": 75.39948308840394,
-        "foreground_fraction": 0.51535
+        "compile_ms": 10.296032298356295,
+        "render_ms": 1411.093100439757,
+        "compose_ms": 65.1051108725369,
+        "write_ms": 75.70288516581059,
+        "foreground_fraction": 0.51535,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "fb57f7eb97bb61eef94d959aa74b11183234c28c06f9889c1972a1310d387b44",
         "meshes.tar": "864e84365d0c872caa1873b620468c2b8e48daa276001ce44b757792124c9d1a",
-        "render.png": "c9f79ae9d7b9344e43d478c6d66eb52ac70852dcd0193e7e7c8bd6da72e8e5f7",
+        "render.png": "196cf524b426735039f4cd704119942b9fbd6abb660abba616815e2c510f3be4",
         "graph-raw.svg": "2a70da303274259e8f31e2310a83c90333ad371014ea23eb1a288689200e51cf",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "9fdb9e6ff12e68c45ba44435ae37e82d43d728d2c29f63bc2f76e3be46212096"
@@ -3468,7 +3520,7 @@
         "mjcf_ms": 2.625610213726759,
         "compile_ms": 126.27788120880723,
         "graph_ms": 100.71032680571079,
-        "render_total_ms": 2156.755391974002
+        "render_total_ms": 1673.9737973548472
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3516,16 +3568,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 27.527336962521076,
-        "render_ms": 1634.7972061485052,
-        "compose_ms": 58.67800209671259,
-        "write_ms": 416.4188979193568,
-        "foreground_fraction": 0.3322
+        "compile_ms": 81.21615927666426,
+        "render_ms": 1438.5243351571262,
+        "compose_ms": 49.54761313274503,
+        "write_ms": 92.14361710473895,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "325c31032cd3cc7b380144c8d00b8264d71943514b47aebf5c1f77063da3c18e",
         "meshes.tar": "75ba2385a27f011244eab69233f713bab49aa88e5ab2466a19f84b847b05a0ec",
-        "render.png": "2c79dca91f53181504c2516208da6762b5b6f72c8cb91155d5b6b42979defc57",
+        "render.png": "149e569c21e8c9fccb9c3ba477f6498b004110d7d7a120431eebccaae7fc0de7",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -3565,7 +3619,7 @@
         "mjcf_ms": 2.89860088378191,
         "compile_ms": 114.75480208173394,
         "graph_ms": 97.46850607916713,
-        "render_total_ms": 1929.335935972631
+        "render_total_ms": 1700.1780401915312
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3613,16 +3667,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 103.75511506572366,
-        "render_ms": 1658.163983374834,
-        "compose_ms": 65.0824373587966,
-        "write_ms": 82.95994671061635,
-        "foreground_fraction": 0.3322
+        "compile_ms": 101.66239133104682,
+        "render_ms": 1445.346869993955,
+        "compose_ms": 50.15000095590949,
+        "write_ms": 89.0247467905283,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "a86b23e2968acab9b1c75bfbfff318fa74204777d7f2de38c20eb0b345f058ae",
         "meshes.tar": "75ba2385a27f011244eab69233f713bab49aa88e5ab2466a19f84b847b05a0ec",
-        "render.png": "2c79dca91f53181504c2516208da6762b5b6f72c8cb91155d5b6b42979defc57",
+        "render.png": "c9acba859b9d28a286bb248e0c6576bd7541651681f29d7aa16ada8b84d4bf26",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -3653,7 +3709,7 @@
         "mjcf_ms": 2.497290726751089,
         "compile_ms": 4.164990037679672,
         "graph_ms": 93.21766905486584,
-        "render_total_ms": 2073.021024931222
+        "render_total_ms": 1517.1715142205358
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3714,16 +3770,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.469076007604599,
-        "render_ms": 1920.332787092775,
-        "compose_ms": 79.76737385615706,
-        "write_ms": 53.63058019429445,
-        "foreground_fraction": 0.5027
+        "compile_ms": 4.870800767093897,
+        "render_ms": 1374.2103050462902,
+        "compose_ms": 71.93838618695736,
+        "write_ms": 53.381898906081915,
+        "foreground_fraction": 0.5027,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "dc45151c23596fab351f188ddb9d58c51564fbafc6c8f137b3dca3d644975091",
         "meshes.tar": "1f32b90252231af117b5f7f7168a0f435b45db1de70307e142c3d221d7fbd7a3",
-        "render.png": "d60a1c9924424dc722f74c3da5875c7b8200c26fbb1f745e84803179c245507a",
+        "render.png": "e6c99bc99723ca5b3e1263486dc7e051a45c954cc0b9009a14cd7dae81ba8f3c",
         "graph-raw.svg": "0b776e66e331b636beb70622253b396f836be545e16e35b53816acddeb4f3060",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3bb4f7750262a9d9b90f73c02981c7e3256ed06cdfcdf9e3590623096512e29d"
@@ -3765,7 +3823,7 @@
         "mjcf_ms": 2.6242677122354507,
         "compile_ms": 17.099318094551563,
         "graph_ms": 161.3262710161507,
-        "render_total_ms": 1766.4939942769706
+        "render_total_ms": 1579.3601712211967
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3813,16 +3871,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.964392218738794,
-        "render_ms": 1600.0872999429703,
-        "compose_ms": 66.80496176704764,
-        "write_ms": 71.52087800204754,
-        "foreground_fraction": 0.6402
+        "compile_ms": 10.06164075806737,
+        "render_ms": 1420.0613270513713,
+        "compose_ms": 60.702333226799965,
+        "write_ms": 75.51726000383496,
+        "foreground_fraction": 0.6402,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "378370099e5d2f4f12e2d22992c609ae40e8d8780af4aac3286ab6e946619290",
         "meshes.tar": "85a1007c139bd889277ce0cc39faebda5c2cb789a0d51479e0f53dbc05f9861c",
-        "render.png": "bd711f95e256f292d4d4f6ae01dbd5e65ae5e321556f90ac7b0c3861d2a98091",
+        "render.png": "23bf114401499d6bd1c822a742ca31b23c5f16590d531f28ef6f88f9dc44a869",
         "graph-raw.svg": "60d1d1fa3b60d30ced770129cbc6802d651d157ae100de5d5e97a9c58b5c91f1",
         "graph-robot.svg": "c429892f3f7aac86c5594388e00471bd6dc97e2cc62cdd632f504cff7fe359d9"
       },
@@ -3861,7 +3921,7 @@
         "mjcf_ms": 2.4428307078778744,
         "compile_ms": 3.591510932892561,
         "graph_ms": 89.72756704315543,
-        "render_total_ms": 1993.9100998453796
+        "render_total_ms": 1510.123788844794
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3909,16 +3969,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.965547773987055,
-        "render_ms": 1845.0184697285295,
-        "compose_ms": 67.18408828601241,
-        "write_ms": 57.812959887087345,
-        "foreground_fraction": 0.26235
+        "compile_ms": 3.3754222095012665,
+        "render_ms": 1385.8786467462778,
+        "compose_ms": 53.285649977624416,
+        "write_ms": 54.57135709002614,
+        "foreground_fraction": 0.26235,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d18532e818e1b31662a54d891187dbdb8c491edcb662064bba7c9db2687d2aa4",
         "meshes.tar": "6c1b01933bfedae5c4b77b17d2f30e96886c05b762d25624476b3870322e0880",
-        "render.png": "9c2ec3d2dccc3653e8b286e9f4f338f124abd9bfc3fd29d3e01c78e779043e7f",
+        "render.png": "f2707c076f8b5ef50d7e1f30d49f168c605cfcfa76791adc6b3a9e73832d1726",
         "graph-raw.svg": "edf853704f6f6d709d835e7711fb0b7886f21d81780d1341fdc2e2fb78dc2b82",
         "graph-robot.svg": "8417cb830a8e6535cc2566bd1db58ca00b54f510e25c04295c1131bb0598187e"
       },
@@ -3968,7 +4030,7 @@
         "mjcf_ms": 6.444216705858707,
         "compile_ms": 162.55988832563162,
         "graph_ms": 460.4330197907984,
-        "render_total_ms": 1960.1219301111996
+        "render_total_ms": 1896.2839250452816
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4029,16 +4091,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 152.94176107272506,
-        "render_ms": 1598.8230691291392,
-        "compose_ms": 76.85811491683125,
-        "write_ms": 116.64269072934985,
-        "foreground_fraction": 0.77
+        "compile_ms": 167.38380398601294,
+        "render_ms": 1494.703154079616,
+        "compose_ms": 64.54431917518377,
+        "write_ms": 156.38002520427108,
+        "foreground_fraction": 0.77,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "6e91ed68160bcff5d452f40fd245be6c0410d30be908ef6bd4a079cc3e07c192",
         "meshes.tar": "6c7af2feb7c61696fdd0f6618d2c8e4c36bfbc2c54529bc2e7a8f1fc588fb0b9",
-        "render.png": "e0e8beb6ca91435c7831c2b8b1b915a6610eaaaf99e77cf39e5a937b67ec33fe",
+        "render.png": "56831586a00b5459a2b04e0fb7d35c4f57c77e6b7a0abfaa20eef4bea949a6af",
         "graph-raw.svg": "dd891811c4f667cc6e2b9912ed5b8d887f7e5f3190ffcc1670f0e9d2dbd8640d",
         "graph-robot.svg": "f7aacfaf86e7bd905020f66c0db049df75ab2b24b3f62b6b374719bfc2df0db3",
         "robot.urdf": "ec9837886f4edbe7db9ac16c1fe3e333b07fd8572a67710f65427dccd344e437"
@@ -4095,7 +4159,7 @@
         "mjcf_ms": 6.641265004873276,
         "compile_ms": 208.10032170265913,
         "graph_ms": 562.1039723046124,
-        "render_total_ms": 2113.4736500680447
+        "render_total_ms": 1923.7670968286693
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4150,16 +4214,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 233.96695824339986,
-        "render_ms": 1665.2025040239096,
-        "compose_ms": 87.7870018593967,
-        "write_ms": 104.03914889320731,
-        "foreground_fraction": 0.64515
+        "compile_ms": 141.25791378319263,
+        "render_ms": 1565.8546979539096,
+        "compose_ms": 72.42550095543265,
+        "write_ms": 131.22947793453932,
+        "foreground_fraction": 0.64515,
+        "style": "link-palette-v1",
+        "colored_bodies": 33
       },
       "artifacts": {
         "robot.mjcf": "2270e58be52f2d5114b94884fd3205fed596d5862ef5ab7c5c7d18371d7d9e15",
         "meshes.tar": "3d76461312a1e61f7e56d5db77708ac04c31262fab93598e884bcef5d8467a54",
-        "render.png": "d4391820ab6668a718642363af71ba426a4d0208f4a5ba17f32f9e06b20c8753",
+        "render.png": "30b9863942c2e598bd61e03232ce0e5f2d879d3408f598bf6ca878bded7b3035",
         "graph-raw.svg": "11c62a0472cf9523a6d27dc7defc16e521c78040d6b2bc186099c2db35b7d9e3",
         "graph-robot.svg": "e5f972d7c557b101f10819b97627005c7a916c73dcc1ca4480335eadad77fb47"
       },
@@ -4205,7 +4271,7 @@
         "mjcf_ms": 5.474326200783253,
         "compile_ms": 243.47888911142945,
         "graph_ms": 335.7585798949003,
-        "render_total_ms": 2023.6373241059482
+        "render_total_ms": 1964.3566492013633
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4266,16 +4332,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 225.33544106408954,
-        "render_ms": 1603.5599778406322,
-        "compose_ms": 67.73538002744317,
-        "write_ms": 111.51902889832854,
-        "foreground_fraction": 0.7681916666666667
+        "compile_ms": 219.83930561691523,
+        "render_ms": 1523.4876270405948,
+        "compose_ms": 67.09056813269854,
+        "write_ms": 137.79000705108047,
+        "foreground_fraction": 0.7681916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "5eb66cf5dbf67d9ea1c86eb58e3e224043790a03b37f2c79cf098aad3852a713",
         "meshes.tar": "51a648b147765cee9be5aa227ea017471a145a0322a08f5e70d2276ce428411e",
-        "render.png": "4bf493a8e6c4f6b63bc678ea68dadbe2a381f184029b23980e2581c8a9268a7b",
+        "render.png": "fe64fe96c61ff9940a7b16304b1e56784092e5d7363eddd68b8a8411b3ad601b",
         "graph-raw.svg": "6ad10d4811dd4ea9ef8198b3d432f73981b11882f1878220fccb855a2d3f795b",
         "graph-robot.svg": "7655b3e0e5c201e4a5e164d6a45de44c897041ff3ee9e9e8bea1511b56e1e7aa",
         "robot.urdf": "2af08491ef4c0b18a6a63101bded3567c4a3cd85986584bc94191d9f2e150974"
@@ -4308,7 +4376,7 @@
         "mjcf_ms": 2.7876822277903557,
         "compile_ms": 19.15894215926528,
         "graph_ms": 113.34322299808264,
-        "render_total_ms": 1687.642014119774
+        "render_total_ms": 1576.433225069195
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4369,16 +4437,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.32836989685893,
-        "render_ms": 1511.548358015716,
-        "compose_ms": 70.55098982527852,
-        "write_ms": 73.089559096843,
-        "foreground_fraction": 0.49225
+        "compile_ms": 18.007530830800533,
+        "render_ms": 1400.6702192127705,
+        "compose_ms": 62.41650087758899,
+        "write_ms": 78.06569011881948,
+        "foreground_fraction": 0.49225,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "f6861aef06395959d083d34873260c59cfcae91299228faa21edf62a908f847f",
         "meshes.tar": "f4dd8981e4807bec074ce91de137c728f32c2cd8ba9ecaf4e1a97242df06e948",
-        "render.png": "ca6370199fd3bef17968d0f1ead4eddc75913fcbff3dd571cc9a0d0d602720ab",
+        "render.png": "7e99753d33b0af07e4c210fcb470e4b9bd47a611fa51961c5266e2ae05658380",
         "graph-raw.svg": "1bc56f3b420f83f013c6f9020a2f5fb7ab95f0c261383b76a16e23721156c0e2",
         "graph-robot.svg": "7aecfbeeaddcdd0a45f37bb6c945c01725d75c9a5db3708e441e1ecd964eabdb",
         "robot.urdf": "9d78581e4e40e8740de999f9b17eedca0487a9f9f3bae76afd7a251ddc15ad8f"
@@ -4422,7 +4492,7 @@
         "mjcf_ms": 2.714178990572691,
         "compile_ms": 724.2566873319447,
         "graph_ms": 182.31265805661678,
-        "render_total_ms": 2848.55676908046
