diff --git "a/onshape/shard-01057.report.json" "b/onshape/shard-01057.report.json"
--- "a/onshape/shard-01057.report.json"
+++ "b/onshape/shard-01057.report.json"
@@ -213,7 +213,7 @@
         "mjcf_ms": 3.4087281674146652,
         "compile_ms": 55.3408651612699,
         "graph_ms": 106.54615424573421,
-        "render_total_ms": 2315.6908927485347
+        "render_total_ms": 1828.7970768287778
       },
       "mesh_preparation": {
         "status": "complete",
@@ -274,16 +274,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.157343655824661,
-        "render_ms": 2062.0689736679196,
-        "compose_ms": 85.13220306485891,
-        "write_ms": 133.70320806279778,
-        "foreground_fraction": 0.7818416666666667
+        "compile_ms": 44.54310005530715,
+        "render_ms": 1513.8921760953963,
+        "compose_ms": 90.60759982094169,
+        "write_ms": 167.1844949014485,
+        "foreground_fraction": 0.7818416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "4ac5a429f7b6a03c21455208cb58717761cdb4ed1cc66171e87b27fb72634edf",
         "meshes.tar": "b49a0fe9736579059f7f8819a25da61d256f59ee690af376ac1998cb983d7bdb",
-        "render.png": "489e5e868a8f504f33132a902a731adf055a8f3c12ba9f9bd37ee703c4a21f81",
+        "render.png": "a7139cea9e07152aef905de96ea65211353dfd3736d4219bd8e7f84cffe1f1b8",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "52939a3f6d4b5dbc6a3eb502150da224d8323c6dc17e0520eddcf8b590ff4b0f"
@@ -322,7 +324,7 @@
         "mjcf_ms": 2.748080063611269,
         "compile_ms": 31.40724077820778,
         "graph_ms": 577.1807688288391,
-        "render_total_ms": 2232.4393042363226
+        "render_total_ms": 1580.2683476358652
       },
       "mesh_preparation": {
         "status": "complete",
@@ -671,16 +673,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.92680573835969,
-        "render_ms": 1958.8054032064974,
-        "compose_ms": 66.45754212513566,
-        "write_ms": 169.80394907295704,
-        "foreground_fraction": 0.2706
+        "compile_ms": 27.060413733124733,
+        "render_ms": 1413.5357169434428,
+        "compose_ms": 45.56745896115899,
+        "write_ms": 81.89885504543781,
+        "foreground_fraction": 0.2706,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4ed1578aab0f0fdacc15f740fb70207abe1e2c466ed7ab7fbda6f0cbe9147f5f",
         "meshes.tar": "2902e383fd49d03f41de9abf23ac6f9e05f1b73728aa0625f93b519f24d13621",
-        "render.png": "6e1db0e9cb86aa8b8fbfd00b8eb630e98213bf00d3d628cf75b548d9e33f6983",
+        "render.png": "7679f364749cdce95bcc0d2dc83c5b255e451d805cdeaa18d0a8bae77e2e7ead",
         "graph-raw.svg": "9076d1f9a06d788f042eff02b9f83140192a4707704e6517df5c46bc8406e5f6",
         "graph-robot.svg": "8bf027ca879eafaf6c00a28fe016c47c5dca7f7a5b931e457ee0147f1b5f7bbc"
       },
@@ -720,7 +724,7 @@
         "mjcf_ms": 4.2270938865840435,
         "compile_ms": 116.92409217357635,
         "graph_ms": 260.2268126793206,
-        "render_total_ms": 2355.6753480806947
+        "render_total_ms": 1644.0978511236608
       },
       "mesh_preparation": {
         "status": "complete",
@@ -805,16 +809,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.765342362225056,
-        "render_ms": 2117.5359627231956,
-        "compose_ms": 87.26224908605218,
-        "write_ms": 95.63158685341477,
-        "foreground_fraction": 0.61215
+        "compile_ms": 78.6813129670918,
+        "render_ms": 1394.2493819631636,
+        "compose_ms": 64.63070400059223,
+        "write_ms": 94.47578713297844,
+        "foreground_fraction": 0.61215,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "def53ed5bf550ecf122b5adce173663cacf75d14c1af1cb8c1336af9005aedfd",
         "meshes.tar": "c1ab3aaab206add7246bf2cdfa3ddec4d32b9d3cb4bc92db18929f58d6df0f59",
-        "render.png": "b560fd715762cc53edd636788e8cc057fbce13be48334fd1d3b6a04e921cfd77",
+        "render.png": "005bb5a82518a0ffe2e1c7d4835de11759723ea7d52653402421a775a30bd6e4",
         "graph-raw.svg": "93849690130790c8fa44b7e246b14f657c0efdd3896e66ec4fcb08144338fec1",
         "graph-robot.svg": "2f5a91e04d0bc0fbddbfa80ddb22331e7ad85ddccee754406b3d5490e66c8642"
       },
@@ -845,7 +851,7 @@
         "mjcf_ms": 3.48865007981658,
         "compile_ms": 23.890914395451546,
         "graph_ms": 130.83251239731908,
-        "render_total_ms": 2166.893932968378
+        "render_total_ms": 1490.384427830577
       },
       "mesh_preparation": {
         "status": "complete",
@@ -906,16 +912,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.905810113996267,
-        "render_ms": 2011.8218609131873,
-        "compose_ms": 65.32911118119955,
-        "write_ms": 59.80443675071001,
-        "foreground_fraction": 0.1793
+        "compile_ms": 18.68704380467534,
+        "render_ms": 1352.4453560821712,
+        "compose_ms": 50.264913123100996,
+        "write_ms": 57.18012200668454,
+        "foreground_fraction": 0.1793,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "970a23ff542ea2bad29e2176bef3434b64c1ad4bfcd593c12ea799d893d91fa5",
         "meshes.tar": "712f5cb3d457cd4b3dbcdffa2b35c2939d923f55211e62d8390bd7851d121800",
-        "render.png": "fcb0434c1820582149a67150c7bae40f19e210e499eade264edfd27323fbcb4e",
+        "render.png": "ec1fa8997579bfda6f3de5481044020e4c454514251202d60607752bace51ea0",
         "graph-raw.svg": "b70c78e72cf35f77ff8f6e452bedafc4323f1a914e15b7707687fd667fa3c791",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "c05e7ba942e1eedf022b2310698b5f38670ea5cc0cf6fd5d8d8aeeb73a4c4f77"
@@ -956,7 +964,7 @@
         "mjcf_ms": 3.2626590691506863,
         "compile_ms": 131.96743186563253,
         "graph_ms": 132.13793328031898,
-        "render_total_ms": 2217.542659956962
+        "render_total_ms": 1735.407420899719
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1004,16 +1012,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.683423038572073,
-        "render_ms": 2011.7040327750146,
-        "compose_ms": 62.461093068122864,
-        "write_ms": 96.15172166377306,
-        "foreground_fraction": 0.3487
+        "compile_ms": 140.4922353103757,
+        "render_ms": 1425.19267834723,
+        "compose_ms": 55.501798167824745,
+        "write_ms": 102.02181991189718,
+        "foreground_fraction": 0.3487,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "12167e358bfd2b75cfaf05427621cdfc8fd8893100e368c88dce520fc30ff61d",
         "meshes.tar": "c032ef6fb1a29a8a05ba21172e6a8b2fd201647da488d2d67344afaaf8e3f381",
-        "render.png": "ecbacef8a0cffe33152bd1bb027a648346fa61697c29e52b5f88832a707e4d0c",
+        "render.png": "eac2a6472007f4b2082a4ec130bfd02b2e41782143871f5076a4f68a7747b512",
         "graph-raw.svg": "c7eed948595689746eac347f55b41eca8346bf039c54bfd61d01f65e96762c16",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -1048,7 +1058,7 @@
         "mjcf_ms": 4.934992641210556,
         "compile_ms": 516.5149597451091,
         "graph_ms": 176.6047361306846,
-        "render_total_ms": 2212.070530746132
+        "render_total_ms": 1896.2787566706538
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1109,16 +1119,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 50.054239109158516,
-        "render_ms": 2038.212948013097,
-        "compose_ms": 45.71411618962884,
-        "write_ms": 56.66962917894125,
-        "foreground_fraction": 0.088
+        "compile_ms": 355.06478510797024,
+        "render_ms": 1437.8588972613215,
+        "compose_ms": 38.09481905773282,
+        "write_ms": 53.438059985637665,
+        "foreground_fraction": 0.088,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "311edb8b985a924a1344994e85d4dc0d900a71c29cd3e34471c94dbb7917df7a",
         "meshes.tar": "1127367a6c862086cd7fa67821f08592923a2f5dda6dbbedd8385e4cc545a061",
-        "render.png": "3618a0ccb038fb71d1c2d9d80015129eed26cd770c202fdba501103f4c2c32b5",
+        "render.png": "e5efc95c9e587744589d16a42d17f34416efdcf1558354fb9304b6aeaea578f6",
         "graph-raw.svg": "bb8160165308be7da7ab426aad7d593313e520b21893f8a38ef1f3f5b0058c1e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "7951d2265d7a6ab94a8c989de3036b42638fcf7df76e3d18101ac260219edfbf"
@@ -1160,7 +1172,7 @@
         "mjcf_ms": 3.387358970940113,
         "compile_ms": 14.481933321803808,
         "graph_ms": 218.02208898589015,
-        "render_total_ms": 2195.0694378465414
+        "render_total_ms": 1519.631640985608
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1208,16 +1220,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.444854989647865,
-        "render_ms": 2010.6138242408633,
-        "compose_ms": 65.28024282306433,
-        "write_ms": 88.91096385195851,
-        "foreground_fraction": 0.4477
+        "compile_ms": 17.27077690884471,
+        "render_ms": 1349.3281533010304,
+        "compose_ms": 52.346255630254745,
+        "write_ms": 88.93739618360996,
+        "foreground_fraction": 0.4477,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "c724a8c372e74e865bee435db4f1b1e14d02e38e4232a40de447fdf24de32f11",
         "meshes.tar": "3f99556748927786d8d6a04e7a57c7dd9666521e15465c1c752fec5f37d41a42",
-        "render.png": "0e68d3bb284904770da4c83945ba81e72fa2acc700db5051355096ba0c2b43e2",
+        "render.png": "fde2abe3054d65372b49936ca1ebe1edabac2de9b698d2bef287d40b8c5a18fc",
         "graph-raw.svg": "c14da1261eb4db06ef207dd6ead22f2349076782160d4cb07550fd59210f4fd8",
         "graph-robot.svg": "b320224d0c01c7c6bf79513550c5f0770abd31f2bde1de6f351348c36aa872bc"
       },
@@ -1261,7 +1275,7 @@
         "mjcf_ms": 4.036065191030502,
         "compile_ms": 844.1927190870047,
         "graph_ms": 357.62923769652843,
-        "render_total_ms": 2669.6023289114237
+        "render_total_ms": 2420.510313939303
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1322,16 +1336,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 234.23370206728578,
-        "render_ms": 2214.4167823717,
-        "compose_ms": 65.98685588687658,
-        "write_ms": 126.59790785983205,
-        "foreground_fraction": 0.712075
+        "compile_ms": 528.2890051603317,
+        "render_ms": 1680.6702828034759,
+        "compose_ms": 56.59891292452812,
+        "write_ms": 138.89838615432382,
+        "foreground_fraction": 0.712075,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "f693beb876de616315e5e2fd478e74bd739129e719773ffd0891806b2e0f616b",
         "meshes.tar": "1e18e59a0c8c81038a78c4486e4290def86a3162d013c8cbd9d1ff9f208d4a75",
-        "render.png": "e63a2da808247c924ea36b380cb52cbd26f85c9f9fa8fd76ea6384e16d195b22",
+        "render.png": "da59ca42dde795791da8fb3d92a6f74346e9e621935640df2a48d931c6b19cac",
         "graph-raw.svg": "4aa55a3882f6b563d756b9ecfbab5ef46592c6787ccfda1ff8e064dd30f516cc",
         "graph-robot.svg": "6ba82015982e80e21f014cc69916abab3a7d29056fcc59f93a6cd71dfba750ea"
       },
@@ -1364,7 +1380,7 @@
         "mjcf_ms": 3.618313930928707,
         "compile_ms": 397.10610499605536,
         "graph_ms": 128.63013288006186,
-        "render_total_ms": 2284.8953986540437
+        "render_total_ms": 2031.4932921901345
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1425,16 +1441,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 51.25279212370515,
-        "render_ms": 2010.014051105827,
-        "compose_ms": 70.52904600277543,
-        "write_ms": 133.66393465548754,
-        "foreground_fraction": 0.739375
+        "compile_ms": 328.4457102417946,
+        "render_ms": 1447.8710973635316,
+        "compose_ms": 60.49857195466757,
+        "write_ms": 182.8757729381323,
+        "foreground_fraction": 0.739375,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "187ef42056f0c69f32a7f3bf3e3f1d62e16b5395b30a305050e6d835d667a16d",
         "meshes.tar": "bf46ba51581c999905feee4cf0d9504cda6751d6076617081929ca604d030a09",
-        "render.png": "d1fa2f65155d7160b12914300a07af3b950bd0207a3991efafe9bff42cbf3ee2",
+        "render.png": "8d3e2dc4d88019c8481d57775d58e5edd799ffcddef8ebfca0d7f6d482a0d41f",
         "graph-raw.svg": "5e33aa0eaf8a63ef9a86ec221b826db52111cfa2c1aa534cbf2d4e4faeb4311e",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "f5a120ece2579195ea49a5b80138e27410685c50f1864b87b81d3911d3cfaae9"
@@ -1474,7 +1492,7 @@
         "mjcf_ms": 3.2262937165796757,
         "compile_ms": 60.883339028805494,
         "graph_ms": 150.1677050255239,
-        "render_total_ms": 2138.662393670529
+        "render_total_ms": 1596.27993311733
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1522,16 +1540,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.420116294175386,
-        "render_ms": 1926.4959441497922,
-        "compose_ms": 74.04024805873632,
-        "write_ms": 103.01622189581394,
-        "foreground_fraction": 0.57805
+        "compile_ms": 56.301864329725504,
+        "render_ms": 1355.92105332762,
+        "compose_ms": 53.29180369153619,
+        "write_ms": 118.85827034711838,
+        "foreground_fraction": 0.57805,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "ec04f00db7b5d82766a8af3669c65b190d5c29c0989420622dd00952fdd9d5a9",
         "meshes.tar": "dd33a2bdbbc86bade6199986f9a6bacce648cbc7c970cd62af1057875936f2cf",
-        "render.png": "bce9887975fdd73de38fd006f6e6f2b1e8add1524410e62c5210624699de9290",
+        "render.png": "02c2430805430fa7cc34cb0d0a913e03b578f5b71265fa8b39ad5456bfc45dc7",
         "graph-raw.svg": "282392d0d95bd22d4b0ac208375311886dd462e8ddcb60e6040adc520ed77dec",
         "graph-robot.svg": "212f1b33540780e7d8bd87e376dd7a71ab73e43c3e310685f2289f9176608779"
       },
@@ -1562,7 +1582,7 @@
         "mjcf_ms": 2.705248072743416,
         "compile_ms": 7.871187757700682,
         "graph_ms": 101.91303817555308,
-        "render_total_ms": 1974.1343199275434
+        "render_total_ms": 1511.058408766985
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1623,16 +1643,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.17770491912961,
-        "render_ms": 1814.9845371954143,
-        "compose_ms": 69.88113280385733,
-        "write_ms": 64.37048595398664,
-        "foreground_fraction": 0.4474166666666667
+        "compile_ms": 15.42624132707715,
+        "render_ms": 1365.8562661148608,
+        "compose_ms": 56.917935609817505,
+        "write_ms": 61.08571030199528,
+        "foreground_fraction": 0.4474166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "aed4f56e66fa598981744436ccffd966a1e515ee01f7b0a654a15adaf0120158",
         "meshes.tar": "599bc35846110214d061358435a780e7137cc1f7563b7619767257332b93a757",
-        "render.png": "9c9fecae4759022d0b99ed74c2597d7823b94468d5c53071bdee8a932c6ae1c8",
+        "render.png": "3b5f5cddce6259491a4d4233af8ed6ecb43308e9ac1380067c684ab18654c2fc",
         "graph-raw.svg": "dd0388018cd21d3243d2ea771fdc68592cadf81abdabf1020306cd9173d59b87",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "1582bff97604fc8c37864d00b41e77a3d479fb493c76433b6dc01dd4eed3e927"
@@ -1682,7 +1704,7 @@
         "mjcf_ms": 6.922779139131308,
         "compile_ms": 88.3713299408555,
         "graph_ms": 568.2393261231482,
-        "render_total_ms": 2131.9922688417137
+        "render_total_ms": 1728.936336003244
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1730,16 +1752,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 28.248224407434464,
-        "render_ms": 1920.1782057061791,
-        "compose_ms": 76.23639516532421,
-        "write_ms": 88.33646634593606,
-        "foreground_fraction": 0.65615
+        "compile_ms": 84.66207189485431,
+        "render_ms": 1482.5741690583527,
+        "compose_ms": 63.563556876033545,
+        "write_ms": 86.15116868168116,
+        "foreground_fraction": 0.65615,
+        "style": "link-palette-v1",
+        "colored_bodies": 15
       },
       "artifacts": {
         "robot.mjcf": "7b8be0584ab54b555bc0a7ed9d04806d3870ff0f2ab7eb119d03cbab324921f0",
         "meshes.tar": "961fe01c26ecdb5fc4666de639cb2e22ffc37f2c55b5aa6b620410603afadd96",
-        "render.png": "4a2eba626c6c2c0c1338e9ec2cb2643a9d8ffed6344434ab6d3406cfb7c1aa90",
+        "render.png": "7466d7360a491e7fb3ab923595c604b4e74d98e02991fc060f82cce18344512d",
         "graph-raw.svg": "5ed95c8a3cb1806a9a973d9fa52f5856ee9022213803e767626440aba8222a92",
         "graph-robot.svg": "e0fa57b9e1df18e92bf24dd19dd677d7c91e747242f805e333b98a5c84bb51e6"
       },
@@ -1777,7 +1801,7 @@
         "mjcf_ms": 3.109293058514595,
         "compile_ms": 87.4122348614037,
         "graph_ms": 115.53582409396768,
-        "render_total_ms": 2070.661117322743
+        "render_total_ms": 1609.60397683084
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1832,16 +1856,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.05291122198105,
-        "render_ms": 1903.6389808170497,
-        "compose_ms": 62.0037792250514,
-        "write_ms": 68.42076405882835,
-        "foreground_fraction": 0.2585
+        "compile_ms": 84.04349582269788,
+        "render_ms": 1395.1892158947885,
+        "compose_ms": 51.06134572997689,
+        "write_ms": 64.69241110607982,
+        "foreground_fraction": 0.2585,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "50b1191e00907c07d350f1246892e97908f6f073b038768e53bb542dcfe8d812",
         "meshes.tar": "5934bced285e40536a7b6c6adebecc220657a655b2cd3051e5d4b71fe2a75f9d",
-        "render.png": "4637a997a95f3af073524104e5fbb7ba82752c75bbdd311986864677e898be41",
+        "render.png": "4ac3a3bc30762603fba14392bdede3b46b6078ceb98c20587a926aaffc2aa719",
         "graph-raw.svg": "2e175b8ec399dcfb4c76a2c6842d913da370007ac96c647195c572093e966de9",
         "graph-robot.svg": "b85366843c0db7cdf4a357bacc67897f6bdd5fbb3c0fe33f6399c242c03a0669"
       },
@@ -1881,7 +1907,7 @@
         "mjcf_ms": 3.2363487407565117,
         "compile_ms": 113.9962081797421,
         "graph_ms": 125.05389982834458,
-        "render_total_ms": 2082.5384208001196
+        "render_total_ms": 1668.3225561864674
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1929,16 +1955,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.01897818222642,
-        "render_ms": 1897.6425449363887,
-        "compose_ms": 63.8322071172297,
-        "write_ms": 83.27519102022052,
-        "foreground_fraction": 0.28435
+        "compile_ms": 111.54607823118567,
+        "render_ms": 1410.2628016844392,
+        "compose_ms": 47.04489512369037,
+        "write_ms": 87.06963481381536,
+        "foreground_fraction": 0.28435,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "e4e476e20415833117de25bc9e36b7c204e0534a20a1b2527a380ffad4a74531",
         "meshes.tar": "37e0fc6a5f1203a16729fea2033c9403e1c64d0cbc794636dad95fbffbf97271",
-        "render.png": "a7b0cfaafbe012e936a831e31c41f2f0a1443df22f522a4f1a216bb4dd75e1d1",
+        "render.png": "1885bd417c1c95cfeb6c61d01668bcbb2712fb745273c86ba154e5b474136274",
         "graph-raw.svg": "cf5363af62e2cf42559f5285dce3a0ccccc1232950ded4017973c227ba4bcded",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -1975,7 +2003,7 @@
         "mjcf_ms": 4.333551041781902,
         "compile_ms": 120.86311262100935,
         "graph_ms": 266.09326992183924,
-        "render_total_ms": 2116.959067992866
+        "render_total_ms": 1715.7868286594748
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2043,16 +2071,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.388082653284073,
-        "render_ms": 1913.6683540418744,
-        "compose_ms": 77.0014151930809,
-        "write_ms": 80.4193178191781,
-        "foreground_fraction": 0.7553
+        "compile_ms": 100.04349192604423,
+        "render_ms": 1441.385137848556,
+        "compose_ms": 77.01947772875428,
+        "write_ms": 83.04362930357456,
+        "foreground_fraction": 0.7553,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "be4b7ce7d3c42ecc883a5d1b89b77e30953d1e6ae167cb339e47b48b23a34527",
         "meshes.tar": "197893579853274a0d5adb141688a14697709c2bda5028586cdf537b9c7441d1",
-        "render.png": "93c3344576d37ff9836fc11c2cb20ec70ad5748b74f6e274cd7d250713807500",
+        "render.png": "12274a1c6008155d31cfb55e69200d9efc3bf67702671bf7e7c000c562948fa4",
         "graph-raw.svg": "9bf92db71f2fa4d7319d41fcae6921f465644ecd942839bf454bc7b294c8e07d",
         "graph-robot.svg": "922e447d3faef0ed9f7fc7c8352038607d7805fa67af79c03a4366ae434554a0",
         "robot.urdf": "337a35e12e4ad07c238b00f77213656ec23b9968d354a62195d761442e71fb55"
@@ -2093,7 +2123,7 @@
         "mjcf_ms": 3.3259079791605473,
         "compile_ms": 121.12454790621996,
         "graph_ms": 123.19661490619183,
-        "render_total_ms": 2143.675976898521
+        "render_total_ms": 1751.966086216271
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2141,16 +2171,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.628668997436762,
-        "render_ms": 1949.4582177139819,
-        "compose_ms": 65.24826493114233,
-        "write_ms": 87.68064621835947,
-        "foreground_fraction": 0.3322
+        "compile_ms": 199.48660396039486,
+        "render_ms": 1401.1298660188913,
+        "compose_ms": 48.49650012329221,
+        "write_ms": 90.74569400399923,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "eb9a82b2bd521cd098cbbd97e8075511479ea72fecc04c6ae7bd359e13d4f7aa",
         "meshes.tar": "75ba2385a27f011244eab69233f713bab49aa88e5ab2466a19f84b847b05a0ec",
-        "render.png": "2c79dca91f53181504c2516208da6762b5b6f72c8cb91155d5b6b42979defc57",
+        "render.png": "798a696a4fbda4b3cd83ff66975f7915c6ac283946590c4ba3a04c81bc3a1834",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -2183,7 +2215,7 @@
         "mjcf_ms": 3.400474786758423,
         "compile_ms": 84.54331196844578,
         "graph_ms": 180.53920287638903,
-        "render_total_ms": 2107.934650965035
+        "render_total_ms": 1702.0605667494237
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2299,16 +2331,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.534950230270624,
-        "render_ms": 1887.3028908856213,
-        "compose_ms": 68.45187116414309,
-        "write_ms": 121.19255680590868,
-        "foreground_fraction": 0.759
+        "compile_ms": 72.60272093117237,
+        "render_ms": 1408.6929317563772,
+        "compose_ms": 59.462377335876226,
+        "write_ms": 149.27842700853944,
+        "foreground_fraction": 0.759,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "4b49062019f64fadf70e1dd17cc2bb0a63413fd3da3c06fcf74abc3e9c004db6",