+        "render_total_ms": 2369.5116941817105
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4489,16 +4559,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 879.4733029790223,
-        "render_ms": 1791.2069112062454,
-        "compose_ms": 61.793629080057144,
-        "write_ms": 98.32832915708423,
-        "foreground_fraction": 0.484
+        "compile_ms": 515.3956832364202,
+        "render_ms": 1671.6891746036708,
+        "compose_ms": 51.708622835576534,
+        "write_ms": 113.48723666742444,
+        "foreground_fraction": 0.484,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "c50ab71c645fa122bff3ea263dfdcfb2bbbc61951e5f63e999e8418b4f81e837",
         "meshes.tar": "80eed925c525f39dc654f5c2bab3160295b626510e5044c255511715566b08fe",
-        "render.png": "222c4aa07df76b8103444d6baa70f7a18dfae214ef5ac323b0aa5be17792ed15",
+        "render.png": "7664077baec9e517deb012f0b3fcd0a410ac304c405c48fe297e5c85bf8618ff",
         "graph-raw.svg": "718f83dfa145e84a854b4ab849cbc3ee8a61b77e6c6b07074163234e5c69caec",
         "graph-robot.svg": "472809086a26ea04b0e9b243afcc2d1f65727b3a4f2fd59607dcb590e79e8f8a"
       },
@@ -4529,7 +4601,7 @@
         "mjcf_ms": 2.5428468361496925,
         "compile_ms": 116.38508783653378,
         "graph_ms": 72.40017503499985,
-        "render_total_ms": 1871.9093380495906
+        "render_total_ms": 1793.4584780596197
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4590,16 +4662,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 109.77714788168669,
-        "render_ms": 1582.288321107626,
-        "compose_ms": 68.79036407917738,
-        "write_ms": 98.23865536600351,
-        "foreground_fraction": 0.7073
+        "compile_ms": 115.82212941721082,
+        "render_ms": 1469.9803018011153,
+        "compose_ms": 70.39400842040777,
+        "write_ms": 124.23317087814212,
+        "foreground_fraction": 0.7073,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ce9a87bd4f1160d4342f520c8be0db58febda501bd2d503168844256ee469a6d",
         "meshes.tar": "adfbdba90ca8adb213e0300f9f079db5b116bdd18c751736f576273fecf61693",
-        "render.png": "72f92fb92f6017e67301ee78cea9bd6568ada6aa92d30fc0bcd2382c47a7b7de",
+        "render.png": "fafc45f7d152160cf84ce83698e5d934f51d0296e4a230a190fccdf26395fb1e",
         "graph-raw.svg": "38b4186cafe4e4ec618b42d5182fe117d8980dc3eef87d1e48ae655ec04e068e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "5ad7bf5b6b8b1b6d4182795e3139fbaa9f0a248fc2197baae31dd5c707b0fae7"
@@ -4632,7 +4706,7 @@
         "mjcf_ms": 3.4706061705946922,
         "compile_ms": 110.06995430216193,
         "graph_ms": 201.58587908372283,
-        "render_total_ms": 1898.5137129202485
+        "render_total_ms": 1660.2650322020054
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4693,16 +4767,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 110.0922697223723,
-        "render_ms": 1632.0054228417575,
-        "compose_ms": 76.97867229580879,
-        "write_ms": 63.630569726228714,
-        "foreground_fraction": 0.7282
+        "compile_ms": 60.29802281409502,
+        "render_ms": 1447.759107220918,
+        "compose_ms": 65.67847169935703,
+        "write_ms": 73.3330063521862,
+        "foreground_fraction": 0.7282,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "5a9c45daa1dec3ca76a56a2a7ebe2b57651dcde4796a281ecf3f624bd235e0a6",
         "meshes.tar": "47a68878ed66fce3e837a966e96daf019ba026f0765ee7f580740d2a916fec83",
-        "render.png": "bc4437a3df781554e628754aba11ddd3e8a6a7fc24437a0aeef2ddeba2588978",
+        "render.png": "2733b8e590a4413acde5bb8303ffdd2205cb31d90c92c0f0c40c7b69ae5b5e5f",
         "graph-raw.svg": "1e8571fa1748b9d222e664e101a0f41a46fc34d0e2478a243838786fe832b83a",
         "graph-robot.svg": "724a2f25924849a7590392b8de9ce59ec9d44f131a3db5e666a9a86499c41817",
         "robot.urdf": "57af33226eb2f7e6e259c97f94263f3fb2e935ec92177bb4bcba96e90c7b60c4"
@@ -4783,7 +4859,7 @@
         "mjcf_ms": 17.070436850190163,
         "compile_ms": 832.4016849510372,
         "graph_ms": 1639.231324661523,
-        "render_total_ms": 2895.684984046966
+        "render_total_ms": 2588.7425849214196
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4898,16 +4974,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 809.8208559677005,
-        "render_ms": 1901.701097842306,
-        "compose_ms": 71.44156284630299,
-        "write_ms": 95.96156189218163,
-        "foreground_fraction": 0.7841166666666667
+        "compile_ms": 599.1456853225827,
+        "render_ms": 1796.5794708579779,
+        "compose_ms": 71.81895105168223,
+        "write_ms": 104.13633100688457,
+        "foreground_fraction": 0.7841166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "428a7a2ab8b0084c52fa35e9d20207bb934e1f744cb81175d69314223f5684fb",
         "meshes.tar": "fd5cb0599153fc9c6b717208637c41ed1ce8f389ed574e3649401b936880b611",
-        "render.png": "b7242db30f10a308b35bf910b223527a6b66b2f99de8fdb85c200c0f77e74a01",
+        "render.png": "9c2ffc73f47b067e518ebacc265bb43cc703417c171ffb3f676f6acb4c7c3f27",
         "graph-raw.svg": "599ab92112dd9d9c556b69dff6b66acc991b12be385f981a9bbab0da77e9dee9",
         "graph-robot.svg": "76b2f30aed59dd9db9e1b0eb16ae427a4ad1b4e65eb6448650c8317e31614b9a"
       },
@@ -4938,7 +5016,7 @@
         "mjcf_ms": 2.3345411755144596,
         "compile_ms": 17.026899848133326,
         "graph_ms": 69.56074619665742,
-        "render_total_ms": 1671.3610109873116
+        "render_total_ms": 1535.5089320801198
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4999,16 +5077,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.682094022631645,
-        "render_ms": 1537.146587856114,
-        "compose_ms": 47.151017002761364,
-        "write_ms": 69.1288779489696,
-        "foreground_fraction": 0.2068
+        "compile_ms": 13.708900194615126,
+        "render_ms": 1392.8082343190908,
+        "compose_ms": 47.911349684000015,
+        "write_ms": 68.08778084814548,
+        "foreground_fraction": 0.2068,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "8f99620b8421d1a5b6dbc1a9b8ecdceef3d9032075501ecd4f1eb65954cb082d",
         "meshes.tar": "ee4f3f294d963e5a014663eea861138af9df5b75fedc191828ff10194c749c8f",
-        "render.png": "1d07062a574fcc0b2a69e45fc2cc0b7e422f8b19c703f4f30f91665354144868",
+        "render.png": "bfdff63c97b190313ee53399d3bfe56f7b50a764c43a526628b31d0a2ae5392e",
         "graph-raw.svg": "dd0388018cd21d3243d2ea771fdc68592cadf81abdabf1020306cd9173d59b87",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "6bd3159e930a9825e3eb5fc3ba85be626cba9b49a31bc666bc1b1c9d24218ceb"
@@ -5047,7 +5127,7 @@
         "mjcf_ms": 2.6005348190665245,
         "compile_ms": 11.79266395047307,
         "graph_ms": 101.0523778386414,
-        "render_total_ms": 1794.4252020679414
+        "render_total_ms": 1558.0867757089436
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5095,16 +5175,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.879859983921051,
-        "render_ms": 1612.826636992395,
-        "compose_ms": 82.72547833621502,
-        "write_ms": 64.62628301233053,
-        "foreground_fraction": 0.6514083333333334
+        "compile_ms": 10.77351113781333,
+        "render_ms": 1408.5399080067873,
+        "compose_ms": 60.24441076442599,
+        "write_ms": 65.16157416626811,
+        "foreground_fraction": 0.6514083333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "e9a5ae5b0a91010cca6d0bc5c9dfe78ecb8f1561fbc302f8cd854ba2f3b1100a",
         "meshes.tar": "76e18f886073139045d12d88d88234925006d13cc02c306b673f433cb336f01a",
-        "render.png": "367390eddb305b9e1ab01485863b595a62f5c6f7adfff19411b5c9f2b02f55ea",
+        "render.png": "b60d40c76d4595f9b82f7b9854a65054945560cf084808f880424bbea81289f9",
         "graph-raw.svg": "a1aca899d34b3db147c163184e0a8fe01500b2e39e38dfc606747cdf6f9ce357",
         "graph-robot.svg": "d41df412c1a75d4a9b14fcd1d583e7504b1630b88575ed121465a7904ed0cf8c"
       },
@@ -5135,7 +5217,7 @@
         "mjcf_ms": 2.684416715055704,
         "compile_ms": 27.152131777256727,
         "graph_ms": 96.44570294767618,
-        "render_total_ms": 1754.6279528178275
+        "render_total_ms": 1558.5592719726264
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5196,16 +5278,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.757289793342352,
-        "render_ms": 1553.3986929804087,
-        "compose_ms": 79.07201256603003,
-        "write_ms": 77.43716612458229,
-        "foreground_fraction": 0.6567166666666666
+        "compile_ms": 20.770877599716187,
+        "render_ms": 1378.5868296399713,
+        "compose_ms": 61.63295591250062,
+        "write_ms": 84.43033182993531,
+        "foreground_fraction": 0.6567166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "964fe0ac2295b56c6427bc3108f6dc94eba80786d49f6e6fb7f250bcbf1e8180",
         "meshes.tar": "757cabd7a7279fbc8b17de8c1629ae196bb4a70ba2b8e7a4fb8bb9557e39311c",
-        "render.png": "5e19aa739ba905828a06436f63e8bd40249e3d957403df34c0decc4a8c885cc8",
+        "render.png": "735762c095efa557c3ba36249ab225d9e01b842945a1b0c4b28d0869401f8068",
         "graph-raw.svg": "5ff6c8fb148388bfded9b5212eb2d4537a1bd9550ac6cad75ced56a6c6be3485",
         "graph-robot.svg": "2a541cf2b118922f56da5d9f8f586ce246772b7ffc22c96d4f7e3abf962c9d58",
         "robot.urdf": "da7c8a1cf5953598f2e53e7137364267f4cd8b53a735fe646383aa9f080e9828"
@@ -5261,7 +5345,7 @@
         "mjcf_ms": 4.03588218614459,
         "compile_ms": 87.3294286429882,
         "graph_ms": 276.78258903324604,
-        "render_total_ms": 1815.2737622149289
+        "render_total_ms": 1689.4498751498759
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5309,16 +5393,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 82.32258632779121,
-        "render_ms": 1563.9292690902948,
-        "compose_ms": 77.86804297938943,
-        "write_ms": 78.75631516799331,
-        "foreground_fraction": 0.47685
+        "compile_ms": 59.695330914109945,
+        "render_ms": 1468.235736247152,
+        "compose_ms": 66.24352093786001,
+        "write_ms": 82.59367104619741,
+        "foreground_fraction": 0.47685,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "62266b9d6ba31f54132c6e9690f8e5166db6aba38714307574c71e9e3b33b6ae",
         "meshes.tar": "8e59b6031f4c0ca40ec6fcf1e6a6a5d1a3729ab80e28f19c828811709691918d",
-        "render.png": "5e9f0e1567595f3f2f37e5d2e4742b169b49309718a4d0dea294a232423e83aa",
+        "render.png": "fdf7864d379374667c8bdbeef74f9a67019998fabb3b89784c523382ac121dad",
         "graph-raw.svg": "22fb404d62272109d834f591ce1a9a63137a3c214753aadfd6a11fbb24359f01",
         "graph-robot.svg": "c136665655405f72769a5cd7496794278005ec397811edabdf689ec23fb84522"
       },
@@ -5358,7 +5444,7 @@
         "mjcf_ms": 3.1149922870099545,
         "compile_ms": 181.790579110384,
         "graph_ms": 1028.1713772565126,
-        "render_total_ms": 1940.3613088652492
+        "render_total_ms": 1755.4587572813034
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6169,16 +6255,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 180.97962019965053,
-        "render_ms": 1600.472335703671,
-        "compose_ms": 85.89928178116679,
-        "write_ms": 58.36421763524413,
-        "foreground_fraction": 0.726
+        "compile_ms": 111.6894381120801,
+        "render_ms": 1491.0334767773747,
+        "compose_ms": 77.23834877833724,
+        "write_ms": 62.664409168064594,
+        "foreground_fraction": 0.726,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "10464b7708b9d1126f8b7df312a60ecf9681a21297a415c2c528b41d5f2e5009",
         "meshes.tar": "d08354f7f5b768e09909cf9a9707adfcc5f8d4fd3b7739953d99fdedbd861427",
-        "render.png": "b71c68b24a8df607c82744dfe436b7404deeb7c1911c064cf97f01d389043524",
+        "render.png": "14181b771622adce83c9cd4ecfea7e0a74fe4500ef6b732a6d4e3916b03adb23",
         "graph-raw.svg": "5b845b7f5b2ffd7b21b2a9c8c0349bb451ac74c3cbd1f81d9a2aaad594d8798f",
         "graph-robot.svg": "31d28e8aed4bf5fd2116f244209f3269331d2485f7d37955b2af866e8ab92561"
       },
@@ -6209,7 +6297,7 @@
         "mjcf_ms": 2.6458147913217545,
         "compile_ms": 5.939176771789789,
         "graph_ms": 78.20244180038571,
-        "render_total_ms": 1877.1778382360935
+        "render_total_ms": 1536.5640628151596
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6270,16 +6358,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.90633475035429,
-        "render_ms": 1703.9766740053892,
-        "compose_ms": 90.6666498631239,
-        "write_ms": 55.62492599710822,
-        "foreground_fraction": 0.3201
+        "compile_ms": 3.8733691908419132,
+        "render_ms": 1403.704966418445,
+        "compose_ms": 57.510106824338436,
+        "write_ms": 58.69207484647632,
+        "foreground_fraction": 0.3201,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "03ec0a91967155be88d8c032fd8ab93e55a14a4421c48d295af15c2e6b963949",
         "meshes.tar": "6bc531cc7ecc2befeffef527b0b0e4038aaabbf0b78e1484d871c96aacc6e45f",