         "meshes.tar": "5a5f9edb5151ac131acff02d74dace84f4fab435fc32bc37d8e8fffbd4f26e8c",
-        "render.png": "77046777a9cf4bfc76aa6b16b3b17aa9324c88236f405c74dee887f8abadd932",
+        "render.png": "cb42d640f8178873f3090a6c1b233efeb36ca88f3a665cbd27f5edc5fbf91d68",
         "graph-raw.svg": "42b4244ebb23d4b82e28b4228597d7da5d6c21ad91d34a4021becae5c635d5ff",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "157a68a7947cd59b0679c0c1e012155e75dfb4f4de2198bbeee11cdb07fcb3dd"
@@ -2342,7 +2376,7 @@
         "mjcf_ms": 3.736088052392006,
         "compile_ms": 93.07515900582075,
         "graph_ms": 172.5867255590856,
-        "render_total_ms": 2057.4417640455067
+        "render_total_ms": 1695.4171247780323
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2458,16 +2492,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.912856716662645,
-        "render_ms": 1891.7954126372933,
-        "compose_ms": 55.914151947945356,
-        "write_ms": 77.96885585412383,
-        "foreground_fraction": 0.33
+        "compile_ms": 78.28531600534916,
+        "render_ms": 1415.513584855944,
+        "compose_ms": 50.072717014700174,
+        "write_ms": 139.6064511500299,
+        "foreground_fraction": 0.33,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "996b8fc2f9ef25f123db6523c0d8948690724b774a303f0cb2037e8013fd805a",
         "meshes.tar": "f0164beac54e5d26fae76b396abd0545d84ce1b19530a9576b40381783edbdb8",
-        "render.png": "143dcb628bea6cb40b3a7ef18ad4bd09ba63e701bd9de5e412233640a4e0119a",
+        "render.png": "f82847d778b28b0f7dfac373a2ec2f3798832af87597576b16a0233f9d4c06d4",
         "graph-raw.svg": "1b4cc9a0b7c0803238b97421160c28cc13f5d1a6bb82584f1a616f321a848f3e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "d7e84d56ca7dd67225da5a7d58ce5f4f81f1737bf6d6db1d79a9691bc3db6608"
@@ -2506,7 +2542,7 @@
         "mjcf_ms": 4.4733332470059395,
         "compile_ms": 14.94886027649045,
         "graph_ms": 222.9857579804957,
-        "render_total_ms": 2024.853907059878
+        "render_total_ms": 1517.9643402807415
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2567,16 +2603,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.227260921150446,
-        "render_ms": 1850.4547607153654,
-        "compose_ms": 72.75513000786304,
-        "write_ms": 76.14506501704454,
-        "foreground_fraction": 0.789425
+        "compile_ms": 19.416479859501123,
+        "render_ms": 1349.1013580933213,
+        "compose_ms": 63.2993271574378,
+        "write_ms": 74.03292693197727,
+        "foreground_fraction": 0.789425,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "6dd171d5e599e1d210ce6c119a2698345cfcf64ee0230f14512f9d34bf4d1018",
         "meshes.tar": "b7d1848e41fdf1b37b43e3954bfbf01b73d7a4baf99eb030366fe386d093f2bf",
-        "render.png": "8d160d802933f31111387e52dc2855f6df5aac44e610abe09061f1203f386a40",
+        "render.png": "5477390838c6d6c72960c6ac9f1e37f00e81c8440381846e49f3f0e740bfe07b",
         "graph-raw.svg": "becbc4093305822ecaedb36c7923b6bace1cc34e2a6a106cec7cbd849dc1317d",
         "graph-robot.svg": "68d7a762e4adb0a03c4a14b2a01586f69bc8ade6e3dba7957b87813a38699f85",
         "robot.urdf": "46917323e029d904384bde917b6a7a1f469985965b2c0b4b99f9753f59272771"
@@ -2620,7 +2658,7 @@
         "mjcf_ms": 3.409199882298708,
         "compile_ms": 17.43726199492812,
         "graph_ms": 149.29796801880002,
-        "render_total_ms": 1991.0333957523108
+        "render_total_ms": 1503.190350253135
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2668,16 +2706,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.332523956894875,
-        "render_ms": 1832.974280230701,
-        "compose_ms": 67.68967770040035,
-        "write_ms": 65.55941328406334,
-        "foreground_fraction": 0.407
+        "compile_ms": 15.247182920575142,
+        "render_ms": 1350.48538306728,
+        "compose_ms": 59.5410680398345,
+        "write_ms": 66.1409548483789,
+        "foreground_fraction": 0.407,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "aacedd9f22b61afe42c50de1a97106d3f28fad3db2b41008b3e895f5a2959410",
         "meshes.tar": "2ee5d433472be076f5da5ecc87068958d12855281fb16db5a8ef64aad9313ff9",
-        "render.png": "ea42505da0aafeeefeae438012750de974d8036b37794634fb9bdb5cd3f97cdf",
+        "render.png": "2adc4b44d75395fa36018a4cd53938bd0b7063ff6a1c4bd2b0fd4fd613fe2d5d",
         "graph-raw.svg": "b4abfe84a584d38146e856e2dd62680592957f1761f6c36d509974ab760f424b",
         "graph-robot.svg": "085317bd87307400b657f8a0fbb53c620d6561953ade161f31eca9448b41435c"
       },
@@ -2714,7 +2754,7 @@
         "mjcf_ms": 4.484314937144518,
         "compile_ms": 105.19375605508685,
         "graph_ms": 440.75731094926596,
-        "render_total_ms": 2295.3509259968996
+        "render_total_ms": 1718.9884879626334
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2782,16 +2822,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 33.436194993555546,
-        "render_ms": 2061.2444109283388,
-        "compose_ms": 75.49504516646266,
-        "write_ms": 103.09115005657077,
-        "foreground_fraction": 0.7924583333333334
+        "compile_ms": 103.81625173613429,
+        "render_ms": 1440.554860047996,
+        "compose_ms": 61.031997203826904,
+        "write_ms": 101.79722914472222,
+        "foreground_fraction": 0.7924583333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "b05a04fe89161eb0ddd170affbdacc3ca7da2febe090acfc65c5591e47baa3ed",
         "meshes.tar": "4720235523ad0949d517b648d9b4ebd28db80278ec2b455ef54c3f7bb1131a50",
-        "render.png": "fd0efe165e8a34cb770ff50f259bf48ead778b967d0b8b6378353bee82fbcb56",
+        "render.png": "81fe8ef60d141ebd4c9563558e40a079aea0697d9cbea14a967e77dbc9b13dd2",
         "graph-raw.svg": "fd9bb00d5bd9a1d3b7ab18ec2427ec3abcd053899a7a46c3d025ffa0c69a8c53",
         "graph-robot.svg": "24c30c3e98ffc70b89127289f69e2c49d45065ed0027c64603c07a07d4c4fd1a",
         "robot.urdf": "4b51bf6f145f016d06ab7d22fb066fead17f19cd461ed1fdb08fea19eb157b8f"
@@ -2832,7 +2874,7 @@
         "mjcf_ms": 3.1341491267085075,
         "compile_ms": 14.02068417519331,
         "graph_ms": 138.04993545636535,
-        "render_total_ms": 2121.6988200321794
+        "render_total_ms": 1495.6724680960178
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2880,16 +2922,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.0321607850492,
-        "render_ms": 1969.1121489740908,
-        "compose_ms": 56.137526873499155,
-        "write_ms": 69.5320637896657,
-        "foreground_fraction": 0.34155
+        "compile_ms": 12.778918724507093,
+        "render_ms": 1360.2654752321541,
+        "compose_ms": 44.79079507291317,
+        "write_ms": 65.92100579291582,
+        "foreground_fraction": 0.34155,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "07b1273eaca2da560bbdc4002ff095833b98ebcf4d4c6b91a2ad01380036da38",
         "meshes.tar": "599253c1f8bf53396c093659b44d89f5219838db2eacdc5c3d352e12cf10344f",
-        "render.png": "40e4bfaa364f2b46c8149e160950a193546695c6c5a65684698dcb7c8501bda0",
+        "render.png": "6aec7e14da99c8c531e391297a2e64922ed167760145ce9df3aceda415454c30",
         "graph-raw.svg": "fd03795713df7eaa5d8997618fa8e4d30cf545cae1b4f3f4c7d8ff664b7265e0",
         "graph-robot.svg": "1dac84d0f24e68d4ec70af0be5289207ec9896001279152c5f3b07cd164ca226"
       },
@@ -2929,7 +2973,7 @@
         "mjcf_ms": 3.261735662817955,
         "compile_ms": 153.60962878912687,
         "graph_ms": 229.8859590664506,
-        "render_total_ms": 2225.0697882846
+        "render_total_ms": 1676.4574628323317
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3044,16 +3088,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 36.18256188929081,
-        "render_ms": 2046.279075089842,
-        "compose_ms": 53.584794979542494,
-        "write_ms": 67.3372009769082,
-        "foreground_fraction": 0.23265
+        "compile_ms": 140.32017719000578,
+        "render_ms": 1410.6404320336878,
+        "compose_ms": 48.14585484564304,
+        "write_ms": 65.14869211241603,
+        "foreground_fraction": 0.23265,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "7c5340aa22a6064162abdbcdb9e5de1b51fec20524539ddfa96dbc6616cf031f",
         "meshes.tar": "d1a71ff586a8d8c4bd85fd0cf5d7fb8d15c094ec07d159c3f872809011bbb79c",
-        "render.png": "76db3d6972e5ac76d8b16dcbde8855be32d7fee2ae9859de0fc2f615a9d7c692",
+        "render.png": "7c6807d198d5481da667046e927fdbdc6a93056c378022873afaff11c5acaddf",
         "graph-raw.svg": "4b3b0e5187679f79f91ad5db554c7d22a808eb03546973ca2fcb89cc693a8838",
         "graph-robot.svg": "8430caa2fddd877b4947a263e4b48a94cb795f2543ff733fd6fba9b89998c1f7"
       },
@@ -3088,7 +3134,7 @@
         "mjcf_ms": 3.8665132597088814,
         "compile_ms": 67.43599427863955,
         "graph_ms": 200.10341703891754,
-        "render_total_ms": 2237.765470985323
+        "render_total_ms": 1632.849474903196
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3149,16 +3195,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 65.97509514540434,
-        "render_ms": 2001.3584638945758,
-        "compose_ms": 73.72878398746252,
-        "write_ms": 74.24720609560609,
-        "foreground_fraction": 0.48785
+        "compile_ms": 74.71655309200287,
+        "render_ms": 1423.8359578885138,
+        "compose_ms": 54.63383113965392,
+        "write_ms": 67.92129902169108,
+        "foreground_fraction": 0.48785,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "b0c1305501573744d2d8d2afe6b4fc24b45dd30ec8dc493797797a333d219d25",
         "meshes.tar": "7e74ce73dcd570ed6023418e781b0e1d8c22463f8a847074404e5b6a08afe3de",
-        "render.png": "984d8cb1c0d5257809fbfbafd95bb477b84a561da1772f232211976eb2acef6a",
+        "render.png": "5dc04b9e385fdfa39a72e00f084a20cf9e92a1a14b8a6445333b11aa1b08ed40",
         "graph-raw.svg": "2d8d6d09e130fdcd5215e8573d1f8e6f15de55c6d9940d2c091f6b8d918b1b0e",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "23efa7b70572208a92e4a398704c13441681be4a26a00c418d084d584ca25a6d"
@@ -3302,7 +3350,7 @@
         "mjcf_ms": 597.4213350564241,
         "compile_ms": 6386.691006831825,
         "graph_ms": 13852.676525246352,
-        "render_total_ms": 12647.548188921064
+        "render_total_ms": 9417.947633191943
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3789,16 +3837,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6751.865373458713,
-        "render_ms": 5657.104725949466,
-        "compose_ms": 69.76304017007351,
-        "write_ms": 96.56330104917288,
-        "foreground_fraction": 0.757575
+        "compile_ms": 5112.164567224681,
+        "render_ms": 4110.722539946437,
+        "compose_ms": 63.39937774464488,
+        "write_ms": 86.40428679063916,
+        "foreground_fraction": 0.757575,
+        "style": "link-palette-v1",
+        "colored_bodies": 493
       },
       "artifacts": {
         "robot.mjcf": "caa0d682fee8638fd8706f8e02576a4cf5781b5c2fccdf48f1168837ccdf719a",
         "meshes.tar": "77b389f256c23098d34ccb66a63be1ed584a2a71ffddb8c62a5908df93ca6844",