-        "render.png": "de1e676914387c160b0c96e816bb528876b926cdbc0a1c0feb3378d413176c42",
+        "render.png": "fdd58848bba46176f541b6f91fa5cde8503c257c265edcc6836160dbeade7719",
         "graph-raw.svg": "3db23c0e8246d40d2158df7c03cf7fc1f2554780bbc14c1a41b51d15bfe6f813",
         "graph-robot.svg": "f3e6348b906f1b73c46dfb1e6573189fc73fd5b53cecb42f585acfbe28968530",
         "robot.urdf": "d9a0b38c9b677de14816511eab866d8ad9aca9cb069218151e91d9607581cfc9"
@@ -6318,7 +6408,7 @@
         "mjcf_ms": 2.4885726161301136,
         "compile_ms": 4.836944863200188,
         "graph_ms": 82.70004205405712,
-        "render_total_ms": 1820.076486095786
+        "render_total_ms": 1527.747003827244
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6366,16 +6456,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.524776712059975,
-        "render_ms": 1620.6757430918515,
-        "compose_ms": 100.77895876020193,
-        "write_ms": 68.24262393638492,
-        "foreground_fraction": 0.7371
+        "compile_ms": 4.5167431235313416,
+        "render_ms": 1377.902380656451,
+        "compose_ms": 64.19519009068608,
+        "write_ms": 68.13888298347592,
+        "foreground_fraction": 0.7371,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "c5400d19b73b9099d0a48344e12b92d03d2ad37b7591354b8665ac7fc4dff649",
         "meshes.tar": "8113d92e0ed82ad7d61bf8e5298c2f081f1f40e4975ce1bc1d61179024699af2",
-        "render.png": "1e23ec93f3f9662c6b7627ac57c2971a24ff0bf420c78a6d6671cfbe509d917e",
+        "render.png": "cde38ae618af8571166312ad3713666e70f9998006c4556367f27645a6a0d398",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -6414,7 +6506,7 @@
         "mjcf_ms": 3.6241449415683746,
         "compile_ms": 53.9401201531291,
         "graph_ms": 194.08480823040009,
-        "render_total_ms": 2021.6394253075123
+        "render_total_ms": 1625.7392037659883
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6475,16 +6567,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.647759325802326,
-        "render_ms": 1775.319910608232,
-        "compose_ms": 117.16547096148133,
-        "write_ms": 73.48232623189688,
-        "foreground_fraction": 0.7333083333333333
+        "compile_ms": 33.40847138315439,
+        "render_ms": 1413.7771329842508,
+        "compose_ms": 91.3476082496345,
+        "write_ms": 74.13464784622192,
+        "foreground_fraction": 0.7333083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "e0d726566efe511d31e0985647d43f5a7f3d036d00126d9bbb10a3ec69c3a2ee",
         "meshes.tar": "7610ed2565d07fea403277a7631b030421d173a949ec0552f3f366ec76a4f4b0",
-        "render.png": "060176169a4d505bd86a319a7e3e400bf094c5e49c1e35a069698c5744491e5b",
+        "render.png": "dde8e00055c42343d21527f6af5e5f7025e5e0cbd9e9e8957aefacefcafa17bb",
         "graph-raw.svg": "0551a1a908556698636c3043d3db191a333ec866e605ec4317c5d97da1c1ff41",
         "graph-robot.svg": "38b3b8d838226a256526b7d30242181051c58b2a274a0a001340f85375717ff7",
         "robot.urdf": "5eb86eaf0b7440f5631c9b4b220a8f8efd741c311d48feb71c0a95ff9a4a2e5a"
@@ -6525,7 +6619,7 @@
         "mjcf_ms": 4.664788953959942,
         "compile_ms": 277.4321655742824,
         "graph_ms": 288.5810788720846,
-        "render_total_ms": 2359.4140550121665
+        "render_total_ms": 2004.0545342490077
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6586,16 +6680,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 362.04293509945273,
-        "render_ms": 1808.2290180027485,
-        "compose_ms": 80.94965619966388,
-        "write_ms": 84.8567490465939,
-        "foreground_fraction": 0.46365
+        "compile_ms": 344.3591739051044,
+        "render_ms": 1509.7862677648664,
+        "compose_ms": 53.401346784085035,
+        "write_ms": 83.61640712246299,
+        "foreground_fraction": 0.46365,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "932a30d3b77081f8820d70ca2c3011f1a6d59441f6d430d877e2938c3969b025",
         "meshes.tar": "db3af3836ea100ae2db102c9daae06de20bacf2d98537ff7ab8e241c65f41e15",
-        "render.png": "192a4f540d53a4dea9610396a1e133c2142835f8b5b1be3e67ff3692cb939d4b",
+        "render.png": "cf52b9c7f5564690dfd42f3e0448973c56cbde25a0435a4fc5d6c0f347b37b51",
         "graph-raw.svg": "384519fec35474ba25b68a82ccf7bd69d96030fd630ef79b5efcb15d18e2ef1a",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "7d593c51bb626943bfdc89d7d4d538c83ed0f20de47be99da3c1cd5cece4640a"
@@ -6634,7 +6730,7 @@
         "mjcf_ms": 3.6766380071640015,
         "compile_ms": 284.7737236879766,
         "graph_ms": 224.70714198425412,
-        "render_total_ms": 2404.3056308291852
+        "render_total_ms": 1906.5226870588958
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6695,16 +6791,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 273.1270231306553,
-        "render_ms": 1942.460617981851,
-        "compose_ms": 96.91811399534345,
-        "write_ms": 70.00282220542431,
-        "foreground_fraction": 0.7219333333333333
+        "compile_ms": 308.4037541411817,
+        "render_ms": 1455.6908188387752,
+        "compose_ms": 60.527618043124676,
+        "write_ms": 68.79686145111918,
+        "foreground_fraction": 0.7219333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "fc2340a65332b69e9d3d88496063f38d8d1df401c4721c19ec22c16ef063e782",
         "meshes.tar": "3644bda9f64777c516679cc2fe250911931a19832e65ae702951625c68b8f7ed",
-        "render.png": "e411b143b5a2b365a9382fda2df9e46479cc05caacc6f284f3d0fdaa06ce5c2f",
+        "render.png": "a716660a8d112d7deadd58ddd3316771288994154644ee699a05a735d971f49d",
         "graph-raw.svg": "f1f1a1eabc3761ba832aee0c55173d25f97a32bb4acbe6aa62cf1fbd1bea2a7e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "58f48ac2e471ed40caf332487bac86de26a77403b9b76411ef7f2000838d1c8a"
@@ -6748,7 +6846,7 @@
         "mjcf_ms": 5.455574952065945,
         "compile_ms": 94.33691902086139,
         "graph_ms": 470.23223293945193,
-        "render_total_ms": 1946.84302713722
+        "render_total_ms": 1737.082317005843
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6834,16 +6932,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 117.7378948777914,
-        "render_ms": 1615.2124642394483,
-        "compose_ms": 96.49952594190836,
-        "write_ms": 97.04171493649483,
-        "foreground_fraction": 0.6545
+        "compile_ms": 81.35207928717136,
+        "render_ms": 1453.9014799520373,
+        "compose_ms": 72.4336439743638,
+        "write_ms": 115.55528501048684,
+        "foreground_fraction": 0.6545,
+        "style": "link-palette-v1",
+        "colored_bodies": 20
       },
       "artifacts": {
         "robot.mjcf": "e57c60440b0f0f0f4cc68d055af6bd4c5a1a50ad92419521b324d8550c7fe403",
         "meshes.tar": "296ce6673d4dbf5decf930d9f0acb21e7466b9ebf3213178163269154b57aac7",
-        "render.png": "cec8da735b40ade8cce182a268bb8c20134f988e620b2a7d8695310e8aba8adf",
+        "render.png": "376d03899457ca34cacf66662e14ee76f3c69f97adbb13ee8cfbf79a97e47b3a",
         "graph-raw.svg": "a9354086005c0f3734076f99d61d522a416d266d139523ccf08866aa25f7bb6f",
         "graph-robot.svg": "55ce411e0651daa7a233e827334eb683a30571697179b0fce0a574b5ef56a781",
         "robot.urdf": "7e20322184d56786aae409924a28952c0f8b05d809b60f6972fd074d071980f7"
@@ -6882,7 +6982,7 @@
         "mjcf_ms": 2.7066748589277267,
         "compile_ms": 8.72335210442543,
         "graph_ms": 91.0424180328846,
-        "render_total_ms": 1934.0684399940073
+        "render_total_ms": 1554.4151519425213
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6949,16 +7049,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.739821121096611,
-        "render_ms": 1756.2576588243246,
-        "compose_ms": 85.12936811894178,
-        "write_ms": 69.97694401070476,
-        "foreground_fraction": 0.5599
+        "compile_ms": 6.51382515206933,
+        "render_ms": 1388.8777899555862,
+        "compose_ms": 70.57885080575943,
+        "write_ms": 70.71313820779324,
+        "foreground_fraction": 0.5599,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "7926164296451b7a23e878f27de7ee77d4c55ac98c3d3c75c7c5b72324cdbb0c",
         "meshes.tar": "506a1962d87abe32aee32923a82104e1ab9da586fa31d6c2d05b800b7dd124b7",
-        "render.png": "cccfe0c7291d38a80419de30ae7f718ab183cec4d0260e730d6ab43f8e34d621",
+        "render.png": "f7e583cf6ea951b676928918d7351e6fd49778280b452501f0672f13784913eb",
         "graph-raw.svg": "e560622b74f9fb296883fc415f1b5ae66c40a565ad00f30c30a32f6a9730ff6f",
         "graph-robot.svg": "c3232a17db34e5804040d695c26464c5d4a587f9871087ee5473daefa63d52f8"
       },
@@ -6989,7 +7091,7 @@
         "mjcf_ms": 2.5535528548061848,
         "compile_ms": 27.96886907890439,
         "graph_ms": 60.011257883161306,
-        "render_total_ms": 1899.9222326092422
+        "render_total_ms": 1603.4049717709422
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7050,16 +7152,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.53616387397051,
-        "render_ms": 1664.32284982875,
-        "compose_ms": 95.71283776313066,
-        "write_ms": 93.56979001313448,
-        "foreground_fraction": 0.6855333333333333
+        "compile_ms": 28.63177889958024,
+        "render_ms": 1408.3693982101977,
+        "compose_ms": 62.85238591954112,
+        "write_ms": 90.22591402754188,
+        "foreground_fraction": 0.6855333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "957168ee19a1b0f21f759131534b17f42f84a36dcc27742b378880ab7898eada",
         "meshes.tar": "f964cb4ffde3e42cdb17c2ab6f35d5ab561cdd196a7ff19cab70a78d290bc9a9",
-        "render.png": "7ab6346171ff50baaed89348d41d17d890b1baf6d4601a9d1ace0825f3081488",
+        "render.png": "4dd29ab7097b8cd111c7e45f4757cc9be6a98a2bd620c208cc3f7fff26f3c0fb",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3c99eb74dca450c42f5bdc2beecd49263ea65e7a60b3767a625c5fab3e9bd14e"
@@ -7108,7 +7212,7 @@
         "mjcf_ms": 4.705311730504036,
         "compile_ms": 89.0242918394506,
         "graph_ms": 310.8993140049279,
-        "render_total_ms": 1945.4508479684591
+        "render_total_ms": 1643.4433897957206
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7193,16 +7297,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 84.88864777609706,
-        "render_ms": 1681.163806002587,
-        "compose_ms": 76.54459215700626,
-        "write_ms": 83.04807310923934,
-        "foreground_fraction": 0.6501
+        "compile_ms": 47.428412828594446,
+        "render_ms": 1442.807569168508,
+        "compose_ms": 59.16628101840615,
+        "write_ms": 81.04682015255094,
+        "foreground_fraction": 0.6501,
+        "style": "link-palette-v1",
+        "colored_bodies": 14
       },
       "artifacts": {
         "robot.mjcf": "fb838e97df773156c5915d031d50eb518fea857fb25a3be1ddab8725f66eb06f",
         "meshes.tar": "09a54d05391b0696b8e9128d9cd819013a6809d546864e788c995413455e17ab",
-        "render.png": "b67dc94e6a0e5216f0f9c277cde83265ef3fb33b8b8392bc09e4fd1b7fa86a76",
+        "render.png": "2643b1119a2003f9fcceade38138831dcdeb7b3d46df4525bdb493f9fd2469dd",
         "graph-raw.svg": "04f650f0a0e40959fc19bfcef0291e8e228c76a0da404cca544023dec466426f",
         "graph-robot.svg": "29b55d79ba1e325e2199b4a4cd780c2c28910d93df7ecb724a0e16c1073024f2"
       },
@@ -7239,7 +7345,7 @@
         "mjcf_ms": 1.9922940991818905,
         "compile_ms": 9.722257032990456,
         "graph_ms": 200.1947029493749,
-        "render_total_ms": 1796.9599580392241
+        "render_total_ms": 1581.2230231240392
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7287,16 +7393,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.416721735149622,
-        "render_ms": 1664.9092710576952,
-        "compose_ms": 59.21809235587716,
-        "write_ms": 54.12649875506759,
-        "foreground_fraction": 0.2739
+        "compile_ms": 7.146828807890415,
+        "render_ms": 1440.5171130783856,
+        "compose_ms": 61.83237861841917,
+        "write_ms": 55.859874933958054,
+        "foreground_fraction": 0.2739,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "97f1253d9fd906d46ac5532dfa48f71a31eba74f45c9b1c7d48978968ef0e2a0",
         "meshes.tar": "fb4489e9a6b09ed3055a5a8c08200c443789094a02c9dfabcf3497d8e07d1286",
-        "render.png": "7a72f0f8c736cea6147601abe59fc2a889d3b6a45d282a7b64cffe2212ab3626",
+        "render.png": "841e4a0c777109d32c6b336ac23eca02f5c0be560e8832dfb4a716f68088f000",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -7340,7 +7448,7 @@
         "mjcf_ms": 6.670041009783745,
         "compile_ms": 187.03280994668603,
         "graph_ms": 454.1987730190158,
-        "render_total_ms": 2131.106663029641
+        "render_total_ms": 1848.6025230959058
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7419,16 +7527,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 187.85044783726335,
-        "render_ms": 1745.2084086835384,
-        "compose_ms": 79.02232790365815,
-        "write_ms": 104.03318097814918,
-        "foreground_fraction": 0.7917
+        "compile_ms": 133.40318482369184,