-        "render.png": "a79fef80310db90a698e1bae14bee7f76b29c53741bf68877fbfaaeffede5915",
+        "render.png": "43525d1beed9469140a3b876ccd578b2eff6e03d149f74fc5211da8263afb16b",
         "graph-raw.svg": "ac216f1c8a7a3c4c7713ae15e56446bdec326d38327519e14312bd6810d223e9",
         "graph-robot.svg": "ee31fc0874846e111ca79a230a4b40087bf706aeabd42b8a24cbcd3be92256c6"
       },
@@ -3830,7 +3880,7 @@
         "mjcf_ms": 3.551929723471403,
         "compile_ms": 221.54601197689772,
         "graph_ms": 94.68128113076091,
-        "render_total_ms": 2014.707172755152
+        "render_total_ms": 1391.1150391213596
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3891,16 +3941,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.645897705107927,
-        "render_ms": 1883.3122267387807,
-        "compose_ms": 49.798748921602964,
-        "write_ms": 55.00238109380007,
-        "foreground_fraction": 0.1507
+        "compile_ms": 92.69713098183274,
+        "render_ms": 1167.213091161102,
+        "compose_ms": 40.94856232404709,
+        "write_ms": 57.995902840048075,
+        "foreground_fraction": 0.1507,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "01c53bcf7d50ab8a9c2fb8b641d33ece686a560fc3ae9a254d6f39579d95bb12",
         "meshes.tar": "49425710eb4b91aac8c2c9043291257b2adf266fe97d01ec5befda9bf5b23e97",
-        "render.png": "161b61c83fe19ddb1771ed463c0a3a268830f393513da90940a6517942baf2be",
+        "render.png": "f4dcf217347fa18aa45f0e7eeae25f220acc22a90e109bf206f0e00bc6bbd850",
         "graph-raw.svg": "c471cab9825f6857ed702326984a0aeea4fd2588686acb1196f081e340806fce",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "fa570c1b4849a0a640938bc7bda23abfccdcc10f8dc1c41e0ff0aa685863a9d6"
@@ -3941,7 +3993,7 @@
         "mjcf_ms": 3.2028420828282833,
         "compile_ms": 227.4666209705174,
         "graph_ms": 213.51362997666,
-        "render_total_ms": 2390.044960193336
+        "render_total_ms": 1718.4451459906995
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4038,16 +4090,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 231.40444979071617,
-        "render_ms": 1994.0135129727423,
-        "compose_ms": 63.54266777634621,
-        "write_ms": 77.92101707309484,
-        "foreground_fraction": 0.5042916666666667
+        "compile_ms": 162.6331959851086,
+        "render_ms": 1420.244675129652,
+        "compose_ms": 53.372072987258434,
+        "write_ms": 70.4084918834269,
+        "foreground_fraction": 0.5042916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "703c887aa94d6cda806c6ccbbbcef0e6cc325e5775bfad0daf2145801b36a3ff",
         "meshes.tar": "819d926d32d3b62671238c8ee1acaa7a46ab591c586c286ae5873da16ffb6dbf",
-        "render.png": "0a4d92c4c097ce17483c31197fef68c42bdca381322eb9326e50cf35d24de362",
+        "render.png": "dfba29a39569151fea68cb353121a01d4eaf41cea86f128cd067ce4f92a4a98f",
         "graph-raw.svg": "ba7a4430fe5923fa95d1010dd023c89162858c1cea1f5f589ac4acc4775828e4",
         "graph-robot.svg": "b924c3b8a2a31bbcc8a3230c93bcd1eb6b0b1bf7018778bb509b614e751f23e6"
       },
@@ -4089,7 +4143,7 @@
         "mjcf_ms": 3.81475780159235,
         "compile_ms": 20.99554892629385,
         "graph_ms": 511.4335077814758,
-        "render_total_ms": 1864.6776885725558
+        "render_total_ms": 1439.7366661578417
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4137,16 +4191,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.86944880709052,
-        "render_ms": 1718.054081313312,
-        "compose_ms": 48.048355150967836,
-        "write_ms": 55.40549894794822,
-        "foreground_fraction": 0.1749
+        "compile_ms": 20.347721874713898,
+        "render_ms": 1316.5764478035271,
+        "compose_ms": 39.52408069744706,
+        "write_ms": 51.41556588932872,
+        "foreground_fraction": 0.1749,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "bc3e323c6d7dc826ef642153de0694e1538cbf96330175f491af5c93407c3cd3",
         "meshes.tar": "afe86b8ccc50d3a6bfef0efc81289302767551f8c656488ffd5517d7e15d767f",
-        "render.png": "386e058794e1ed16b6189bd61d05da2b9edb503aeee001b9676f3c3295cf3bd7",
+        "render.png": "6cba16b2b007a5986b9ce8338110710a6832d63e486cadba90b378f87b54b83b",
         "graph-raw.svg": "0e16523a38e4aeca027f912ca0892f8ba529c3df61213b92a93b79dea153042c",
         "graph-robot.svg": "5c3837c1ed598d001eee60b2ed09600069a1fdf53445b27b2b5a258c15f93e7a"
       },
@@ -4181,7 +4237,7 @@
         "mjcf_ms": 5.589976906776428,
         "compile_ms": 144.94152506813407,
         "graph_ms": 504.5124306343496,
-        "render_total_ms": 2216.5884766727686
+        "render_total_ms": 1732.8410227783024
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4242,16 +4298,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 134.20938607305288,
-        "render_ms": 1897.4708360619843,
-        "compose_ms": 87.20738906413317,
-        "write_ms": 77.43171323090792,
-        "foreground_fraction": 0.64955
+        "compile_ms": 123.32264194265008,
+        "render_ms": 1389.644070994109,
+        "compose_ms": 68.8990349881351,
+        "write_ms": 139.14370723068714,
+        "foreground_fraction": 0.64955,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "2a40e3f04834d84ed2c22fb93e08a786a486d9a704495a3821485907be097b3f",
         "meshes.tar": "53aced93e0ebd6a83708ec31ed76a7d118fd96d4b3d6e11f480b51307fca2594",
-        "render.png": "738c3af7130c68af9ea5e9a67dd8ecafc5182787af5648d8bdc146dc93be41de",
+        "render.png": "ce4acb734de87197633e5153754302f3119475b22bc8c8822c1f20b39935eed0",
         "graph-raw.svg": "470d682d7d385dfc100d47418d6fa6efe976b60e0a5de2fa42a3f5bb27e43a34",
         "graph-robot.svg": "7bac5e0bf6fb7a765cabfba636f6ed89b17a6c260dd32d09a21283ee199d8d81",
         "robot.urdf": "88420f4a57b78b86e77b69623d94c398c0810010fd57b32cb5e7553755ba9100"
@@ -4314,7 +4372,7 @@
         "mjcf_ms": 7.401104085147381,
         "compile_ms": 146.48310095071793,
         "graph_ms": 495.5957760103047,
-        "render_total_ms": 2233.326649758965
+        "render_total_ms": 1805.322044994682
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4362,16 +4420,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 147.2157440148294,
-        "render_ms": 1899.9354541301727,
-        "compose_ms": 79.38120095059276,
-        "write_ms": 88.07292906567454,
-        "foreground_fraction": 0.7795666666666666
+        "compile_ms": 113.94852213561535,
+        "render_ms": 1403.92692014575,
+        "compose_ms": 66.19204813614488,
+        "write_ms": 209.3464550562203,
+        "foreground_fraction": 0.7795666666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 23
       },
       "artifacts": {
         "robot.mjcf": "8d1acaacabdc0a1cf45a6d8f2a74a1eb2b91ea8cf603477b419f7453d1d38803",
         "meshes.tar": "b692c4150d476ceb3dd06fa18fe5c9df58ff6a4ea7f02083ff1a66619835bee5",
-        "render.png": "72a20a683cff309c199ad8b97c1bbbbdd8cc8b81f750abe0f20bf859ccdb5e08",
+        "render.png": "8118ee92fab32520fcfa270605e2546069e1d7c1fe916098da69d42908ebbdc9",
         "graph-raw.svg": "6672b71c871ca0c986a6bbc501bd8bc81b2072c6812e7738ba421abd3ee63c1f",
         "graph-robot.svg": "5237629ff0700a5ee38a36b7f70c7da0b3140b6a4b66fea01cb97576be55cc6f"
       },
@@ -4414,7 +4474,7 @@
         "mjcf_ms": 13.927283231168985,
         "compile_ms": 823.326132260263,
         "graph_ms": 830.9307899326086,
-        "render_total_ms": 3202.672072686255
+        "render_total_ms": 2499.009012244642
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4462,16 +4522,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 857.778875157237,
-        "render_ms": 2154.878248926252,
-        "compose_ms": 82.63432094827294,
-        "write_ms": 88.55878515169024,
-        "foreground_fraction": 0.48125
+        "compile_ms": 632.9135550186038,
+        "render_ms": 1700.0899040140212,
+        "compose_ms": 69.42765833809972,
+        "write_ms": 80.47010097652674,
+        "foreground_fraction": 0.48125,
+        "style": "link-palette-v1",
+        "colored_bodies": 91
       },
       "artifacts": {
         "robot.mjcf": "7ca4beea2604af3691d11f6dbb8e80c7a6e7344fb9af749024697f185e155b7f",
         "meshes.tar": "66e89f6c3cf7fea2fdf3b4df0c49fe197f1f85dc1c7bce03c4f716888ff17971",
-        "render.png": "408b050e15e7201d5ffadee1758217b32d3b46ea3246559ce3abd89c0b71be89",
+        "render.png": "502747625a683f71dd5e37408bf7b145591283560de181c4eb38d46c4347d407",
         "graph-raw.svg": "cb6d28af472b58651960a6956a98639bcec6bb9decc9e10e6b3552d85f9f2665",
         "graph-robot.svg": "af6df36cc5027158f6f7d75f1136e9e58ec8472722f1352be30dd7148e3083f4"
       },
@@ -4509,7 +4571,7 @@
         "mjcf_ms": 2.8004972264170647,
         "compile_ms": 26.056955102831125,
         "graph_ms": 234.3697091564536,
-        "render_total_ms": 1947.2125489264727
+        "render_total_ms": 1473.4172830358148
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4612,16 +4674,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.564650356769562,
-        "render_ms": 1772.5195200182498,
-        "compose_ms": 79.97109182178974,
-        "write_ms": 71.09805522486567,
-        "foreground_fraction": 0.7408916666666666
+        "compile_ms": 19.57315020263195,
+        "render_ms": 1308.3378258161247,
+        "compose_ms": 67.73670064285398,
+        "write_ms": 65.81181194633245,
+        "foreground_fraction": 0.7408916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "2f5453f5e888d9c4558b50d769840582d9ba15247e5340cc7cd06d6b8284db53",
         "meshes.tar": "fdea44c3020de7d0725c55dcc0c170368fb0aa5fa82678146d15c59352adf087",
-        "render.png": "925fac0afd95cc4a803e908da47ea271a4b347ca0839dc040ceba42b1869c088",
+        "render.png": "7beafacdfccea6cbd10ead13161dbf9096decaf03aecfedd838f8d8a9488b47e",
         "graph-raw.svg": "7ec351a8882198875a9a85c563a2b5c9abdcdfcf489561890e115a9b5da6ff8f",
         "graph-robot.svg": "9915aa456f0d779f7ca7cd60486ee65cac4e7ab4ce5e43d8c7e04e08de977df1"
       },
@@ -4657,7 +4721,7 @@
         "mjcf_ms": 4.0488517843186855,
         "compile_ms": 2.56150308996439,
         "graph_ms": 188.8784458860755,
-        "render_total_ms": 1913.1992147304118
+        "render_total_ms": 1442.3542208969593
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4718,16 +4782,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.3183060586452484,
-        "render_ms": 1739.5267491228878,
-        "compose_ms": 76.12177403643727,
-        "write_ms": 75.10482985526323,
-        "foreground_fraction": 0.50105
+        "compile_ms": 3.0525121837854385,
+        "render_ms": 1294.277983251959,
+        "compose_ms": 62.22619628533721,
+        "write_ms": 70.92114025726914,
+        "foreground_fraction": 0.50105,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "3519aa783306e8d14e980bad7f8f8d28c7482501fd693ba56b974823cdaf0c98",
         "meshes.tar": "af701cabe9e60dadb270dd5323ae5d3b7cefa173cfc0a5ede34dabf8dbba1546",
-        "render.png": "0bfb22a07daf04059bd68267df396c84697b092e2fd14e44b37b56b3659087b7",
+        "render.png": "84530b6c7f4a09e2b93b4eea679f22c0457b2578b843b30e232035b3357c39a9",