+        "render_ms": 1526.3311108574271,
+        "compose_ms": 71.10020704567432,
+        "write_ms": 105.04741920158267,
+        "foreground_fraction": 0.7917,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "2ad471beb8752899ec59fd4c85b9d69fd6ada5df548d37e77b3f4acac45c1ab3",
         "meshes.tar": "3311903dcaafaaf8d378dab775fe8af6d4e3cc59da98edd2b0a6264df16e2ce1",
-        "render.png": "cf55669610d9a631f258596a212e73942b4f5becc01d3a86daf5e713df1ea04d",
+        "render.png": "023c082c54ad1d017c48ba5966f9482f5254d28bc35380e70c4b53f391bfcd43",
         "graph-raw.svg": "e01227eac0b99c61dc1dccbb48d5819b6c4c47661d400fc2b53129c534ff0929",
         "graph-robot.svg": "06d978769bcd2e824e2c5374e51d0312766422cf923d61320d9c4d4a806abb79"
       },
@@ -7477,7 +7587,7 @@
         "mjcf_ms": 6.232377141714096,
         "compile_ms": 132.1924147196114,
         "graph_ms": 468.75173365697265,
-        "render_total_ms": 1941.1353659816086
+        "render_total_ms": 1807.6826240867376
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7574,16 +7684,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 141.0068590193987,
-        "render_ms": 1602.766564115882,
-        "compose_ms": 76.74961863085628,
-        "write_ms": 100.66676419228315,
-        "foreground_fraction": 0.762125
+        "compile_ms": 139.44905204698443,
+        "render_ms": 1491.9481882825494,
+        "compose_ms": 64.35727188363671,
+        "write_ms": 98.89878518879414,
+        "foreground_fraction": 0.762125,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "c6833c5e3bd75fcd1e06218b2d35abaa5d36c0c702bf755e57c5409afa48591b",
         "meshes.tar": "fb5cba9ef093483e8a6fb7f8574d903fc85be9e6468fa09dd65fd55d01998c28",
-        "render.png": "d3ad1b938bac2c8eb99a4ce1f12361842df1c8fb723207f4c5104d79c073823c",
+        "render.png": "a097eab4384ebcb797b1bfd2392f7bbc81c8b68ec96b489b3c54e592820c3fea",
         "graph-raw.svg": "e5b5f34f63703b870a056a363fd4af589f0702061c9822ed4b03500c77f30915",
         "graph-robot.svg": "d43adb69dd386ce28b96a8d23a4565db38914c43a691d2d755f347ed5bc4e059"
       },
@@ -7621,7 +7733,7 @@
         "mjcf_ms": 2.506548073142767,
         "compile_ms": 14.849265106022358,
         "graph_ms": 101.13768605515361,
-        "render_total_ms": 1714.5854751579463
+        "render_total_ms": 1571.4222267270088
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7669,16 +7781,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.425444882363081,
-        "render_ms": 1536.5365003235638,
-        "compose_ms": 75.73623908683658,
-        "write_ms": 75.02738106995821,
-        "foreground_fraction": 0.77275
+        "compile_ms": 10.46931091696024,
+        "render_ms": 1394.6830928325653,
+        "compose_ms": 72.40745518356562,
+        "write_ms": 80.73527831584215,
+        "foreground_fraction": 0.77275,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "4514f43fd59bb5ae237fe90ff0bdc0d0798e96d37e2414671ec9ad54b9047542",
         "meshes.tar": "1f2e6c459fd288bdf1f1793abfa311097bac846a736445d2e61606fa0291c776",
-        "render.png": "287127cf5eb4bc92a7d8f3215c99d4a96019e272d9a7e682104a41d5ee26fd6b",
+        "render.png": "d77c670b5c4517530b72efbfd6a72bf36bb331b96c0316fd14e55b8d693b92d9",
         "graph-raw.svg": "a35d8ff3bd92e9f8d06aa52e5a45445fc5e00bbc052b38f27b18f02cd7d56b7b",
         "graph-robot.svg": "6dfecb4738c31c1744ce403228da4ceaf45893428ad5d27951c8e6c62a9679e9"
       },
@@ -7716,7 +7830,7 @@
         "mjcf_ms": 2.1635759621858597,
         "compile_ms": 1.5779011882841587,
         "graph_ms": 73.10948427766562,
-        "render_total_ms": 1770.171761047095
+        "render_total_ms": 1579.7865628264844
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7777,11 +7891,13 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.0782742649316788,
-        "render_ms": 1541.7041908949614,
-        "compose_ms": 167.02525317668915,
-        "write_ms": 38.41328574344516,
-        "foreground_fraction": 0.0
+        "compile_ms": 2.2881031036376953,
+        "render_ms": 1377.7794437482953,
+        "compose_ms": 149.30482069030404,
+        "write_ms": 37.63708984479308,
+        "foreground_fraction": 0.0,
+        "style": "link-palette-v1",
+        "colored_bodies": 0
       },
       "artifacts": {
         "robot.mjcf": "77a1d7f4c189b2df87bf24df104ef10d2b85336a4ac724bdab1bf29fed4fba8f",
@@ -7824,7 +7940,7 @@
         "mjcf_ms": 2.187708392739296,
         "compile_ms": 8.599829860031605,
         "graph_ms": 230.51340086385608,
-        "render_total_ms": 1828.533565159887
+        "render_total_ms": 1506.8851741962135
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7969,16 +8085,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.255640976130962,
-        "render_ms": 1670.0886790640652,
-        "compose_ms": 67.97146005555987,
-        "write_ms": 62.582858838140965,
-        "foreground_fraction": 0.3047
+        "compile_ms": 7.311698980629444,
+        "render_ms": 1371.6762526892126,
+        "compose_ms": 53.53357316926122,
+        "write_ms": 61.66343484073877,
+        "foreground_fraction": 0.3047,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "7a690f94ed1244ded2566bbe2795c32b24787d56cd61e071b14cbd8a2895abfc",
         "meshes.tar": "c30bceba9ab8baaec5cc51cc451912fea8d278caffe3997cf7de3d7f7515f445",
-        "render.png": "bf7167204af7b78c81b978b71f42ae3778129936ad1a322711dab042d3c309e4",
+        "render.png": "f6fb6c0912f18858d7786b5cfd81d23fec9962c14cd9d65b5002b43d2fefbcf1",
         "graph-raw.svg": "4b77cdf831fc0231984bdbd728db27bb396b4318b63d7f47e0012b32a5f1809a",
         "graph-robot.svg": "3391ffb28b0fef5e52ea56b6e33bae7d3a744635e1c77ae18eb5d561ca4c7806"
       },
@@ -8016,7 +8134,7 @@
         "mjcf_ms": 2.0692050457000732,
         "compile_ms": 15.651216264814138,
         "graph_ms": 74.85368708148599,
-        "render_total_ms": 1813.5823151096702
+        "render_total_ms": 1609.284546226263
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8064,16 +8182,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.276908081024885,
-        "render_ms": 1637.442225124687,
-        "compose_ms": 65.59559004381299,
-        "write_ms": 81.24010171741247,
-        "foreground_fraction": 0.6358
+        "compile_ms": 12.06875592470169,
+        "render_ms": 1424.6244542300701,
+        "compose_ms": 64.9885437451303,
+        "write_ms": 94.10649305209517,
+        "foreground_fraction": 0.6358,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "0b600be3785676244bba8d4d4c081f4018b00defb60584611d9992a9a3cf805a",
         "meshes.tar": "d5d1d87b98fb8fab90e9581243351d1e22af094dfe09b1d1cd6f514915233065",
-        "render.png": "96c7ad0f2f6de1abc7c4ecd03871f5a9e1818960006b890b9dbf7493ff4f9d1a",
+        "render.png": "f6cf190c4d286318dc3e53a40c8f9c9b3798c8a5bb1a5b776ea687a54bc1dead",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -8113,7 +8233,7 @@
         "mjcf_ms": 2.3117968812584877,
         "compile_ms": 147.17102469876409,
         "graph_ms": 107.18259494751692,
-        "render_total_ms": 2048.5803042538464
+        "render_total_ms": 1739.105906803161
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8161,16 +8281,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 140.79516613855958,
-        "render_ms": 1720.3664649277925,
-        "compose_ms": 75.9289562702179,
-        "write_ms": 94.80178309604526,
-        "foreground_fraction": 0.6832583333333333
+        "compile_ms": 92.66810910776258,
+        "render_ms": 1458.9908183552325,
+        "compose_ms": 61.51169817894697,
+        "write_ms": 113.06079337373376,
+        "foreground_fraction": 0.6832583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "3e823f2e9d2d221cef0814193c1c1f469e00acb0ee188bd9a2777ed9c356723c",
         "meshes.tar": "56962b10e5f6cdb5dd558489e34aa611421580f05de0728686384825a6952588",
-        "render.png": "67b5949bf3bbd8f35ffa47ef0d969d5ea2734d9ea64fdbe847a5de4dafb9959d",
+        "render.png": "1a9504a8ac46c0462b617e4e1a3faec776e1dbf02f0412fa950c32483092f22b",
         "graph-raw.svg": "a0d9622e23cd4b870ee67d76fe14644ae41eddb6de2391e537cc5d9616e25681",
         "graph-robot.svg": "a8edc968719d1596e7174c90c8e756812ee7e207cf9a0fb5aecd0a037cb1585c"
       },
@@ -8201,7 +8323,7 @@
         "mjcf_ms": 2.464164048433304,
         "compile_ms": 56.222733575850725,
         "graph_ms": 81.16377191618085,
-        "render_total_ms": 1865.1931039057672
+        "render_total_ms": 1647.685351781547
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8262,16 +8384,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 52.68557742238045,
-        "render_ms": 1643.5552258044481,
-        "compose_ms": 72.78889091685414,
-        "write_ms": 80.96908871084452,
-        "foreground_fraction": 0.6559583333333333
+        "compile_ms": 50.06825411692262,
+        "render_ms": 1430.0043871626258,
+        "compose_ms": 59.69755398109555,
+        "write_ms": 95.22121911868453,
+        "foreground_fraction": 0.6559583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "53bf71e48508a800ffa6cf911493cb89978dfc1157e6e09474bd5eff7c47c22a",
         "meshes.tar": "c79882ebe8a515d47a7c7225a0ce7d0bfb8b77e7969d59c393f2500c7698f567",
-        "render.png": "0c16124167472a325dc0ecfa5c028a61cbb84bd702c52c13bf197385bc403925",
+        "render.png": "d67661e2c1089eaa492fbc190f9df09fc3f16fb94e91aa8c200a766ef2d09944",
         "graph-raw.svg": "dc20c0552226f397b710c7cf58b549752dca25bd7fe0c55cfee538cbb5c0894b",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "7f7fb470cb7df5232a7d3800c7142a0231a603d9a334cd3cabd9cdc615014449"
@@ -8314,7 +8438,7 @@
         "mjcf_ms": 2.6869522407650948,
         "compile_ms": 147.3020133562386,
         "graph_ms": 150.0274920836091,
-        "render_total_ms": 1959.793949034065
+        "render_total_ms": 1750.7416983135045
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8362,16 +8486,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 187.10009614005685,
-        "render_ms": 1588.504530955106,
-        "compose_ms": 70.0793657451868,
-        "write_ms": 94.412034843117,
-        "foreground_fraction": 0.4631
+        "compile_ms": 121.38957111164927,
+        "render_ms": 1449.6841789223254,
+        "compose_ms": 55.35910790786147,
+        "write_ms": 111.35130282491446,
+        "foreground_fraction": 0.4631,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "ab62a9c62586021a9f7170ed241ed837ab4977f20e78d4a35a61ef188ed06193",
         "meshes.tar": "f5e78be29d306d3653dfe61b332ed99303c29f71d40d532e1d0372e2f9cfbee1",
-        "render.png": "4f2d61dc931f9b24d4ffcd42e77e1f38e7421f2ab7a69005c0342093d242f769",
+        "render.png": "ccfd48a71b0b8b8752a2eb003a3e206eb85b1b3a3a66a148f48ebd04ccd8a3c2",
         "graph-raw.svg": "0209cb7e92f30dfa1a96bd3c0537ab8a706abb4c5ee82168479fee441fb8ac7c",
         "graph-robot.svg": "ed955848d5686ddcdddf99ecf744b08dfae10f2658b29caffdef1ea55301bf3b"
       },
@@ -8409,7 +8535,7 @@
         "mjcf_ms": 2.3813126608729362,
         "compile_ms": 7.7852183021605015,
         "graph_ms": 344.9924378655851,
-        "render_total_ms": 1756.2254038639367
+        "render_total_ms": 1517.0798562467098
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8872,16 +8998,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.08504593744874,
-        "render_ms": 1578.2388397492468,
-        "compose_ms": 84.35227163136005,
-        "write_ms": 68.86101327836514,
-        "foreground_fraction": 0.78815
+        "compile_ms": 5.51946135237813,
+        "render_ms": 1362.9217557609081,
+        "compose_ms": 69.1445511765778,
+        "write_ms": 66.47248519584537,
+        "foreground_fraction": 0.78815,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "0bc77861559b5912daf8e609582dbbd39a9945e76eec92d4d67c480c40ac6457",
         "meshes.tar": "ef69ca7608e1b6baef93ad2b2597897fe7a8ab0eece63135f81776a9cea83aa5",
-        "render.png": "ce08f7e7c2ab9c215205404575e8240cdc66c863cfa68a604eceb0e88e929ec7",
+        "render.png": "744c366c7995ff943403431e3d5aacef654f68d5b23773d46dbdac2a0e0eb2a8",
         "graph-raw.svg": "482904f96214c98f2b89393140371bd075a4331b9f7f735d799cb8e941b08422",
         "graph-robot.svg": "8e145d5ad4c2e62441cd2961d406bf7693801cccf92fc0bef2b691ad9ab2c9f0"
       },
@@ -8923,7 +9051,7 @@
         "mjcf_ms": 3.131264355033636,
         "compile_ms": 283.23714062571526,
         "graph_ms": 146.39642275869846,
-        "render_total_ms": 2141.6489030234516
+        "render_total_ms": 2134.4319791533053
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8984,16 +9112,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 282.77515806257725,
-        "render_ms": 1710.061410907656,
-        "compose_ms": 59.87225100398064,
-        "write_ms": 71.8428292311728,
-        "foreground_fraction": 0.264
+        "compile_ms": 235.8034490607679,
+        "render_ms": 1762.8650171682239,
+        "compose_ms": 46.744100749492645,
+        "write_ms": 76.0920699685812,