         "graph-raw.svg": "84b27243dfa8b135bf67e81ff7193fa284b32d17ecbd2ab5d9a691ad9352004c",
         "graph-robot.svg": "ad9800a4548df01456921018a625e697168d5da178bcfeafec7c5da76f8994d3",
         "robot.urdf": "53d8f9da15b021da7861b300259fa84568d61036eb1c03584049b6169e243e06"
@@ -4763,7 +4829,7 @@
         "mjcf_ms": 4.262850154191256,
         "compile_ms": 5.0262100994586945,
         "graph_ms": 175.09517399594188,
-        "render_total_ms": 1885.2304071187973
+        "render_total_ms": 1468.2745160534978
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4824,16 +4890,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.021640263497829,
-        "render_ms": 1718.4809539467096,
-        "compose_ms": 62.99207219853997,
-        "write_ms": 78.30543396994472,
-        "foreground_fraction": 0.5478
+        "compile_ms": 5.169016774743795,
+        "render_ms": 1325.2455941401422,
+        "compose_ms": 53.64921083673835,
+        "write_ms": 72.40447215735912,
+        "foreground_fraction": 0.5478,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "dbe5db4840cd01f5e5bc93bfbaebbe70e543229abba8ffee9eea8022b54204b1",
         "meshes.tar": "690efbbbf8b8364cb718c1d346ee872646e026ee5ca47c4e0d604e633268392a",
-        "render.png": "4d76e0f1a9b35263e5e5204d720edd173298b1bc07fd05a0ecab7c03229b054b",
+        "render.png": "56ae104603d30beac281fbf387ced4bc7a096a48aa9b0f2b30685feb0bc33b4e",
         "graph-raw.svg": "6ac58414bf086762da3e66f2f48c1194a5c916ecb7809924622277ceaf149e5d",
         "graph-robot.svg": "1c2cc3c59e34864baa976ad4d7c25466c5ff54e9d69f424b069754e2f965863d",
         "robot.urdf": "50a85513b6c831087e499e43d64b3ccd84bf3cd868ac5455d3789c23e402a511"
@@ -4872,7 +4940,7 @@
         "mjcf_ms": 2.849976997822523,
         "compile_ms": 28.293570037931204,
         "graph_ms": 91.63064323365688,
-        "render_total_ms": 1990.7712619751692
+        "render_total_ms": 1502.3793210275471
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4920,16 +4988,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 39.71590241417289,
-        "render_ms": 1762.9817039705813,
-        "compose_ms": 79.05006082728505,
-        "write_ms": 89.58314917981625,
-        "foreground_fraction": 0.7128
+        "compile_ms": 30.543969944119453,
+        "render_ms": 1301.6252820380032,
+        "compose_ms": 65.1627229526639,
+        "write_ms": 93.23898144066334,
+        "foreground_fraction": 0.7128,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "5f514857d86f6bc80cee4445570ac72459e597a78f590bb082687ad8224d7ac8",
         "meshes.tar": "ba0b458215112c135e10cc33d4f13e6989430146ec77bb4eed364e6376c85e74",
-        "render.png": "6defdc7de0f6c029bdd4aaa2812f1a687b7644e92174ae79ba8ec487fe0b74a2",
+        "render.png": "34cb15bb257a9c13cf7b0d1fcd3f552f26c45327f3c618426a79bdacb53b025b",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -4969,7 +5039,7 @@
         "mjcf_ms": 3.1229411251842976,
         "compile_ms": 18.027549143880606,
         "graph_ms": 152.4682748131454,
-        "render_total_ms": 1944.4426479749382
+        "render_total_ms": 1486.2321899272501
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5036,16 +5106,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.747695118188858,
-        "render_ms": 1757.8352438285947,
-        "compose_ms": 66.76885113120079,
-        "write_ms": 79.89028375595808,
-        "foreground_fraction": 0.57255
+        "compile_ms": 18.168644048273563,
+        "render_ms": 1325.005372054875,
+        "compose_ms": 55.8482832275331,
+        "write_ms": 75.3727201372385,
+        "foreground_fraction": 0.57255,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ccca043a420c62b0b6a14d374348ee7361359603c477793e34839f3e7fe3bc50",
         "meshes.tar": "7878d5555856d0e0d1ce15724bef9ba44835d4cb5391c56605f9ec63eb24b8a2",
-        "render.png": "8cc45677e8cead7705abd6383e895d7ea496c87384889fdd59a2cfd5c98768ff",
+        "render.png": "82708b427badbcbbd7129558da68c3f169cef44581a035df3e8dacc3ec8629ef",
         "graph-raw.svg": "4056b68e241db3656749ffb44622140be2269e69a34688f3670f73e959377ec7",
         "graph-robot.svg": "dc5e1d22c71581db98b10efef2683add12fc76c04fdf71c1ca55dbc46b1463e9"
       },
@@ -5085,7 +5157,7 @@
         "mjcf_ms": 3.5222750157117844,
         "compile_ms": 106.446566991508,
         "graph_ms": 123.69649345055223,
-        "render_total_ms": 2067.259366158396
+        "render_total_ms": 1600.4480277188122
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5133,16 +5205,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 111.77609208971262,
-        "render_ms": 1785.7662769965827,
-        "compose_ms": 60.21997984498739,
-        "write_ms": 88.79146398976445,
-        "foreground_fraction": 0.3322
+        "compile_ms": 104.2125578969717,
+        "render_ms": 1344.3966750055552,
+        "compose_ms": 48.163666389882565,
+        "write_ms": 91.62195399403572,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "c75f19fc85965aba1afb61965ad77a9e64cbdc1740a03742e898605f9ab3b29e",
         "meshes.tar": "75ba2385a27f011244eab69233f713bab49aa88e5ab2466a19f84b847b05a0ec",
-        "render.png": "2c79dca91f53181504c2516208da6762b5b6f72c8cb91155d5b6b42979defc57",
+        "render.png": "31dc8ab710629970d40f4fda8045d1dbb4764f14795fc376110c226ab1ebf28f",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -5182,7 +5256,7 @@
         "mjcf_ms": 4.239355213940144,
         "compile_ms": 4.110981244593859,
         "graph_ms": 221.50150127708912,
-        "render_total_ms": 1836.5683262236416
+        "render_total_ms": 1429.6618970111012
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5243,16 +5317,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.198688082396984,
-        "render_ms": 1682.0464469492435,
-        "compose_ms": 65.91393379494548,
-        "write_ms": 65.06425095722079,
-        "foreground_fraction": 0.58465
+        "compile_ms": 3.945356234908104,
+        "render_ms": 1297.546031884849,
+        "compose_ms": 56.4273321069777,
+        "write_ms": 59.87743381410837,
+        "foreground_fraction": 0.58465,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "036b46e0bbb800cf6b463f0d054e84eff518ffd2ecdf04de4b60ea121cd009a2",
         "meshes.tar": "7c088702a1df918d1e749c31fcc304be697dfac289fa33ea23749f42e3867a9f",
-        "render.png": "5f2000e82ddcd1bfb691641f8f32a4e80f733d2a88b311d48170393eae3cdfd7",
+        "render.png": "8f6964091b65f48d560e64eebb84abd7b9f91e163543f567de1d5cab68f517c2",
         "graph-raw.svg": "b1c15e4c3d3cfbeb665d322d7b2ba5614676cea99974d2a6c7f7068d3a795ec6",
         "graph-robot.svg": "91cce33cfc4afd418a91b390e0efad3ab2b585a3561efb78dd64915689fb0da0"
       },
@@ -5291,7 +5367,7 @@
         "mjcf_ms": 3.158419858664274,
         "compile_ms": 16.03304920718074,
         "graph_ms": 236.94703401997685,
-        "render_total_ms": 1918.6019371263683
+        "render_total_ms": 1462.0478679426014
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5339,16 +5415,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.083900023251772,
-        "render_ms": 1734.1481149196625,
-        "compose_ms": 78.94580718129873,
-        "write_ms": 72.17554794624448,
-        "foreground_fraction": 0.7560583333333334
+        "compile_ms": 10.811079293489456,
+        "render_ms": 1303.1341400928795,
+        "compose_ms": 66.55259290710092,
+        "write_ms": 69.60365967825055,
+        "foreground_fraction": 0.7560583333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "71a9ce79d1e4a69c0c7cd071ad32a68d6958dd5434118123e7ad7f6b842c5f6f",
         "meshes.tar": "40654992940eb3f77f54b4009b31d1f12ca44685f8f69ef93e77b8965121359e",
-        "render.png": "efe725deff55ac5b329c82bbda35ebb7b76b4e8b03845239266425f66d462610",
+        "render.png": "490a5807545349c405f3a56aab886f0c716f6817845ba8420c6ae7ea34de3b25",
         "graph-raw.svg": "eef4fc6987440ec9ec7a1d7bae4d92321ee2a1e585dd4dc1d8786a610df4cff3",
         "graph-robot.svg": "8825944abd91befe3db58340e1abeb08c28c61d0596fb2c6a4359633cd0303a4"
       },
@@ -5389,7 +5467,7 @@
         "mjcf_ms": 3.1058918684720993,
         "compile_ms": 9.442697744816542,
         "graph_ms": 159.79508496820927,
-        "render_total_ms": 1884.4316517934203
+        "render_total_ms": 1547.2644437104464
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5456,16 +5534,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.43435512110591,
-        "render_ms": 1708.2813060842454,
-        "compose_ms": 70.49735821783543,
-        "write_ms": 75.56351693347096,
-        "foreground_fraction": 0.62315
+        "compile_ms": 10.223972145467997,
+        "render_ms": 1392.6708959043026,
+        "compose_ms": 60.29375595971942,
+        "write_ms": 72.19164399430156,
+        "foreground_fraction": 0.62315,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "f25750c3fd64994ab736828d7322156da5c78442e8ce508b9d9fdb0dca70783c",
         "meshes.tar": "077296c38c34b73421fc233a2bdf5b8b148d02d70b67073e6efd70c1c9bc1d49",
-        "render.png": "fe7d881d1b6c4ec027c0a502f4fc7410ab71432ecbd1ccfdb33bb88d9fd8160e",
+        "render.png": "55dbab2c6e21e07de14668bc786225bd25300acd0c2e6c98bc3932e1028da13d",
         "graph-raw.svg": "ec270a656b41ed6d46f6aa4a4d94c48df223ed9664c84e3c863138bd939818f0",
         "graph-robot.svg": "19b891ddc6943312652b22c39028b72b0dbb947af357a3c08fd84beb05a7c62a"
       },
@@ -5496,7 +5576,7 @@
         "mjcf_ms": 3.082908224314451,
         "compile_ms": 6.343696266412735,
         "graph_ms": 81.73486636951566,
-        "render_total_ms": 1898.0295839719474
+        "render_total_ms": 1497.324203606695
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5557,16 +5637,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.006742991507053,
-        "render_ms": 1719.5167909376323,
-        "compose_ms": 82.05410838127136,
-        "write_ms": 66.99608592316508,
-        "foreground_fraction": 0.60005
+        "compile_ms": 5.779852159321308,
+        "render_ms": 1348.2446409761906,
+        "compose_ms": 67.91738513857126,
+        "write_ms": 63.46035795286298,
+        "foreground_fraction": 0.60005,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "5d8b634a593bc4e91f2c4d857333bd0f81c19cc75d07e7153bfecce9fc2ac8f9",
         "meshes.tar": "327777a2f2f0a5176b47e84df85c7ba21f7f4034b5bd42831f63d87406b70be7",
-        "render.png": "989c01117c23e5997d84435823488144f1eea4d6cb0a14ee7bfe246e3af386de",
+        "render.png": "c5862392a62db728530fbcd48a9e31e5d5ec0d1a860ffe7afc275210da72ef62",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3e1220994ee193fdac77aa72efc183665ac92835d8325c0b98c72bab3f1f9444"
@@ -5607,7 +5689,7 @@
         "mjcf_ms": 3.099404275417328,
         "compile_ms": 30.720504000782967,
         "graph_ms": 115.93310674652457,
-        "render_total_ms": 1985.8364900574088
+        "render_total_ms": 1677.1690011955798
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5655,16 +5737,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 38.07515511289239,
-        "render_ms": 1748.9039739593863,
-        "compose_ms": 70.28683321550488,
-        "write_ms": 108.77252323552966,
-        "foreground_fraction": 0.7386166666666667
+        "compile_ms": 25.26953909546137,
+        "render_ms": 1409.8618389107287,
+        "compose_ms": 59.21393819153309,
+        "write_ms": 171.0047209635377,
+        "foreground_fraction": 0.7386166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "0bfd87fa9ffbc11d482c8d2239dfedb9a033bf01d1a4b44737d008d030d701f3",
         "meshes.tar": "596ec0b6954898fc088f6c7ec3ecfd749db4b81318c1997f47b6fc531605ba76",
-        "render.png": "63337ceea76d574acfe2f3b9c06b1622b5da1091fec70b51b7acac00e169d7bb",
+        "render.png": "ace5f61171cd8b08077fb702b49bfa746bc028f56ebf2a4eaadb6f48112cf451",
         "graph-raw.svg": "08b7b11dda16a32718a19201fdc0b47b4725a45eaa58d0c964a8a4fe64a406ee",
         "graph-robot.svg": "92b302a505994bd87e05203489478522cffa8220264e0b97299b6e08a34a7e7f"
       },
@@ -5696,7 +5780,7 @@
         "mjcf_ms": 3.3817440271377563,
         "compile_ms": 3.9483499713242054,
         "graph_ms": 129.01540799066424,
-        "render_total_ms": 1979.7956570982933
+        "render_total_ms": 1494.4936889223754
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5757,16 +5841,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.487532656639814,
-        "render_ms": 1802.1231051534414,
-        "compose_ms": 77.06299098208547,
-        "write_ms": 76.42972003668547,
-        "foreground_fraction": 0.7799
+        "compile_ms": 3.902411088347435,
+        "render_ms": 1337.8372457809746,
+        "compose_ms": 71.15428056567907,
+        "write_ms": 69.65927872806787,
+        "foreground_fraction": 0.7799,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d8d56325d89fff52c8b4ad45120117e5726ce5391fbe9e72342d591265dac245",
         "meshes.tar": "658a10ead8677361dd0f93c638a18cdf8287d0cfc42302daa0ccd670f463e9ea",
-        "render.png": "5b5f1998895f4efa7dd64e78324e4966bf144d8b32f63508ebcb1577f8a1e54b",
+        "render.png": "c53805961322b7fe15fd831a805cb6e2fa5b0653282492b156c0d44514f2058e",
         "graph-raw.svg": "603b94750715f475c439acc5c2ba11ed802923a075b69bd12216d5de3c58be7c",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "97b6050d629b63cd0cf609ea3b6519fcf3aa793f5298acc48fd91f83adb6248a"
@@ -5799,7 +5885,7 @@
         "mjcf_ms": 3.2937810756266117,
         "compile_ms": 11.471155099570751,
         "graph_ms": 281.45485231652856,
-        "render_total_ms": 1926.009280141443
+        "render_total_ms": 1503.170222043991
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5860,16 +5946,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.40566098690033,
-        "render_ms": 1732.0039477199316,
-        "compose_ms": 67.9122768342495,
-        "write_ms": 87.6231649890542,
-        "foreground_fraction": 0.385
+        "compile_ms": 12.05768808722496,
+        "render_ms": 1333.13616970554,
+        "compose_ms": 56.79474398493767,
+        "write_ms": 89.26266711205244,
+        "foreground_fraction": 0.385,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "6ea1bbb53240c2011cb401a5e4768e5faf328c56e565a123796ded51e7f5bef1",
         "meshes.tar": "e61f25914449300ec6f27652716fcfd0ca72d5dbe2b9fc3f4106e0030a5979f2",
-        "render.png": "2887bf97634f59e7d34c9865b8157a8be40df8180369774e1ced59cbe3da06ee",
+        "render.png": "ff005654026d12f6439166d70fc354f22f02fcaa507c466cbc8b8c8d38118d0f",
         "graph-raw.svg": "630a8299a1c38f3640c89a7a70fd4c5f0295267242c9db159fac1aff1d504a5b",
         "graph-robot.svg": "7313c4c9d05fe8f66e8e5046340aa7bc1d54e3462a91edd76d58b2efa7ffccac",
         "robot.urdf": "c5a5eb1ea747f11b7759c3b40b5f426a8e3b7546067a6753565b153e65d64057"
@@ -5909,7 +5997,7 @@
         "mjcf_ms": 3.0598468147218227,
         "compile_ms": 3.5098609514534473,
         "graph_ms": 134.3704699538648,
-        "render_total_ms": 1877.862541936338
+        "render_total_ms": 1501.2094131670892
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5964,16 +6052,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.362959414720535,
-        "render_ms": 1729.8596799373627,
-        "compose_ms": 63.47174709662795,
-        "write_ms": 60.504262801259756,
-        "foreground_fraction": 0.4873
+        "compile_ms": 3.582436591386795,
+        "render_ms": 1374.4126921519637,
+        "compose_ms": 53.41475270688534,
+        "write_ms": 57.930699083954096,
+        "foreground_fraction": 0.4873,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "0b67e81ec49e5a8a875be8d2852636d0025227ea1d25cbf59db6ff571065c8bf",
         "meshes.tar": "3dcff3f3567a65bf912d6e14a68e46457e75b2d1a59706a49a1b7deb3b7d2714",
-        "render.png": "b604cc5aa83969c634c61b0e406545190a141cd80fac468d55887e08e1ba272d",
+        "render.png": "ffde824853c67a66cec4db428a7567867d1e6a75c97a7b56364ecee769c91c8b",
         "graph-raw.svg": "2e320ac0cd151bb9d9eb96dfa81f8576cf36cdf71f929992a5068ae4161ce1d4",
         "graph-robot.svg": "d39daedf4ac35b8018f3d79a2ecf87ca5c6ae1ed1dad43920d4282003b705781"
       },
@@ -6004,7 +6094,7 @@
         "mjcf_ms": 3.126590047031641,
         "compile_ms": 4.86371386796236,
         "graph_ms": 89.98625818639994,
-        "render_total_ms": 2048.873085062951
+        "render_total_ms": 1526.0026808828115
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6065,16 +6155,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.6974380277097225,
-        "render_ms": 1782.3488949798048,
-        "compose_ms": 62.34358996152878,
-        "write_ms": 178.45517210662365,
-        "foreground_fraction": 0.41415
+        "compile_ms": 4.576094914227724,
+        "render_ms": 1354.5290809124708,
+        "compose_ms": 57.72314500063658,
+        "write_ms": 97.31657011434436,
+        "foreground_fraction": 0.41415,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b273023c511672dbc65de68fd7efe54edb97c2dedc7a3db29783695f17bb3ec1",
         "meshes.tar": "416c73dd7ecddb08a69b5620556df1c08573260c1f4995125e79f8f5acb012a6",
-        "render.png": "57dc1267918aae92558fab554a2e2bddf8e5d01449b9dfd6d526aae7c9fd6c92",
+        "render.png": "204f66e2e2f18ab0aeda626bf46f89f70dac5d52fda59256520b84aa2d8f0755",
         "graph-raw.svg": "38b4186cafe4e4ec618b42d5182fe117d8980dc3eef87d1e48ae655ec04e068e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f233e8f24bb072355a9d4aee70fad42a0bec12cd777dafbefb723d532157e76c"
@@ -6118,7 +6210,7 @@
         "mjcf_ms": 4.659370053559542,
         "compile_ms": 55.398181080818176,
         "graph_ms": 282.9367881640792,
-        "render_total_ms": 1960.7707541435957
+        "render_total_ms": 1553.8186160847545
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6166,16 +6258,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 56.02145567536354,
-        "render_ms": 1752.783803269267,
-        "compose_ms": 64.74457401782274,
-        "write_ms": 67.6872949115932,
-        "foreground_fraction": 0.648375
+        "compile_ms": 41.728714015334845,
+        "render_ms": 1374.0843487903476,
+        "compose_ms": 63.39906994253397,
+        "write_ms": 62.6997253857553,
+        "foreground_fraction": 0.648375,
+        "style": "link-palette-v1",
+        "colored_bodies": 15
       },
       "artifacts": {
         "robot.mjcf": "a940e2929ba517e8d8b392ee7703bb15046b7f1d099d7ae48296752d62cae153",
         "meshes.tar": "3c4de06631892f7282fdeecd65b0855e3fc3d9a575be1d407a17e0730717eb87",
-        "render.png": "26575ec0c144dadf6b8271a09e69aab77076c81947b7ea6cc24313ce0e028532",
+        "render.png": "0f8e7478fe2cfacfdec2e7e07240a53df092ae0cfa144c9f786dc872587d161a",
         "graph-raw.svg": "753bb788f825b8b650308c038a0f7bd5f6854e0c7fc43913372558ddbff0cc13",
         "graph-robot.svg": "c459467829d676d54b9999619e51ab6b3aad82ac303024a6d104d4c59b631d9a"
       },
@@ -6208,7 +6302,7 @@
         "mjcf_ms": 3.394046798348427,
         "compile_ms": 31.112417113035917,
         "graph_ms": 181.08996376395226,
-        "render_total_ms": 1977.7179430238903
+        "render_total_ms": 1569.3831299431622
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6269,16 +6363,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.407277040183544,
-        "render_ms": 1783.7508800439537,
-        "compose_ms": 65.18326187506318,
-        "write_ms": 67.29975016787648,
-        "foreground_fraction": 0.648375
+        "compile_ms": 33.06255303323269,
+        "render_ms": 1404.1574448347092,
+        "compose_ms": 56.04794202372432,
+        "write_ms": 64.22154325991869,
+        "foreground_fraction": 0.648375,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "93174fc719b1e6c9152c82dadb62aba051262cd534bd8e2787fa9e9888ad430c",
         "meshes.tar": "fb53e86b56be385e689588bbfd92442983f74f0d3fa9a863f3d137a2c78cff0f",
-        "render.png": "edda138ef44f8d81182ad1677f098b3c559b9beb49ffa3c9a9830d014d18cd55",
+        "render.png": "00ddaed89d2ce8ccc38d08d00cb37ca14507702214289bc582ab575c781bbf1a",
         "graph-raw.svg": "c40985527c413dbe977148bfb333f7fd74e2b4213a0f84a99481246cf65b6567",
         "graph-robot.svg": "a603a5f0d0d061c6c6a333ab525e1cfa4890136223e07495b872abf517cd052c",
         "robot.urdf": "553a2203ba58b04ebb2bb96986a93143b06367a2a545ee3e85c948a139a7ef8f"
@@ -6310,7 +6406,7 @@
         "mjcf_ms": 3.352728206664324,
         "compile_ms": 14.831727836281061,
         "graph_ms": 95.87504807859659,
-        "render_total_ms": 1931.5748512744904
+        "render_total_ms": 1491.4077897556126
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6371,16 +6467,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.274461824446917,
-        "render_ms": 1764.6040506660938,
-        "compose_ms": 64.72154380753636,
-        "write_ms": 67.70939519628882,
-        "foreground_fraction": 0.648375
+        "compile_ms": 12.855072040110826,
+        "render_ms": 1347.356408368796,
+        "compose_ms": 55.906305089592934,
+        "write_ms": 63.41511197388172,
+        "foreground_fraction": 0.648375,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "d226e9b88ff3379cb45b53c65a0758f53f82f6051e7c92eb452029438e8092be",
         "meshes.tar": "14fc4e8b40554bb79c940a6cf8a53d18add3896f3a19bb9de8b49ec6fddd76eb",
-        "render.png": "26575ec0c144dadf6b8271a09e69aab77076c81947b7ea6cc24313ce0e028532",
+        "render.png": "d4338dfc66178f98c9ed347b0dc23c64bf411021aabb9220eaa4efcad8e19b7c",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "ebe8305c0a95c8f483a7585a0854bf619a488f14d3ab885e5093c7e0e7a68f98"
@@ -6419,7 +6517,7 @@
         "mjcf_ms": 3.257960081100464,
         "compile_ms": 122.26248998194933,
         "graph_ms": 141.13924372941256,
-        "render_total_ms": 2111.6157667711377
+        "render_total_ms": 1788.0887119099498
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6480,16 +6578,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 115.80598820000887,
-        "render_ms": 1808.51138709113,
-        "compose_ms": 77.40021636709571,
-        "write_ms": 90.13768099248409,
-        "foreground_fraction": 0.7659166666666667
+        "compile_ms": 208.88358168303967,
+        "render_ms": 1399.0012779831886,
+        "compose_ms": 65.6009498052299,