+        "foreground_fraction": 0.264,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "32326ae14e509d0340ffc2ab317d6835ea0eaf3ad807cd62f1e36eab5df2d268",
         "meshes.tar": "cf779437af6138cb6b61b92d579cebf06145401fced533baa265aa94bdb031f8",
-        "render.png": "6999c0ad91bfdb0129e74a3cc17aa7545d2597242896b13cee8010fbcd7fd37c",
+        "render.png": "c093e7b150b3c29bc529b71660ed26db641be17c840f724ab4b5a9be2ab8d55f",
         "graph-raw.svg": "aa4f828d841a37f067656b2c5ceaff53f0ee6292694a2e3b592c844b32dc71c4",
         "graph-robot.svg": "d13e8fd24dabee20d2e8134d8ec276714941495baecb68159715b48c6cffcdf3"
       },
@@ -9027,7 +9157,7 @@
         "mjcf_ms": 2.7034911327064037,
         "compile_ms": 69.51969722285867,
         "graph_ms": 112.43613995611668,
-        "render_total_ms": 1934.669089037925
+        "render_total_ms": 1641.7063591070473
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9095,16 +9225,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 66.98468094691634,
-        "render_ms": 1664.1937280073762,
-        "compose_ms": 92.69152116030455,
-        "write_ms": 74.91584168747067,
-        "foreground_fraction": 0.6188
+        "compile_ms": 37.50731283798814,
+        "render_ms": 1460.254720877856,
+        "compose_ms": 60.76827412471175,
+        "write_ms": 70.14913018792868,
+        "foreground_fraction": 0.6188,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "171875e1d0e019248fb2ac9e0c8a12eeed1885487e80438b81ee6401acee1781",
         "meshes.tar": "3d889d08610879e2142d8ae46ceb508605349df7f930fad67cc1b08d161f9ad8",
-        "render.png": "4323df58b2f75a32a4a3652a9de4a6828395fc3c5d38d0eff9d2fe0d0cfaf68b",
+        "render.png": "131291d4e4820ca2ce3769fcf3ce204c144491b6e58450e2f7748d3287269e71",
         "graph-raw.svg": "1c31f4c040a7af159710c9a1c87ca961b39088a5a0d6326858d9be402e14a98a",
         "graph-robot.svg": "25149a82315eaabc519163ae56b40e1f1e0bad9a1fc2a6b06ca0a7c35025b38b",
         "robot.urdf": "84f3a9d538bf8c44a25fa22a9fba92efee22ad64f6bff92b8de1accc4a92a1c3"
@@ -9136,7 +9268,7 @@
         "mjcf_ms": 2.3388336412608624,
         "compile_ms": 17.920794896781445,
         "graph_ms": 72.8313741274178,
-        "render_total_ms": 1743.6299747787416
+        "render_total_ms": 1626.5175510197878
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9197,16 +9329,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.21761592105031,
-        "render_ms": 1539.4138977862895,
-        "compose_ms": 69.72749810665846,
-        "write_ms": 101.60085931420326,
-        "foreground_fraction": 0.7139
+        "compile_ms": 15.219635795801878,
+        "render_ms": 1402.0845987834036,
+        "compose_ms": 61.3865964114666,
+        "write_ms": 134.98442573472857,
+        "foreground_fraction": 0.7139,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "61d657fd0ec1ab98bdf8445ae5e894bdb6d00c667ddb5f6e3d270a11b4893213",
         "meshes.tar": "656691586149ad8ca6bd0da2ae502150c01a49d7e235ac46fab1ea006304d762",
-        "render.png": "4208526b2d29a743a16aec3241095390d72bf927ae531b808109a79ed568b860",
+        "render.png": "baea1802333fad2b332d7229d9a6a3fcd596219181c9934ad036f70aca3f83f7",
         "graph-raw.svg": "8a555c497e01fd49a8d98ee939570f34bfea6d8e928447eb96b3bc4f2e4322ec",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a9cb5eb5df083333888c3b870c79076ff604c50a499c1e857d8c1048a89a0f5f"
@@ -9238,7 +9372,7 @@
         "mjcf_ms": 2.6484979316592216,
         "compile_ms": 119.25816675648093,
         "graph_ms": 218.63766061142087,
-        "render_total_ms": 1968.7650809064507
+        "render_total_ms": 1771.5994566679
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9299,16 +9433,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 126.58170470967889,
-        "render_ms": 1646.6424982063472,
-        "compose_ms": 75.26928232982755,
-        "write_ms": 104.61963200941682,
-        "foreground_fraction": 0.56485
+        "compile_ms": 137.58612889796495,
+        "render_ms": 1423.1404233723879,
+        "compose_ms": 61.95866269990802,
+        "write_ms": 135.71752840653062,
+        "foreground_fraction": 0.56485,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "bb83e303b3c0e8ad215c018d5812aedb39f769bcc087da99086da6c14fb9ea2d",
         "meshes.tar": "0254d25a27ad919411b6c86468dfdba5861b6df0445ee4c7fc929fafe5feb66f",
-        "render.png": "5210d08eb62470d0471d7ba323bd251f1a40f82a38b077fff5f4d27d821655c5",
+        "render.png": "18a0dc53f7b01b405005b709f6d4ca331a243550920d4a447465e17d3e62083b",
         "graph-raw.svg": "6de791093694e987c7c3912b850e944e7ac44b4414afe643942fc1644ad5d9c0",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3b703d4c2678c658ea0f2183f14fe41a77c51ce7e033b0bddf8a3349d2eecf4e"
@@ -9350,7 +9486,7 @@
         "mjcf_ms": 2.543850801885128,
         "compile_ms": 80.09241474792361,
         "graph_ms": 149.71021795645356,
-        "render_total_ms": 1872.5877050310373
+        "render_total_ms": 1726.8493552692235
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9417,16 +9553,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 70.62236173078418,
-        "render_ms": 1590.8330157399178,
-        "compose_ms": 88.37553299963474,
-        "write_ms": 99.73819693550467,
-        "foreground_fraction": 0.766675
+        "compile_ms": 68.61619325354695,
+        "render_ms": 1437.0390009135008,
+        "compose_ms": 76.07133127748966,
+        "write_ms": 131.78034173324704,
+        "foreground_fraction": 0.766675,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "07525c893fd2056166b0f284746c169283999eb124058975b6ebe6206e706612",
         "meshes.tar": "6c1d77ef6f36369b93e09e556c554021c0368f7702d0384e98fdb025a9845bf7",
-        "render.png": "0f6ba6a059a2c29334899c365a268ed14180f6561bc9f4b863575656deff0660",
+        "render.png": "6828685e3f6adf1fe756540f6f689820fdb8882e19864941c130af0b958b790b",
         "graph-raw.svg": "82085a41803c8d61edf1e3a645c193a7cf02f1b52c2ba109ff17f5a7d4518053",
         "graph-robot.svg": "b53e0d9b013e6de8c2c560d7fbc8c9c0caf7cb4103bfb73c0ca57d3e33bdb19a"
       },
@@ -9464,7 +9602,7 @@
         "mjcf_ms": 2.193882130086422,
         "compile_ms": 5.84386894479394,
         "graph_ms": 76.22330915182829,
-        "render_total_ms": 1767.2105063684285
+        "render_total_ms": 1515.6538900919259
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9519,16 +9657,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.089675076305866,
-        "render_ms": 1625.3846818581223,
-        "compose_ms": 59.89905400201678,
-        "write_ms": 62.093405053019524,
-        "foreground_fraction": 0.2167
+        "compile_ms": 5.446251947432756,
+        "render_ms": 1383.8480398990214,
+        "compose_ms": 47.819171100854874,
+        "write_ms": 66.01889990270138,
+        "foreground_fraction": 0.2167,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b1710f6e9a08fca97482f962595a2d3862a707c330946dffd27b3d70488645d1",
         "meshes.tar": "30adbb9c125e6d766ae8396a7ff993b8be05ad97efe955fe18e43d39105fc59f",
-        "render.png": "8f397b733e3f2f006e644c3fdb503238e79815f393ad50cfc00b12ad5048848d",
+        "render.png": "d91675399fb7c503bb1295b591e76a6d3119b3cd1f00ab20885f0ab9c8fbdf2d",
         "graph-raw.svg": "014dfa080ea3f41bae1dc3f3f0976cef72af9483dab140e0475a806c09530110",
         "graph-robot.svg": "dbb8aca7caa2607d4407120bbcd9cf76bcde070f827ccce7cb7fab0e22f5bbcc"
       },
@@ -9568,7 +9708,7 @@
         "mjcf_ms": 2.413892187178135,
         "compile_ms": 4.559711087495089,
         "graph_ms": 92.08560129627585,
-        "render_total_ms": 1732.3141917586327
+        "render_total_ms": 1543.6228881590068
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9641,16 +9781,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.025723949074745,
-        "render_ms": 1561.3797171972692,
-        "compose_ms": 80.73045499622822,
-        "write_ms": 65.72394212707877,
-        "foreground_fraction": 0.49335
+        "compile_ms": 5.123310722410679,
+        "render_ms": 1393.940030131489,
+        "compose_ms": 63.97630227729678,
+        "write_ms": 67.34275398775935,
+        "foreground_fraction": 0.49335,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "7820fbace4c692ae92e2ef6fd34e68ec99e9d63650d4c985e4282bd443d53d6c",
         "meshes.tar": "487424f07625859bffcde20cbb73bd2f7d50c8353289c68254f65a33266dc20e",
-        "render.png": "44b95db5bed25c06be470a811fade675b897a901ace03b66a969f9f681c6b34e",
+        "render.png": "a07f2e7a6d1f78d371270d8ecc3f46525a47a75f9ee60721f39ab821cddf699c",
         "graph-raw.svg": "2c0d9e66f81f8a2d88e955c493ab12017f3fa9536fb89c6235506c12e2e64c18",
         "graph-robot.svg": "1559d60d12c92487e07d4a252fef6a4ed9daa3d707dd8f50f53a1b49e1f27f32"
       },
@@ -9685,7 +9827,7 @@
         "mjcf_ms": 3.0896677635610104,
         "compile_ms": 38.74183585867286,
         "graph_ms": 153.74593064188957,
-        "render_total_ms": 2018.2241178117692
+        "render_total_ms": 1583.7495368905365
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9753,16 +9895,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 37.185302935540676,
-        "render_ms": 1823.7503929995,
-        "compose_ms": 61.19974376633763,
-        "write_ms": 79.35603568330407,
-        "foreground_fraction": 0.3619
+        "compile_ms": 19.70797311514616,
+        "render_ms": 1415.765779092908,
+        "compose_ms": 50.02062488347292,
+        "write_ms": 85.53195698186755,
+        "foreground_fraction": 0.3619,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "c947d2b359bbbc1c4ba54fcbdabd4be063cb38c970ae44e3322a83aa04c7538b",
         "meshes.tar": "0df24e78f5349ab72b826785a191dc81f7cc844ffe1b991d6f339c73c28f55fc",
-        "render.png": "629887536754ededd704a0e83d94158dea7fb667914620cb807790e94049ac4f",
+        "render.png": "b3de1f6ac3fc68623e047e5a92dbbea3e7383634a7e861e1d0ec41fb03ad2ce6",
         "graph-raw.svg": "d47da0761bd121608725bb84cb884bf9c8791b3bebf3130ec29ba4814369e4bd",
         "graph-robot.svg": "b3b00b1be7f794d9072c097078af41400b7d9e6558c08d422706309dc366278c",
         "robot.urdf": "f5e5dbe3eddcd9fa31286ae5a91bfaa7104a1b179a25a90f7f8aebcb24edb88f"
@@ -9804,7 +9948,7 @@
         "mjcf_ms": 2.6873769238591194,
         "compile_ms": 9.31227020919323,
         "graph_ms": 99.47521984577179,
-        "render_total_ms": 1864.8665389046073
+        "render_total_ms": 1497.6086150854826
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9859,16 +10003,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.658609051257372,
-        "render_ms": 1705.9729839675128,
-        "compose_ms": 73.46415286883712,
-        "write_ms": 50.37152115255594,
-        "foreground_fraction": 0.26769166666666666
+        "compile_ms": 10.098495986312628,
+        "render_ms": 1373.9272318780422,
+        "compose_ms": 52.651744801551104,
+        "write_ms": 48.2331570237875,
+        "foreground_fraction": 0.26769166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "33174d10c3624e5bde7458383105b92be0c4124447517dd504f364cf2ad69086",
         "meshes.tar": "9ae32359cbac7195f1cbba0c4a13ad1aa4ae9f86d36f9494072419bbc35d3586",
-        "render.png": "047c75d75401a1b2ef742c5a3528f6c035d7cbd5cbae91a722eaca8880fe1c50",
+        "render.png": "ab188635088fac40f8b9f620b04d3f4b223e60d8dd8901b44ba552db35327be4",
         "graph-raw.svg": "8b720c0705113761c89de4e1ee1612db4b36f7e1db29b7a1fe1ea6baace98ee6",
         "graph-robot.svg": "2544b03947d64eb50ec57e79a10aa35e9e99c50171b1ac35a1f64dd59dcd3bc1"
       },
@@ -9906,7 +10052,7 @@
         "mjcf_ms": 2.498260699212551,
         "compile_ms": 140.92942420393229,
         "graph_ms": 78.97282810881734,
-        "render_total_ms": 1978.5459409467876
+        "render_total_ms": 1740.9179089590907
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9961,16 +10107,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 138.67561984807253,
-        "render_ms": 1667.4324478954077,
-        "compose_ms": 66.20349315926433,
-        "write_ms": 84.58379376679659,
-        "foreground_fraction": 0.3289
+        "compile_ms": 137.9430373199284,
+        "render_ms": 1447.3105669021606,
+        "compose_ms": 51.04381265118718,
+        "write_ms": 91.68599406257272,
+        "foreground_fraction": 0.3289,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "7d3e3b531eb292c63f8da001f81a9d632ebfcd7e1a29941f86140ffc223f3989",
         "meshes.tar": "e0c69e38684288f50a9fb9777bcb275bed512d1cc11dd3dfa75775cf9d8bb71d",
-        "render.png": "2c264526056a65811ebaf373b90f5a258c2d9f71366c030f5bd55c333199c6fd",
+        "render.png": "56b154110f2286ec7f700e278375da256a1a61556c0e010a7fa23675b8b27874",
         "graph-raw.svg": "7d73a13c5c558e42f8dc2bd8dabc4f58ba90ec9f0956dcc0d240b257a7de2fc9",
         "graph-robot.svg": "dbb8aca7caa2607d4407120bbcd9cf76bcde070f827ccce7cb7fab0e22f5bbcc"
       },
@@ -10003,7 +10151,7 @@
         "mjcf_ms": 2.980134915560484,
         "compile_ms": 329.49118968099356,
         "graph_ms": 135.77765226364136,
-        "render_total_ms": 2674.48439495638
+        "render_total_ms": 2032.6907970011234