+        "write_ms": 99.61252985522151,
+        "foreground_fraction": 0.7659166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "c1611f9df9ffbfe2aff2d999e183e16ba8d9b5b40a6dfab903e98815659da233",
         "meshes.tar": "b93330def58dba6c04fad01ad5d79fa64c418ab94e42fec8707081bb71f7d739",
-        "render.png": "bcaa9acf1c3fee1ec7ce1e4a964f337ca501b93294c7e756a6eda267c325723f",
+        "render.png": "292004a423b35d4e8d4c99446767d794d65934c7fd3dcbc11279f967a9f17f66",
         "graph-raw.svg": "f4ce05f25a7949ff11164193e56da2ecc63fee464004dbcd7e573caad644c3fd",
         "graph-robot.svg": "28ec4a7aa3a0cf0688a83a34b439dbaa06d37f366c739e64cf0108e20b4a8774"
       },
@@ -6565,7 +6665,7 @@
         "mjcf_ms": 3.5149743780493736,
         "compile_ms": 29.74145207554102,
         "graph_ms": 90.10696318000555,
-        "render_total_ms": 2079.3139040470123
+        "render_total_ms": 1548.588674981147
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6626,16 +6726,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.739888850599527,
-        "render_ms": 1797.5248312577605,
-        "compose_ms": 58.972418773919344,
-        "write_ms": 173.57809375971556,
-        "foreground_fraction": 0.3663
+        "compile_ms": 23.795064073055983,
+        "render_ms": 1396.1364040151238,
+        "compose_ms": 48.822073731571436,
+        "write_ms": 67.72637367248535,
+        "foreground_fraction": 0.3663,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "2600c96d4922ae0b7edfd3175b079ab7db583f9c47a3cea5ef6ebce4a0e107f9",
         "meshes.tar": "869305c74e80618fd38697937a7d6ac8d4e9ddfa2b3825971dda498378595a9c",
-        "render.png": "64c2ad17e910ad12424daf71c35ae9c48e7ad4cf9534595325cfc85d3f74b667",
+        "render.png": "543ce2df36ec58d5509f7303934f9c4eb56f37bcc797edfaa8df72ccbef54856",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "467d062644a3a73c48f82ec3741cb05765b9c38cd7c29bac7fb6352d0990a86f"
@@ -6677,7 +6779,7 @@
         "mjcf_ms": 3.8180379197001457,
         "compile_ms": 6.761540193110704,
         "graph_ms": 214.86381022259593,
-        "render_total_ms": 1955.4782272316515
+        "render_total_ms": 1525.792901404202
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6725,16 +6827,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.431414142251015,
-        "render_ms": 1810.261098202318,
-        "compose_ms": 62.46404629200697,
-        "write_ms": 55.01663312315941,
-        "foreground_fraction": 0.2442
+        "compile_ms": 7.329354993999004,
+        "render_ms": 1390.5347548425198,
+        "compose_ms": 59.34934504330158,
+        "write_ms": 56.66321562603116,
+        "foreground_fraction": 0.2442,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "ce9110cc2f7116ede8944e6bca0a07ec04d2539338a566351d66881adf5db963",
         "meshes.tar": "94434c88ca7ee24be5c22316de08d9e01fd01255b3478f01cc99066929aa9503",
-        "render.png": "a4a43e33ecddb288d0525aa55420fcffd46fd8a56675d19a0caefa32eb8bfb52",
+        "render.png": "489a762b5879636ec5057247fc7301ff42030de8a432ff906c08330e0c70f707",
         "graph-raw.svg": "1ee49f77316deafaf614a9eb0bb585d29d07780d123dd14a59365f25e9b2d526",
         "graph-robot.svg": "431bcb986ac0db573558d2c0f3d377230a12fd8b7953a6426fca40dda95d12a1"
       },
@@ -6775,7 +6879,7 @@
         "mjcf_ms": 3.484443761408329,
         "compile_ms": 502.43600783869624,
         "graph_ms": 302.6815289631486,
-        "render_total_ms": 2614.6051110699773
+        "render_total_ms": 2006.8424618802965
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6866,16 +6970,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 510.47554099932313,
-        "render_ms": 1913.7150449678302,
-        "compose_ms": 69.6179480291903,
-        "write_ms": 99.98056199401617,
-        "foreground_fraction": 0.42075
+        "compile_ms": 344.4525832310319,
+        "render_ms": 1465.4828161001205,
+        "compose_ms": 73.15239775925875,
+        "write_ms": 107.74658713489771,
+        "foreground_fraction": 0.42075,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "bcf395870976376f728f9331d2c0fb3eb7d72cb441feadd4f6f617165cdd09ad",
         "meshes.tar": "abe053c1b8dd6dea3bfa70eb984d951552e17b1d75b57dfeede40f8ba0d548f1",
-        "render.png": "606af391c22005e20e56433bfb9b2b9c901e96628ff4abf76207dfd06ae9348f",
+        "render.png": "e08e5f634a21205073b02cc0098fadbd39a8f5727c4aaab7e6e844c6f2402304",
         "graph-raw.svg": "3c3413b35d088b2b92e0b883eac0170eac21db77cdd95ad7053f7d5471aa3baf",
         "graph-robot.svg": "c6c95cdae522a7d7206f576345320ce3a5be74bc8232475ad5020ea6a4fe8554"
       },
@@ -6925,7 +7031,7 @@
         "mjcf_ms": 6.213439162820578,
         "compile_ms": 45.92445492744446,
         "graph_ms": 555.4241091012955,
-        "render_total_ms": 2028.3793481066823
+        "render_total_ms": 1583.5840799845755
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6980,16 +7086,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 41.25253902748227,
-        "render_ms": 1817.5957589410245,
-        "compose_ms": 80.03936801105738,
-        "write_ms": 70.22766815498471,
-        "foreground_fraction": 0.6138
+        "compile_ms": 42.499212082475424,
+        "render_ms": 1394.759161863476,
+        "compose_ms": 68.36755573749542,
+        "write_ms": 65.95014128834009,
+        "foreground_fraction": 0.6138,
+        "style": "link-palette-v1",
+        "colored_bodies": 19
       },
       "artifacts": {
         "robot.mjcf": "10aeba6fffe8e81d8292cca2bd17c51590ce4d87203f042c58e766c2062ebe52",
         "meshes.tar": "015174e7e76e8e73481a58f8071599e3557b732e54cfe709fb1eeb85b8a2d32e",
-        "render.png": "0a8eef912e81a8eed300f2f7f60cfe5ef5043c60147f89bee3942b6242414876",
+        "render.png": "f8f208f4c6c71cdba64fc74304f769cbd91823944763e7c28191f7e5e240e725",
         "graph-raw.svg": "e1fe503b52f244b995b2aedc05dcc051a2b0505e7c0f4d8296f11c41b4f83ef1",
         "graph-robot.svg": "fe7409eef55c4b405bca51847e9ca8d58b17a0ebf77d241ea79f76244650716c"
       },
@@ -7020,7 +7128,7 @@
         "mjcf_ms": 3.6484673619270325,
         "compile_ms": 5.762341897934675,
         "graph_ms": 127.3061316460371,
-        "render_total_ms": 1952.3036060854793
+        "render_total_ms": 1503.540384117514
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7081,16 +7189,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.751771852374077,
-        "render_ms": 1780.1387710496783,
-        "compose_ms": 75.43086493387818,
-        "write_ms": 70.92428579926491,
-        "foreground_fraction": 0.7105583333333333
+        "compile_ms": 5.024053156375885,
+        "render_ms": 1358.148275874555,
+        "compose_ms": 63.31098172813654,
+        "write_ms": 65.15214033424854,
+        "foreground_fraction": 0.7105583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "8b09bbc244ffc5fefa5df5308f68cb83a2c4853a1906c4799377f36f3cf117f7",
         "meshes.tar": "d85cccf7bf87efcd3cfc993ed3cfe9da3ee06ec40b8d6069f62c8b5529266dd4",
-        "render.png": "a94a1d1efc8d5e66f15086dc634a6a001e2b6b84fdf4e7fe705126fa3be70527",
+        "render.png": "0711c9dc366ffbde9697371d15a230a509e010aa7701411d4c4e89bcb058eb0a",
         "graph-raw.svg": "47eb8665bccbaf76771a5891ae6f75da403967771df883733ca2ac5b0ee18663",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "aec53c94ea3965aecc43aeaa60af5036e5200aec5e1054b22916a3e0e2e726ce"
@@ -7125,7 +7235,7 @@
         "mjcf_ms": 3.6236760206520557,
         "compile_ms": 44.847927056252956,
         "graph_ms": 119.46036526933312,
-        "render_total_ms": 2018.8347571529448
+        "render_total_ms": 1614.0152523294091
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7186,16 +7296,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 43.98352699354291,
-        "render_ms": 1783.2869039848447,
-        "compose_ms": 73.01532616838813,
-        "write_ms": 96.29389923065901,
-        "foreground_fraction": 0.7590916666666667
+        "compile_ms": 42.2870758920908,
+        "render_ms": 1401.3062329031527,
+        "compose_ms": 61.442777048796415,
+        "write_ms": 97.08214597776532,
+        "foreground_fraction": 0.7590916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "5849c3274ac469a3c8c2f504bfe6179b1783deb4ae1be5121a05a2c4ebb689b9",
         "meshes.tar": "012467b9a971f02d595c5a41281e6eea5323cc5d45963a31574974034a1d4ec4",
-        "render.png": "d7dd9d10be1d3353ff5d9006897e679a595e68ed5a9af6284d3a9e64b8c14399",
+        "render.png": "caaabfa19c29a15caa3d9e3e8db6fb92af00411d6a9f4ff329c1a4ee0d91d893",
         "graph-raw.svg": "d851a1bcf3b40caa8705096aa360f8176b85fc5ca1fa57ef12d6156ce14ac24d",
         "graph-robot.svg": "e866e7a9bd43495fe6bc2d3babac28afd222e5353ff582516b56fbeb5eaec5e9",
         "robot.urdf": "e16c66ed7fb430dc28ddf3c583fde12a701b4994277f6992adc83d94643b90cb"
@@ -7236,7 +7348,7 @@
         "mjcf_ms": 3.352290950715542,
         "compile_ms": 12.420330662280321,
         "graph_ms": 124.79990068823099,
-        "render_total_ms": 2010.5153028853238
+        "render_total_ms": 1530.1259644329548
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7284,16 +7396,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 19.7890717536211,
-        "render_ms": 1819.826838094741,
-        "compose_ms": 73.03539710119367,
-        "write_ms": 78.3689608797431,
-        "foreground_fraction": 0.6963
+        "compile_ms": 15.802423004060984,
+        "render_ms": 1369.1364638507366,
+        "compose_ms": 61.25542102381587,
+        "write_ms": 72.05796986818314,
+        "foreground_fraction": 0.6963,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "65006060b9e04a9b14c4710bd1bf2ce020ce05d0bc7f12561e4fbde063815a27",
         "meshes.tar": "8855520a81abbdd7e83e7add4273460025fe5985bfdddaf33153e78ac0753315",
-        "render.png": "0cd587b17a9fe9a3ecee8267fcf3a88b4b38f64886325abd567fc5cda4cfac36",
+        "render.png": "a500fd8787150196c237fd0115f56307ddf2b419951e9b0f2d846ac14c3e8e9f",
         "graph-raw.svg": "17b8be257d14d2a2f9dc13cf55679db199d7fc0699113c35aee4da071e6ad0cf",
         "graph-robot.svg": "c1a703fdcd2ab03df74359d679e9748461eff845423d9112f323dd29af6fec3c"
       },
@@ -7328,7 +7442,7 @@
         "mjcf_ms": 3.823148086667061,
         "compile_ms": 20.303037017583847,
         "graph_ms": 172.16944321990013,
-        "render_total_ms": 1888.8120222836733
+        "render_total_ms": 1528.6719198338687
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7396,16 +7510,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.513810217380524,
-        "render_ms": 1705.0913190469146,
-        "compose_ms": 60.506101697683334,
-        "write_ms": 83.90552597120404,
-        "foreground_fraction": 0.3608
+        "compile_ms": 15.87571483105421,
+        "render_ms": 1367.7223338745534,
+        "compose_ms": 51.54176102951169,
+        "write_ms": 81.52646943926811,
+        "foreground_fraction": 0.3608,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "a74a343eb8ea556409e3afa6ccf9f0a339f26ea25450d4779fec79dee1c4055a",
         "meshes.tar": "31a0821e4a015d5a71795accc68b6c4537ea6660bcd019277a64c91770f2e66c",