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10064,16 +10212,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 287.8339160233736,
-        "render_ms": 2143.2745177298784,
-        "compose_ms": 85.24088095873594,
-        "write_ms": 134.79676377028227,
-        "foreground_fraction": 0.67155
+        "compile_ms": 208.97683128714561,
+        "render_ms": 1599.7671452350914,
+        "compose_ms": 63.618685118854046,
+        "write_ms": 145.60411730781198,
+        "foreground_fraction": 0.67155,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "313ef9ebdefa6782c5a98392fcca61ffbe2da16fd5d906acae1be79dfaa2cc06",
         "meshes.tar": "113f013664f0683eaa3a5d2b346fc431f72893ef87e9acfe616bf6b745421445",
-        "render.png": "efe8359e46ac3291d488397998cb9d002f3956fa1e7a72a3af0ce063d328ef4f",
+        "render.png": "0fc9b2122200746cae72a14846103215c9e4495f331b6c0c4445352a9377124f",
         "graph-raw.svg": "d1fb5afd82f06e52eaea7f6c89e4c0257caa3e21a787da0c74a708c5b916e694",
         "graph-robot.svg": "478ddd578355900a03209e18ca45370362ca8dde4613f1011baf025ab47e7853",
         "robot.urdf": "cbba7ae780266b63b3d803d23244bddd2aba5a9862690bf1bc8a86e81ac599cc"
@@ -10107,7 +10257,7 @@
         "mjcf_ms": 2.9310020618140697,
         "compile_ms": 188.53018200024962,
         "graph_ms": 105.75394006446004,
-        "render_total_ms": 2187.615825794637
+        "render_total_ms": 1867.1299233101308
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10168,16 +10318,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 182.6288653537631,
-        "render_ms": 1773.5114358365536,
-        "compose_ms": 84.55869788303971,
-        "write_ms": 126.01743498817086,
-        "foreground_fraction": 0.7271
+        "compile_ms": 123.19719232618809,
+        "render_ms": 1519.7443142533302,
+        "compose_ms": 69.97093511745334,
+        "write_ms": 137.95104483142495,
+        "foreground_fraction": 0.7271,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "a3b926c862805148428743eb9bac22d4203f8845d72b39dbbf828db80a04f9a0",
         "meshes.tar": "337c36a89947f3aacac8446bb8d3b56ec3cb694358f72451907f1a4a61a36c66",
-        "render.png": "c796146b0f79b76056e0bcba1a430a11a4e6fbca452572b8741f763389dd83a9",
+        "render.png": "6845fd129f470fc5e3cfdca6ffaa622b7c25d59834c11dbc716d89512b4ec72f",
         "graph-raw.svg": "d3e4f4faa7f92bf0a1392aabdcbb6a4300cdc275f6ce9f60266732da0a97c456",
         "graph-robot.svg": "1d5ea2d39618a9061c6f81fb4c9870430170966a4ce031b7cda0e1515e569f4a",
         "robot.urdf": "15ed27723297ed451293c33ab63f947e05c64ab2a352cbf649f77b37032e2a85"
@@ -10211,7 +10363,7 @@
         "mjcf_ms": 2.809306140989065,
         "compile_ms": 368.9454812556505,
         "graph_ms": 129.5565445907414,
-        "render_total_ms": 2307.014044839889
+        "render_total_ms": 2013.5805788449943
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10272,16 +10424,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 273.24170619249344,
-        "render_ms": 1795.1185130514205,
-        "compose_ms": 82.36051397398114,
-        "write_ms": 135.120103135705,
-        "foreground_fraction": 0.67155
+        "compile_ms": 176.8417931161821,
+        "render_ms": 1612.0936027728021,
+        "compose_ms": 63.29722376540303,
+        "write_ms": 146.21706493198872,
+        "foreground_fraction": 0.67155,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "518234bd19c75d9a37b4dc0c1aaa0668d07d318627326f2acb20297dc018144b",
         "meshes.tar": "113f013664f0683eaa3a5d2b346fc431f72893ef87e9acfe616bf6b745421445",
-        "render.png": "efe8359e46ac3291d488397998cb9d002f3956fa1e7a72a3af0ce063d328ef4f",
+        "render.png": "03be04ed1cfbd0210f9fbdc1a538cbaf1d17be8bd64da9774635d4d86ec7b8a3",
         "graph-raw.svg": "d1fb5afd82f06e52eaea7f6c89e4c0257caa3e21a787da0c74a708c5b916e694",
         "graph-robot.svg": "478ddd578355900a03209e18ca45370362ca8dde4613f1011baf025ab47e7853",
         "robot.urdf": "77ec171ed602e470dec35e94791092cd77e185456b480de77e3797b208dc5947"
@@ -10322,7 +10476,7 @@
         "mjcf_ms": 4.757153335958719,
         "compile_ms": 338.33123184740543,
         "graph_ms": 137.4911731109023,
-        "render_total_ms": 2377.3244242183864
+        "render_total_ms": 2027.6808659546077
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10370,16 +10524,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 329.16546519845724,
-        "render_ms": 1812.8634272143245,
-        "compose_ms": 90.48690693452954,
-        "write_ms": 120.85759406909347,
-        "foreground_fraction": 0.59565
+        "compile_ms": 171.36266734451056,
+        "render_ms": 1643.0015568621457,
+        "compose_ms": 68.50643595680594,
+        "write_ms": 129.8790299333632,
+        "foreground_fraction": 0.59565,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "b3a2eb987ceb8d0ae1045c80088005f630fce4b56ac6b3cd04a0d980598a4182",
         "meshes.tar": "e172b68d453ed1850ed30d383451f53501f2b2c4c39016d578ede38141051033",
-        "render.png": "820edc318e844e67d0c208f342796fa818a19f88547611dee84f3c899b312e6c",
+        "render.png": "5de94d35c9a98dde30c68c6fa5b1d74dada6e1534cda6452c978548bef519e40",
         "graph-raw.svg": "ceac471cd17aaa1cbb22935864ecc7608dfabda3808548f37f4323a57f1a7db2",
         "graph-robot.svg": "f8575e3e4c30e4f16d1be00553072d3911490f751272d3afae5d8c3774a146fb"
       },
@@ -10417,7 +10573,7 @@
         "mjcf_ms": 2.2986577823758125,
         "compile_ms": 4.899893421679735,
         "graph_ms": 125.39419811218977,
-        "render_total_ms": 1727.176709100604
+        "render_total_ms": 1632.0072649978101
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10538,16 +10694,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.689523182809353,
-        "render_ms": 1526.7506469972432,
-        "compose_ms": 77.87552429363132,
-        "write_ms": 91.55971696600318,
-        "foreground_fraction": 0.716625
+        "compile_ms": 7.264557760208845,
+        "render_ms": 1407.84866316244,
+        "compose_ms": 75.41809836402535,
+        "write_ms": 125.0304039567709,
+        "foreground_fraction": 0.716625,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "8d29b18c0f413d14d52d81bf8f74d22dcc1d157a76fe30c45ea180896859b7a1",
         "meshes.tar": "cd5d9cdeb0f1a09240e6655c175b4e4c0fedfca68ddd2cf9e970e04ef242638c",
-        "render.png": "cb88c3da8f1705774a70aee1d44743301bc6b030ede6df89e587ae968ee28479",
+        "render.png": "f96b30327bb73a117c8e62d23ab7e794eb91b50387fa74e7f66da19616b620b8",
         "graph-raw.svg": "a20e14780ed0305b5dd921f7b95fafff63075a4193dc26b0c72b8d50ec398904",
         "graph-robot.svg": "69053e0499bb51b5cf53e26122eb112a20f349f59f7e4431c2fd6c279e2b87d9"
       },
@@ -10610,7 +10768,7 @@
         "mjcf_ms": 537.946738768369,
         "compile_ms": 609.9150320515037,
         "graph_ms": 2912.8789911046624,
-        "render_total_ms": 2812.183904927224
+        "render_total_ms": 2524.968411773443
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11889,16 +12047,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 835.8005536720157,
-        "render_ms": 1808.5289509035647,
-        "compose_ms": 72.9941250756383,
-        "write_ms": 75.26209903880954,
-        "foreground_fraction": 0.70895
+        "compile_ms": 692.884957883507,
+        "render_ms": 1669.1914037801325,
+        "compose_ms": 68.94606119021773,
+        "write_ms": 76.79700292646885,
+        "foreground_fraction": 0.70895,
+        "style": "link-palette-v1",
+        "colored_bodies": 99
       },
       "artifacts": {
         "robot.mjcf": "9a060197bfe670c0e901db1cbdbad013ec02587afb5177e6e51df1a7c9d7071a",
         "meshes.tar": "0e6f1aafc4e4aaaed409328fc1a648078af801486495918269de85debe705db0",
-        "render.png": "0eb98345e8e42cc1489a19e00fcb7a0f7691ccd23be6692e9f8294a39f6890a1",
+        "render.png": "0497ab7538c0cb24e39a0f426448519f9d9efb3a3794b11ed43ce7a26bf7f93b",
         "graph-raw.svg": "e9fe9f6f3efb25496d10366d5ac39f6b3e94853c7651feb1cda9588c664f7a83",
         "graph-robot.svg": "7d6bf8c108c87983786fde956f32e7a5f9c0afc7aed9b98cd59014cf72d4ddac"
       },
@@ -11949,7 +12109,7 @@
         "mjcf_ms": 13.448663055896759,
         "compile_ms": 1543.1234738789499,
         "graph_ms": 1997.0958731137216,
-        "render_total_ms": 4197.448153980076
+        "render_total_ms": 3139.7265708073974
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13186,16 +13346,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2144.170130137354,
-        "render_ms": 1896.5133940801024,
-        "compose_ms": 70.97034575417638,
-        "write_ms": 66.46710587665439,
-        "foreground_fraction": 0.6946333333333333
+        "compile_ms": 1230.6967861950397,
+        "render_ms": 1758.5469442419708,
+        "compose_ms": 64.45820163935423,
+        "write_ms": 66.43314100801945,
+        "foreground_fraction": 0.6946333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 55
       },
       "artifacts": {
         "robot.mjcf": "9f8211c355e3967bb4431a1f58c15f25c1b782793be17a8c3058c3861c082375",
         "meshes.tar": "3f5e41401153ae95fdf0deceb25e681422cddf2dc97eac405e4f0f70c16d6aab",
-        "render.png": "6cdbbedab19c4db160f09afd9e5cfcbc5d73270b8129c6152ab32a077530b81b",
+        "render.png": "fb3dc13ae1e26a4ae7e71b3c91ec3693b8b0c06a11739cfa0110f69389458332",
         "graph-raw.svg": "ae014fb4193dbb38699e76010191f209b42861b3bf1d4841e308b77e21c1e43b",
         "graph-robot.svg": "7060cf73c3e09208d453430f537ee9dcafd000c882de91e3767c7f5a53d9e10e"
       },
@@ -13270,7 +13432,7 @@
         "mjcf_ms": 339.89333687350154,
         "compile_ms": 3137.5124738551676,
         "graph_ms": 6084.620060864836,
-        "render_total_ms": 6418.497264385223
+        "render_total_ms": 5292.306795716286
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16235,16 +16397,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3563.421478960663,
-        "render_ms": 2679.6616287901998,
-        "compose_ms": 73.28046578913927,
-        "write_ms": 70.52697008475661,
-        "foreground_fraction": 0.74525
+        "compile_ms": 2816.286601126194,
+        "render_ms": 2310.2027690038085,
+        "compose_ms": 64.18851995840669,
+        "write_ms": 72.47757073491812,
+        "foreground_fraction": 0.74525,
+        "style": "link-palette-v1",
+        "colored_bodies": 269
       },
       "artifacts": {
         "robot.mjcf": "b331ac7e3317abe5810b0d650f8e5cac38ca11f432ff040a559ef70fc7cca805",
         "meshes.tar": "97abfc85f9667f2e806589bf775628acc87d76e34ae129eb6a122eb144bdd0b7",
-        "render.png": "55cb9d2cf8173602fde814e19a77a8b464b182a70a203d9ed7f1b31bcf82267d",
+        "render.png": "e6d5e4d24e40e03c2f874ac310ad377b70960b56e1b97a391258d87bbc83569b",
         "graph-raw.svg": "aaf04d4320dcd93c85522b00be7a5363f280b3e689d45b04d3a384b3f5dd27b4",
         "graph-robot.svg": "75078fb58de4b80b58266b4c1b79661f7b32ee30ce0829a3131aa7fa7baf598b"
       },
@@ -16294,7 +16458,7 @@
         "mjcf_ms": 11.283562052994967,
         "compile_ms": 159.68055184930563,
         "graph_ms": 1266.207863111049,
-        "render_total_ms": 1877.589006908238
+        "render_total_ms": 1630.5729621089995
       },
       "mesh_preparation": {
         "status": "complete",
@@ -17129,16 +17293,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 119.80379233136773,
-        "render_ms": 1582.3551341891289,
-        "compose_ms": 79.91181965917349,
-        "write_ms": 72.99916399642825,
-        "foreground_fraction": 0.6281
+        "compile_ms": 97.0010100863874,
+        "render_ms": 1387.9534131847322,
+        "compose_ms": 61.098715756088495,
+        "write_ms": 70.9946509450674,
+        "foreground_fraction": 0.6281,
+        "style": "link-palette-v1",
+        "colored_bodies": 49
       },
       "artifacts": {
         "robot.mjcf": "4646632aeca70de96600d3442de5d6b04d9358d2a4126544aca24f3a9fe39ff2",
         "meshes.tar": "ab831f05ef61f25289d1539a538080229fa2bd02fa71c7c82601dd6b141915f5",
-        "render.png": "678571501e7647a0484d04bb935e51d6f411ab2e1310bcabf92bc7b21afe5fca",
+        "render.png": "eaf47b454176e9062210b42053523557a3908e954642b478a4793ff39a005cee",
         "graph-raw.svg": "b2a23cfeeb61b9234a46d4825487358ed6eda696ae6d07c4d5daa714e1e75be6",
         "graph-robot.svg": "f3cfd34198af97d6487154f470da4bbac51527985da1fbb97db483cb695e5d48"
       },
@@ -17177,7 +17343,7 @@
         "mjcf_ms": 3.9489222690463066,
         "compile_ms": 660.5532197281718,
         "graph_ms": 683.4016181528568,
-        "render_total_ms": 2498.3401871286333
+        "render_total_ms": 2107.1729585528374
       },
       "mesh_preparation": {
         "status": "complete",
@@ -17737,16 +17903,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 452.624199911952,
-        "render_ms": 1859.4772899523377,
-        "compose_ms": 77.01324112713337,
-        "write_ms": 69.46821231395006,
-        "foreground_fraction": 0.6385166666666666
+        "compile_ms": 469.19762529432774,
+        "render_ms": 1494.0193663351238,
+        "compose_ms": 65.0611617602408,
+        "write_ms": 66.16623885929585,
+        "foreground_fraction": 0.6385166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "ab113e1432798a6d5f0f4c65493fa0c3cd27007cef993964f06cccdccf5563a7",
         "meshes.tar": "a18870913877d4c3dfc811f6adfcc6207c502b9b94b6e8842ab317ef159e1613",
-        "render.png": "06bc6bf43b684f335fd1a04aca3f7a93a94f67d7cdf4f1efd5eb1782498f1b4c",
+        "render.png": "05cbc888a71cd8b7303abb8f4c0126f3bd5607fd712940354ed77856caefdb73",
         "graph-raw.svg": "ef78d9aee83d8fa7288d9c677ae5710ffa1cd3f50f51c5744d3f283e1dec1a56",
         "graph-robot.svg": "027dd48aca82b3b3ed0dd4fe2a3023c00d98ddfd119a5a9775dd667eff4dee6f",
         "robot.urdf": "70459ec8bce5b61a884a2634bf46078fc1a8c1bdb838b6d7e85f8bca1bc1daff"
@@ -17794,7 +17962,7 @@
         "mjcf_ms": 5.700815934687853,
         "compile_ms": 1172.9751098901033,
         "graph_ms": 1526.6978349536657,
-        "render_total_ms": 3707.7552010305226
+        "render_total_ms": 3028.246222063899
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18917,16 +19085,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1447.5406240671873,
-        "render_ms": 2093.2679339312017,
-        "compose_ms": 75.99860895425081,
-        "write_ms": 64.83224872499704,
-        "foreground_fraction": 0.634725
+        "compile_ms": 1142.4346333369613,
+        "render_ms": 1749.9321047216654,
+        "compose_ms": 58.65424778312445,
+        "write_ms": 63.51066892966628,
+        "foreground_fraction": 0.634725,
+        "style": "link-palette-v1",
+        "colored_bodies": 16
       },
       "artifacts": {
         "robot.mjcf": "8733c23da7d27e5f5973912f2aecc569c31a645d5d4fb187b6f8737844e730c8",
         "meshes.tar": "c2d61a9f85695d6cc3586793a9621fddb0e8b6cee924310d6fe7f8b471f1f070",
-        "render.png": "63a073f7f8aeca5e589fa882bffb22bc7973d7196e19d16a58bad39437bee4b4",
+        "render.png": "eff120c8fa007ef2280ec9cffb23f9fd339903519a0ef6d62f83cda86c467687",
         "graph-raw.svg": "ecddc074519d15002e136e5ce58951b6a477b12569b24b5eb68577c92c8a37bf",
         "graph-robot.svg": "41763d77b38b013f0cd62263412d32b3e3c4f8722e213e9c4cf5740fc2c503bd"
       },
@@ -18989,7 +19159,7 @@
         "mjcf_ms": 80.14949318021536,
         "compile_ms": 930.9120289981365,
         "graph_ms": 2986.26080295071,
-        "render_total_ms": 3101.8412178382277
+        "render_total_ms": 2467.3688411712646
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20514,16 +20684,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 985.3473347611725,
-        "render_ms": 1963.7206941843033,
-        "compose_ms": 68.79732524976134,
-        "write_ms": 66.26318814232945,
-        "foreground_fraction": 0.70015
+        "compile_ms": 624.0153447724879,
+        "render_ms": 1692.4991076812148,
+        "compose_ms": 66.74118805676699,
+        "write_ms": 71.16910303011537,
+        "foreground_fraction": 0.70015,
+        "style": "link-palette-v1",
+        "colored_bodies": 99
       },
       "artifacts": {
         "robot.mjcf": "f50a256bc9fda4a9886768fba13ecec668d00be6224317eb66c0b1b19edefbba",
         "meshes.tar": "d1db0d04bb25bca4705e926556d71d118fcf4e63ce5638012f29eb0454c74a60",
-        "render.png": "a40f9d0d421aa98666227b659347cd333d6084eb3900bdd914d619acb6bc0fee",
+        "render.png": "64b0613ec8ebd723e1146618b5cd330374c654678438069484e44efd891ee360",
         "graph-raw.svg": "e9fe9f6f3efb25496d10366d5ac39f6b3e94853c7651feb1cda9588c664f7a83",
         "graph-robot.svg": "7d6bf8c108c87983786fde956f32e7a5f9c0afc7aed9b98cd59014cf72d4ddac"
       },
@@ -20579,7 +20751,7 @@
         "mjcf_ms": 5.088284146040678,
         "compile_ms": 301.67020903900266,
         "graph_ms": 417.0117159374058,
-        "render_total_ms": 2330.3805757313967
+        "render_total_ms": 1992.6240351051092
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20742,16 +20914,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 402.1172160282731,
-        "render_ms": 1750.248763244599,
-        "compose_ms": 71.74267712980509,
-        "write_ms": 83.34667980670929,
-        "foreground_fraction": 0.62975
+        "compile_ms": 323.87320371344686,
+        "render_ms": 1510.2413888089359,
+        "compose_ms": 57.643608655780554,
+        "write_ms": 87.58821617811918,
+        "foreground_fraction": 0.62975,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "c51eaac14b58e97214850b1c528747ac8e03e1596caa968a6ab2e1b2fb419f75",
         "meshes.tar": "2db8144d96a0b09cdefd0810849e7017a15e7b113a6705cb65568f91b2c83a56",
-        "render.png": "e8625038c5d29121beeb0f25c1b09554d792be1fed4d6a59e52827f01f8fffe5",
+        "render.png": "1fbb9f4300c85638935856046ea57452d7f110753323e519d4d5cfa965ac710c",
         "graph-raw.svg": "e97f4e66073ad417bc4c629c99be16cbe56d630fd4fa8a5a8345d445224f8cf0",
         "graph-robot.svg": "e08ae02865c17580c548713e58039831369c17037e9f6a0e515918287abe6687"
       },
@@ -20798,7 +20972,7 @@
         "mjcf_ms": 3.984663635492325,
         "compile_ms": 410.7144707813859,
         "graph_ms": 563.9803525991738,
-        "render_total_ms": 2528.528253082186
+        "render_total_ms": 2012.2000221163034
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21333,16 +21507,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 647.5794459693134,
-        "render_ms": 1707.1694461628795,
-        "compose_ms": 85.7918611727655,
-        "write_ms": 68.09402583166957,
-        "foreground_fraction": 0.7022166666666667
+        "compile_ms": 371.24053388834,
+        "render_ms": 1489.4419820047915,
+        "compose_ms": 63.33205895498395,
+        "write_ms": 74.91602981463075,
+        "foreground_fraction": 0.7022166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "4181b30bf027040f1617281986e6b35de71db869c32d15b9236ebacf9206ae5e",
         "meshes.tar": "61d2d3420772212bbd207671bdff9e8a0e15b50d7e22305adeadf2575b17255b",
-        "render.png": "094f3d721fcdab20e682cb72adbf62861aadc8396a25f041967b78a6aa9915a3",
+        "render.png": "574b037bb5c3bf03500e5289a43143c27f46753cfa8d2167d17733af7483c101",
         "graph-raw.svg": "c5081b77a38c9829597934e3bab84507e2aa02c4677457e226d9a746cfb8da04",
         "graph-robot.svg": "5d977b69110c2e63e1b53db77e142130bb7101e94112223336b9f3046023c52b"
       },
@@ -21411,7 +21587,7 @@
         "mjcf_ms": 307.77179496362805,
         "compile_ms": 73695.39580307901,
         "graph_ms": 9998.21923719719,
-        "render_total_ms": 92936.36433081701
+        "render_total_ms": 87851.86241427436
       },
       "mesh_preparation": {
         "status": "complete",
@@ -22834,16 +23010,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 74377.54367105663,
-        "render_ms": 18207.523630931973,
-        "compose_ms": 73.76769417896867,
-        "write_ms": 67.01754778623581,
-        "foreground_fraction": 0.67045
+        "compile_ms": 70183.60347207636,
+        "render_ms": 17324.904412031174,
+        "compose_ms": 65.29633095487952,
+        "write_ms": 71.5020140632987,
+        "foreground_fraction": 0.67045,
+        "style": "link-palette-v1",
+        "colored_bodies": 507
       },
       "artifacts": {
         "robot.mjcf": "2c05b8941f7a298d3d9b0d441a5c44517aa07f10aa03d0f5396c2f8f4eb9bdd3",
         "meshes.tar": "9567dcf723b8d19d849046a2efa2041282b8f10ffc938c2731452720397aa259",
-        "render.png": "b2e12eeb4f09d692e980d03c42ce9721bb04faa4c5879b4a4b0d10d3d9ef02c9",
+        "render.png": "2cbbc37bad526540950d1be049c6706c2c2588f5b07dc7eea0e08194959309dd",
         "graph-raw.svg": "4420e358c97f7d698b9b11409cebba24edfed47a11b3ebf4444981e08833c2e5",
         "graph-robot.svg": "12c8fe717869b0b1c30a298306ee1998d47cb04cca063a5c9ad295a7df6b28af"
       },
@@ -22890,7 +23068,7 @@
         "mjcf_ms": 5.632512271404266,
         "compile_ms": 1967.5050638616085,
         "graph_ms": 1340.2966200374067,
-        "render_total_ms": 3405.4118916392326
+        "render_total_ms": 3026.5705320052803
       },
       "mesh_preparation": {
         "status": "complete",
@@ -23995,16 +24173,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1338.7886108830571,
-        "render_ms": 1912.9957747645676,
-        "compose_ms": 72.82414054498076,
-        "write_ms": 71.51799881830812,
-        "foreground_fraction": 0.6633
+        "compile_ms": 1443.334321025759,
+        "render_ms": 1434.5284490846097,
+        "compose_ms": 65.6896959990263,
+        "write_ms": 70.51532296463847,
+        "foreground_fraction": 0.6633,
+        "style": "link-palette-v1",
+        "colored_bodies": 17
       },
       "artifacts": {
         "robot.mjcf": "6a2d3920e02a53f879bd34ebd27ac31d01d3523d1d976fb5d27ac4098d8ff86b",
         "meshes.tar": "c7fafc6e2376bc0fa13c0ea97ed6e4bdb954f1f1f54274714dbeeb2422f4fd57",
-        "render.png": "6caf04257a7be642d4a919fd0998acb07d231c4a96ed509d83edbef477709f5d",
+        "render.png": "0864bc7eebed718c42dce394799b8ba4f5e4cbf0bda0d250097cf2634b6a7cd0",
         "graph-raw.svg": "7b1959561565a88ec8ea3f2a1791e106abf616eaf7c157036043e3bb64a42676",
         "graph-robot.svg": "30b25bb36ee2776334be2d455960230cbcf8e08a5ade8fd66c448f3d5a0735d6"
       },
@@ -24078,7 +24258,7 @@
         "mjcf_ms": 68.88111215084791,
         "compile_ms": 3517.266525886953,
         "graph_ms": 6044.8132320307195,
-        "render_total_ms": 6171.333394944668
+        "render_total_ms": 4717.044941149652
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26629,16 +26809,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3212.4926149845123,
-        "render_ms": 2783.9071028865874,
-        "compose_ms": 78.6535358056426,
-        "write_ms": 83.18118704482913,
-        "foreground_fraction": 0.7359
+        "compile_ms": 2574.6767236851156,
+        "render_ms": 1977.1626559086144,
+        "compose_ms": 64.25501825287938,
+        "write_ms": 89.3866322003305,
+        "foreground_fraction": 0.7359,
+        "style": "link-palette-v1",
+        "colored_bodies": 269
       },
       "artifacts": {
         "robot.mjcf": "dced37709211c195f839d377cbe59fdd41d6301ec7447b700af31b6ec3344b1c",
         "meshes.tar": "a2ffcf59951df56aefd2ea818f08f57e1120fa44a9fbae4ff8ade6735f726f63",
-        "render.png": "ae71e8dfcadd274a643d5aab8d870660e60ee78c7fd2b06967d9edc7904b662b",
+        "render.png": "e300055f51cc65758fa134f297755a5ba0517f1e2ad267c5b4656611a9b3e226",
         "graph-raw.svg": "dee8fceab4c1db1c479a4afa0c17a3fb0bbc9b62aa5b2cd45e9762e49671b894",
         "graph-robot.svg": "1bde84b36f77d8f9001d3014ec830a4383cea602a132ad117fa5484c35571333"
       },
@@ -26668,7 +26850,7 @@
         "mjcf_ms": 3.1592901796102524,
         "compile_ms": 204.56804474815726,
         "graph_ms": 82.80084980651736,
-        "render_total_ms": 1661.8970958516002
+        "render_total_ms": 1427.563596982509
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26729,16 +26911,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.572016205638647,
-        "render_ms": 1487.3320329934359,
-        "compose_ms": 75.6531641818583,
-        "write_ms": 63.58126876875758,
-        "foreground_fraction": 0.6764333333333333
+        "compile_ms": 153.28270010650158,
+        "render_ms": 1133.289786055684,
+        "compose_ms": 66.37962302193046,
+        "write_ms": 64.98699123039842,
+        "foreground_fraction": 0.6764333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d2319394f28a69c5d2a3b0619f7eb57bf35b484fff5e114f7955da10a862818c",
         "meshes.tar": "efbac059eb0e7d0c64a1143397d27b392aa31695e0209648dcfef8e8cb7e6a18",
-        "render.png": "bf3631ac9d67461a3c9bd907a657a38c6be77c7c09a4401a490d7750fafbd0bd",
+        "render.png": "1a01c2ffc74ffa30b0a8d7f1382b90431bc9382cf35ee5d5f64ae2f112ae7a87",
         "graph-raw.svg": "0e575e33477f54c4abb5c5d7a74872337760b0e080f3d0a15cb369b05a10c0d5",
         "graph-robot.svg": "8417cb830a8e6535cc2566bd1db58ca00b54f510e25c04295c1131bb0598187e",
         "robot.urdf": "d2cfe433c3fd91c48c25a7d97190bcefc2a7a10478d5eec9d3dba90e563698f9"
@@ -26777,7 +26961,7 @@
         "mjcf_ms": 2.8950790874660015,
         "compile_ms": 187.3585321009159,
         "graph_ms": 109.4847028143704,
-        "render_total_ms": 1514.1980391927063
+        "render_total_ms": 1318.3281659148633
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26832,16 +27016,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 165.3071311302483,
-        "render_ms": 1176.1053069494665,
-        "compose_ms": 59.36078634113073,
-        "write_ms": 104.21661799773574,
-        "foreground_fraction": 0.716625
+        "compile_ms": 117.82116210088134,
+        "render_ms": 1024.8060962185264,
+        "compose_ms": 59.10678533837199,
+        "write_ms": 107.3094648309052,
+        "foreground_fraction": 0.716625,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "988e28bae13719aec1ed4da9469cd60e2df8557d9689b34d3b7c4b3d7b543e72",
         "meshes.tar": "15bdaeca0e7c3952326a80a2c4d9379a5227e4dd6fc993f06c0cdb6b4cc34f37",
-        "render.png": "6f6683a3d23d1653e61faefce43d867f85744185b7b6d3c409c611ea25d5f202",
+        "render.png": "eb6accf80d4e7aae01e5eda2270770a0d01fabc3a58137648933572fb72905b4",
         "graph-raw.svg": "44f9add60d5897cc00e3d62564585a2d88c123b778b276d7222589fb1002cfae",
         "graph-robot.svg": "deda7e110d5370bd010995066a433a74cbf102e5ac9953946fa4fba0c87d3f84"
       },
@@ -26882,7 +27068,7 @@
         "mjcf_ms": 7.531905081123114,
         "compile_ms": 32.96864125877619,
         "graph_ms": 168.72486425563693,
-        "render_total_ms": 1223.4623348340392
+        "render_total_ms": 1319.1016297787428
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26937,16 +27123,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.723541792482138,
-        "render_ms": 1048.2367100194097,
-        "compose_ms": 81.71611418947577,
-        "write_ms": 65.75650721788406,
-        "foreground_fraction": 0.4499
+        "compile_ms": 18.176918849349022,
+        "render_ms": 1154.0709920227528,
+        "compose_ms": 68.46163980662823,
+        "write_ms": 68.94178222864866,
+        "foreground_fraction": 0.4499,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "4bdac41b6dbd2f9814342ad671a8074f90327ccb4c2944b7865bad7cbffba068",
         "meshes.tar": "9a994279a45bcbd8838b76c8691df788ad2115c2648d6872961df72cb2b93368",
-        "render.png": "62bd0c1fbf6ee6c50aed86548da495dd23b0591ddd2d7f03e3d117a9df31d6e3",
+        "render.png": "6ea1af52e16c144a99e2216b04d7b49e5286b473dee6f256fd6aeaacb5211919",
         "graph-raw.svg": "433b6ae87efda8048800a567daccc10692d55f5272ebdec50bcf8e73afe95a02",
         "graph-robot.svg": "2f85582d4e9d907f90ec74498184d8adbd9dc0939bf717817846992de0833e56"
       },
@@ -26984,7 +27172,7 @@
         "mjcf_ms": 2.5760317221283913,
         "compile_ms": 52.321177907288074,
         "graph_ms": 87.0182910002768,
-        "render_total_ms": 1510.9429326839745
+        "render_total_ms": 1100.6533517502248
       },
       "mesh_preparation": {
         "status": "complete",
@@ -27039,16 +27227,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.8391950763761997,
-        "render_ms": 1360.206020064652,
-        "compose_ms": 73.18115420639515,
-        "write_ms": 65.32412301748991,
-        "foreground_fraction": 0.7424083333333333
+        "compile_ms": 2.973106224089861,
+        "render_ms": 955.3970480337739,
+        "compose_ms": 65.96852093935013,
+        "write_ms": 66.79180171340704,
+        "foreground_fraction": 0.7424083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "62cb5c4035fcf31efdc2a994fb20a1395dc67b31fbe5207552df2fa5253e1e14",
         "meshes.tar": "333dad338ff93ac19495012d6199a8dd80522cb2c497d5245513e55c9968cce9",
-        "render.png": "885c55c1434ea54bedcd3c16bfb32e8316d9b6391e00b24e93032287a3e5bf49",
+        "render.png": "09b47929084e672082720a1ee26ac378ee68e95a9c0ae84c71e96fd2a33ad1b1",
         "graph-raw.svg": "e35b1fce971abe505dc10ae150175d3917bc79ce72afba617d1c64aa5792d92c",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -27086,7 +27276,7 @@
         "mjcf_ms": 2.659549005329609,
         "compile_ms": 20.999378990381956,
         "graph_ms": 65.47054229304194,
-        "render_total_ms": 1302.8600001707673
+        "render_total_ms": 1139.2205283045769
       },
       "mesh_preparation": {
         "status": "complete",
@@ -27134,16 +27324,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 19.968872889876366,
-        "render_ms": 1100.2304540015757,
-        "compose_ms": 86.8383189663291,
-        "write_ms": 80.19242389127612,
-        "foreground_fraction": 0.5709
+        "compile_ms": 17.852673772722483,
+        "render_ms": 956.8032771348953,
+        "compose_ms": 71.87598617747426,
+        "write_ms": 82.91801484301686,
+        "foreground_fraction": 0.5709,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "9c6bfcaca953a0dabbf8469b83ebc8390b38638aadab0709008ff9ff0beae38b",
         "meshes.tar": "c1c9476cd0353afd16954845b3331d64880513ba80d766d2816e23f3702fadfa",
-        "render.png": "7dead2a7414cb08e069cecc647e79f793034b25b65fbfcd702c1b90b434e3efb",
+        "render.png": "f2e77559ec94ab4ded7c3cc3c1bf4aa42871af7ec24b1480d03c46fe1abce1e0",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -27188,7 +27380,7 @@
         "mjcf_ms": 7.280750200152397,
         "compile_ms": 98.08938018977642,
         "graph_ms": 818.6963610351086,
-        "render_total_ms": 2107.758409809321
+        "render_total_ms": 1378.3043567091227
       },
       "mesh_preparation": {
         "status": "complete",
@@ -27249,16 +27441,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 152.8655719012022,
-        "render_ms": 1761.302804108709,
-        "compose_ms": 102.56776865571737,
-        "write_ms": 81.78959880024195,
-        "foreground_fraction": 0.643825
+        "compile_ms": 158.3462650887668,
+        "render_ms": 1028.7989326752722,
+        "compose_ms": 91.78438922390342,
+        "write_ms": 89.58772197365761,
+        "foreground_fraction": 0.643825,
+        "style": "link-palette-v1",
+        "colored_bodies": 37
       },
       "artifacts": {
         "robot.mjcf": "888e165d172aa2f13696ac808a64b2c3fd591f23a774b0b31ab9877a06678625",
         "meshes.tar": "89ee3073d6647d4c6ec4145c5da76c4527f6b2f72a6173b85ebfc5e0f27a0f8d",
-        "render.png": "86b17e174c94a71facce4afec0b7c126c7b27a759e2e1d500b6e83e1e85233a2",
+        "render.png": "52da539a35fb27b5328dc328fb8c05124629f397fe0d1c81afad4d4a324b6cb6",
         "graph-raw.svg": "7f11ac5b4c6d996406db2de970062b0843bed258b1ca60646c332e04f5b8d51e",
         "graph-robot.svg": "2977fd38e3d70da6577cf772c135af15640326afc732f438a95a6df42a44d78e",
         "robot.urdf": "cf705b18c84261e6e9ee0a8328c1c5d4e846ce98dc5c096b3eabf4fa69576dbd"
@@ -27297,7 +27491,7 @@
         "mjcf_ms": 2.1782461553812027,
         "compile_ms": 41.22694907709956,
         "graph_ms": 77.06901896744967,
-        "render_total_ms": 1203.2284121960402
+        "render_total_ms": 1113.0033070221543
       },
       "mesh_preparation": {
         "status": "complete",
@@ -27352,16 +27546,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.554823204874992,
-        "render_ms": 1035.0691904313862,
-        "compose_ms": 70.14958374202251,
-        "write_ms": 76.20765268802643,
-        "foreground_fraction": 0.75185
+        "compile_ms": 20.05200507119298,
+        "render_ms": 946.3859461247921,
+        "compose_ms": 62.64663487672806,
+        "write_ms": 74.63326957076788,
+        "foreground_fraction": 0.75185,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "f4ae61d32c81e18c981ec706dbe601dca10c7f674c8fbf49eac91018952d5442",
         "meshes.tar": "4c84b0d30ff5000cb09b731e66fe1ee0f2543fd9492f88d371099bd21e3c9c69",
-        "render.png": "605276373e963b3a147636e5cc658ba87464c1beffcc76dc9151bdb0f88fd72a",
+        "render.png": "d9b78c91654521846a50813a3ef03c2bfba53a5fcad97dbf71c931a9348628ed",
         "graph-raw.svg": "7d73a13c5c558e42f8dc2bd8dabc4f58ba90ec9f0956dcc0d240b257a7de2fc9",
         "graph-robot.svg": "dbb8aca7caa2607d4407120bbcd9cf76bcde070f827ccce7cb7fab0e22f5bbcc"
       },
@@ -27401,7 +27597,7 @@
         "mjcf_ms": 2.574751153588295,
         "compile_ms": 9.627731051295996,
         "graph_ms": 106.11677961423993,
-        "render_total_ms": 1533.8698071427643
+        "render_total_ms": 1109.8558469675481
       },
       "mesh_preparation": {
         "status": "complete",
@@ -27449,16 +27645,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.584887884557247,
-        "render_ms": 1383.426051121205,
-        "compose_ms": 64.493911806494,
-        "write_ms": 67.30543496087193,
-        "foreground_fraction": 0.6066666666666667
+        "compile_ms": 8.914415258914232,
+        "render_ms": 964.5318989641964,
+        "compose_ms": 59.00656571611762,
+        "write_ms": 68.02857806906104,
+        "foreground_fraction": 0.6066666666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "919649eae760b8af4586716613be5e82443058c8d2296395ff4399a5e7569de0",
         "meshes.tar": "81980a0abd752aac397cc4d704fe915df5cbefd124a7f8537d1ac538ec77cac7",
-        "render.png": "648afe174864131c26b47a368dda6452e6195eba79946666516bbc6b6e07d6fe",
+        "render.png": "6bf497ad39b75dd0ffded6a35e33fff0b4216d1007b0caf08f15cec11319d228",
         "graph-raw.svg": "a119dc18c1108d9b7767c29f1d190d60f6441de72a9ba9c8ebece51b798e9799",
         "graph-robot.svg": "15092a354ab1866062ebb39950b8bc452975e678d239d4582e08bef3775833b0"
       },
@@ -27496,7 +27694,7 @@
         "mjcf_ms": 2.865846734493971,
         "compile_ms": 48.38021518662572,
         "graph_ms": 77.23547564819455,
-        "render_total_ms": 1325.1436953432858
+        "render_total_ms": 1148.0482509359717
       },
       "mesh_preparation": {
         "status": "complete",
@@ -27544,16 +27742,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 48.87528205290437,
-        "render_ms": 1108.630815986544,
-        "compose_ms": 66.89245905727148,
-        "write_ms": 73.63594230264425,
-        "foreground_fraction": 0.3289
+        "compile_ms": 44.54133799299598,
+        "render_ms": 976.4965428039432,
+        "compose_ms": 47.59729187935591,
+        "write_ms": 69.76019311696291,
+        "foreground_fraction": 0.3289,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "0b3e4c5d33a38e44c26189b691792a59eae39c13a0787b13b5128c95e3e8c912",
         "meshes.tar": "0abcb85f345b1b85c4cb391cee9b591a8a750a0320abf3d6246cfb0cd01abfa5",
-        "render.png": "b8cb5e8436a02c059ad461549b520ba273adb9193b0ac2951055c25d96ca6dce",
+        "render.png": "c8b327c3e5eca066cf7c45b2d201c9b77aa78e6f7ea4ef955e81d363352d1f33",
         "graph-raw.svg": "1783993be80f88f2568cdfdb2b35444a832c7811f03647ca3b66544b762c3ffd",
         "graph-robot.svg": "c3232a17db34e5804040d695c26464c5d4a587f9871087ee5473daefa63d52f8"
       },
@@ -27565,12 +27765,89 @@
   ],
   "output": {
     "archive": "shard-00951.tar",
-    "archive_sha256": "044633465cea77039dabcbdcd719e7f138a78fcbc4f965feb2fe8f43556280be",
+    "archive_sha256": "e4e8338ead8c365e7b0544a34d7eb0acf7ae3e7f0f44c9845b8630d475759e0a",
     "packaged_samples": 100
   },
+  "render_enrichment": {
+    "schema_version": 1,
+    "definition": "Preview renders were regenerated from the packaged MJCF and meshes with the recorded camera and image settings and a deterministic per-link palette; no conversion artifact, count, or timing other than the render's was recomputed",
+    "identity": {
+      "style": "link-palette-v1",
+      "palette_sha256": "aeceafaddf4f6dc009c3db778801e6535c0a0feee5fa9439f1d918c4298898f1",
+      "render": {
+        "width": 1600,
+        "height": 1200,
+        "dpi": 300,
+        "padding": 0.06,
+        "supersample": 2,
+        "azimuth": 135.0,
+        "elevation": -35.264389682754654,
+        "distance_scale": 2.5,
+        "orthographic": true,
+        "geom_groups": [
+          1
+        ],
+        "headlight_ambient": 0.35,
+        "headlight_diffuse": 0.55,
+        "headlight_specular": 0.1,
+        "background": [
+          255,
+          255,
+          255
+        ],
+        "show_ground_plane": false,
+        "camera": null,
+        "link_palette": "link-palette-v1"
+      },
+      "render_backend": "osmesa",
+      "pipeline_identity": {
+        "schema_version": 1,
+        "codesign_version": "0.4.2",
+        "repository": {
+          "commit": "f16a2b5e07dc30d82dc74975390e71ad383c37ba",
+          "dirty": false
+        },
+        "source_sha256": "29f37e7336061889d2fbda8ccaf4c0dcf6af89e138fcbea3d4fe99d4eec02821",
+        "native_core_sha256": "f3188cb8879a19ff0ef65d12c27c98dbe6b642e3ad41d511a830ccb544db622b",
+        "dependencies": {
+          "cascadio": "0.0.13",
+          "huggingface-hub": "1.28.0",
+          "matplotlib": "3.11.1",
+          "mujoco": "3.11.0",
+          "networkx": "3.6.1",
+          "pillow": "12.3.0",
+          "trimesh": "4.12.2"
+        },
+        "mesh_producer": {
+          "schema_version": 2,
+          "codesign_version": "0.4.2",
+          "geometry_sha256": "936cc5faf6edd66a4199a59734e71b68c9b51f29320a875349b928d72e833a17",
+          "python": "3.12.13",
+          "implementation": "cpython",
+          "system": "Linux",
+          "machine": "x86_64",
+          "dependencies": {
+            "cascadio": "0.0.13",
+            "trimesh": "4.12.2"
+          }
+        }
+      }
+    },
+    "source": {
+      "archive_sha256": "044633465cea77039dabcbdcd719e7f138a78fcbc4f965feb2fe8f43556280be",
+      "report_sha256": "a98374fa95a1778a19fa483ec3c17dc1b90023b978cbc622b09869c2df8ceef0"
+    },
+    "scheduler": {
+      "job_id": "60317942",
+      "array_job_id": "60317938",
+      "array_task_id": "951",
+      "node": "gl3106",
+      "host": "gl3106.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 100,
     "compiled_models": 100,
-    "archive_sha256": "044633465cea77039dabcbdcd719e7f138a78fcbc4f965feb2fe8f43556280be"
+    "archive_sha256": "e4e8338ead8c365e7b0544a34d7eb0acf7ae3e7f0f44c9845b8630d475759e0a"
   }
 }