-        "render.png": "9ea8e396521204ed9c5e7a39d28f90a0e79308db8d9c3f22358416a6c6271f9a",
+        "render.png": "4d6981209711dbb560b2e58a2cf91bfa37e30df4c2cff46d2a1c9ef8a7a8cda1",
         "graph-raw.svg": "c56792a3d4cdf04534b3437f4cfa14a4c9305a2f0de81151754396b7f7dca520",
         "graph-robot.svg": "043f41e842f09c12de607ad3538a7f4e4989b7990dcc094fb7b64ac32a3000bd",
         "robot.urdf": "14f25e21509d6160c7f4d4d545eb8992b6e6b2066b2949e2dfc06052b48b99e2"
@@ -7449,7 +7565,7 @@
         "mjcf_ms": 3.6136931739747524,
         "compile_ms": 242.9618421010673,
         "graph_ms": 147.06669794395566,
-        "render_total_ms": 2310.5383161455393
+        "render_total_ms": 1834.7219959832728
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7497,16 +7613,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 317.98716401681304,
-        "render_ms": 1798.1233927421272,
-        "compose_ms": 79.76969098672271,
-        "write_ms": 91.76833787932992,
-        "foreground_fraction": 0.43945
+        "compile_ms": 218.84475275874138,
+        "render_ms": 1451.7064029350877,
+        "compose_ms": 55.13676023110747,
+        "write_ms": 96.98348073288798,
+        "foreground_fraction": 0.43945,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "a0c88f2b36329ab3b65662f4a77b1520c7612685138f84d1b567b8c859a27a58",
         "meshes.tar": "0ad75e157bf8c5292a6ce4ea99dd3fcc5de39db0b9fb97357adb8b58e855e6ac",
-        "render.png": "83308eee25e0cda2638fa2766ddfb018376b059cc69c5ac8bb90d27b17a18e98",
+        "render.png": "f1c022b8d299a293efdac6beeb7c9ac6c26d71083ebf275115b9eb8ece44f594",
         "graph-raw.svg": "d0557cd190f8fb7fef90830dd9e9b1441cbd733b1cb958e5e40987577bf4e8e7",
         "graph-robot.svg": "0dfc6ddd156546c2341edb91261080682f2e08b6e4758f2abbbefa23abd91dd4"
       },
@@ -7549,7 +7667,7 @@
         "mjcf_ms": 3.2250010408461094,
         "compile_ms": 241.68241815641522,
         "graph_ms": 304.2389010079205,
-        "render_total_ms": 2314.9087601341307
+        "render_total_ms": 1818.7107518315315
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7597,16 +7715,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 282.2741260752082,
-        "render_ms": 1853.9790860377252,
-        "compose_ms": 60.0209841504693,
-        "write_ms": 98.4566961415112,
-        "foreground_fraction": 0.4026
+        "compile_ms": 215.0534181855619,
+        "render_ms": 1432.6017559506,
+        "compose_ms": 50.94324192032218,
+        "write_ms": 108.15605102106929,
+        "foreground_fraction": 0.4026,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "159c4fa778bb3fb30e8692e6f54a10e965821d9d94c357b4cbdf9f99b32e2a23",
         "meshes.tar": "a209c96390533a886b9f129000eb0f44581a10f667d7f97a64f3d97363e41d71",
-        "render.png": "f6f8c798a185dcc45dc299938dedbaf9a560ac91cd621d2d5398836a5db03c4c",
+        "render.png": "698ea4649fb34eb6631012abb40de2744043f4664527a24d101972342ed691b8",
         "graph-raw.svg": "40771252f46514ac03e213d4eccb7ac2e0db26c8937e7e01d778228d6b4efc6a",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -7647,7 +7767,7 @@
         "mjcf_ms": 3.227583132684231,
         "compile_ms": 7.36478716135025,
         "graph_ms": 143.3452982455492,
-        "render_total_ms": 1853.7297486327589
+        "render_total_ms": 1531.8110268563032
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7708,16 +7828,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.547441869974136,
-        "render_ms": 1688.562564086169,
-        "compose_ms": 65.33246813341975,
-        "write_ms": 74.34646971523762,
-        "foreground_fraction": 0.62425
+        "compile_ms": 9.340575896203518,
+        "render_ms": 1339.6635400131345,
+        "compose_ms": 58.178926818072796,
+        "write_ms": 112.67908243462443,
+        "foreground_fraction": 0.62425,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "a1beb5edc0c91cfdc399f69759b9b9c61c1a54213d7dbb937baf30379422d662",
         "meshes.tar": "e024ede934c82479d9482f1ebf6efa38dc4f45c2ba369afaa863b283ea4a97e8",
-        "render.png": "466336d217a98105c6e98a64a7622732538dd94ec1d0fb482055acaf5cbe7541",
+        "render.png": "195c29bd9fdbce7576cf937450c11965256901e909b2a55dfde7dc3bc1892196",
         "graph-raw.svg": "b153ccbb0746aad94ced97daf7d34b81991cdd5c29f0427d2c5cc23f941e1c02",
         "graph-robot.svg": "963f9a3c487268336ce6176b10198a15857b591edf8d4f1dd31b224244fb5ffb"
       },
@@ -7756,7 +7878,7 @@
         "mjcf_ms": 4.442911129444838,
         "compile_ms": 6.568399723619223,
         "graph_ms": 195.55405527353287,
-        "render_total_ms": 1865.2211669832468
+        "render_total_ms": 1482.82381426543
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7817,16 +7939,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.627111420035362,
-        "render_ms": 1711.5148208104074,
-        "compose_ms": 62.14134208858013,
-        "write_ms": 63.38598905131221,
-        "foreground_fraction": 0.44055
+        "compile_ms": 6.3930656760931015,
+        "render_ms": 1345.4305389896035,
+        "compose_ms": 53.57884196564555,
+        "write_ms": 65.56189712136984,
+        "foreground_fraction": 0.44055,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "83da5b8bd80fcd77b8f457ea04dc6e83dc41a7b763ec3d03ce1d012d389e8923",
         "meshes.tar": "60337099a22e4567383904b287457e515435947a193a5fde1b3d90555b615d5c",
-        "render.png": "d117ae3afde472fd242c4be7bfcbfc6b0d5c11ce3ddb3f4d5f5f287881d99098",
+        "render.png": "30bf2d4197ebf74a20757cfbe88c208d5342fe5b2409af0bfd24d6b74ebc65a8",
         "graph-raw.svg": "33e14b76ae6be9633586233ec244df890da868c3547e67e4aa90979c282556aa",
         "graph-robot.svg": "a3aa6d4851ac9acc35e8adb64cbde34288f5155a024a79988e60e862436ac58b",
         "robot.urdf": "195b7f163e800184968782d67beeaa4f4269e5f3829acc861ecb97fa0e50513b"
@@ -7870,7 +7994,7 @@
         "mjcf_ms": 5.831871647387743,
         "compile_ms": 670.1417956501245,
         "graph_ms": 468.3987679891288,
-        "render_total_ms": 2745.1898348517716
+        "render_total_ms": 2257.3875170201063
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7931,16 +8055,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 675.1071880571544,
-        "render_ms": 1920.4496727325022,
-        "compose_ms": 58.794953394681215,
-        "write_ms": 72.68300978466868,
-        "foreground_fraction": 0.26455
+        "compile_ms": 532.1116559207439,
+        "render_ms": 1577.4092832580209,
+        "compose_ms": 63.33455536514521,
+        "write_ms": 69.7052888572216,
+        "foreground_fraction": 0.26455,
+        "style": "link-palette-v1",
+        "colored_bodies": 19
       },
       "artifacts": {
         "robot.mjcf": "672746f7fe628a4cea78aeb3912a336599ee2447ca768dfcdd163b543cf8c9bb",
         "meshes.tar": "fe8b6f2329c8e8c06d5ecda78d6cce3af2ef1e899638c8d96398af2fdaa31546",
-        "render.png": "c2cb782c460ad670c0eafd8ac69bdcfd98113039e270f2de3d7ea7d5abeb3171",
+        "render.png": "e5c7ab5578fb57adc6cec7ed7541b0881bf30e9663dfb34c51f49ce7e9a21f71",
         "graph-raw.svg": "adac90e6cc3b26f16350d292d45a5d61b92c27a23e6e68780a6b755338b35773",
         "graph-robot.svg": "89f6f7f4f6c9bb0c405cc839c312ec0b4e00df7bfe3fa968d5ac156a7e4c037a"
       },
@@ -7980,7 +8106,7 @@
         "mjcf_ms": 5.79600315541029,
         "compile_ms": 57.815097738057375,
         "graph_ms": 308.85694827884436,
-        "render_total_ms": 1886.819378938526
+        "render_total_ms": 1614.6054337732494
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8071,16 +8197,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 43.83647907525301,
-        "render_ms": 1677.6162846945226,
-        "compose_ms": 71.21723610907793,
-        "write_ms": 76.64444902911782,
-        "foreground_fraction": 0.7082833333333334
+        "compile_ms": 45.275846030563116,
+        "render_ms": 1412.8596186637878,
+        "compose_ms": 66.05438375845551,
+        "write_ms": 78.32191092893481,
+        "foreground_fraction": 0.7082833333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 16
       },
       "artifacts": {
         "robot.mjcf": "06a4148beb9d61db4a5eb1a32437294d8c00670e5a38618f959b8ff231034cfc",
         "meshes.tar": "4b6e8307cb3ecb3914a3eb9ed0539a8c7d99bf083aeca9d28d4b8d745235a0d4",
-        "render.png": "7122fcba78ff65ef6c96c1e905151d91208eee805c2522a21f1f8a38e8e87232",
+        "render.png": "68aa772c9925b811dc717e56f149da28322c78be8f7c6e9307ee68260137e974",
         "graph-raw.svg": "7721976db542c00031c7b4b2bcce3974c75af6680fab4be2ea2e8cd936dda9f1",
         "graph-robot.svg": "64ffbbf34f36593fe1ccf1849834eeffe862a18f8d95ac1c6aff6b8b683145bb"
       },
@@ -8120,7 +8248,7 @@
         "mjcf_ms": 2.948123961687088,
         "compile_ms": 111.54559114947915,
         "graph_ms": 111.94762215018272,
-        "render_total_ms": 2158.7849189527333
+        "render_total_ms": 1709.9354900419712
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8168,16 +8296,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 102.95939026400447,
-        "render_ms": 1729.7359546646476,
-        "compose_ms": 55.452418979257345,
-        "write_ms": 252.82336911186576,
-        "foreground_fraction": 0.3487
+        "compile_ms": 169.33967685326934,
+        "render_ms": 1376.3045659288764,
+        "compose_ms": 50.48762820661068,
+        "write_ms": 101.67455999180675,
+        "foreground_fraction": 0.3487,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "bab45855fd247d352249e062911685031a9aea374c6f6ccb004c08f74f5c173d",
         "meshes.tar": "c032ef6fb1a29a8a05ba21172e6a8b2fd201647da488d2d67344afaaf8e3f381",
-        "render.png": "ecbacef8a0cffe33152bd1bb027a648346fa61697c29e52b5f88832a707e4d0c",
+        "render.png": "e673e863b76d8c657aae78550792b485d4a33ea86f65aedce5ab88047135be18",
         "graph-raw.svg": "c7eed948595689746eac347f55b41eca8346bf039c54bfd61d01f65e96762c16",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -8237,7 +8367,7 @@
         "mjcf_ms": 19.189723767340183,
         "compile_ms": 67.4400208517909,
         "graph_ms": 1560.3701709769666,
-        "render_total_ms": 1917.9955548606813
+        "render_total_ms": 1547.021446749568
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8298,16 +8428,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 74.42335085943341,
-        "render_ms": 1687.587653286755,
-        "compose_ms": 68.71999800205231,
-        "write_ms": 69.5789479650557,
-        "foreground_fraction": 0.5665
+        "compile_ms": 67.36748619005084,
+        "render_ms": 1335.597474128008,
+        "compose_ms": 60.08879421278834,
+        "write_ms": 71.64564495906234,
+        "foreground_fraction": 0.5665,
+        "style": "link-palette-v1",
+        "colored_bodies": 58
       },
       "artifacts": {
         "robot.mjcf": "a9a94b5b57dedc585ccab5a15bc6ecdc5a62f9a4876610600b087b493d79000a",
         "meshes.tar": "e410f37b2683669de79e29618f94cec783ded92fbfa5fce32128507487aa7aa7",
-        "render.png": "dc9ed1fdd9ef1c644ec574ccacbfb37b31a14c0e1c65d5e25560b3bc953edee2",
+        "render.png": "4ebf61c880df9706ce035cdb55e50d5a2110343b9136c81fbf962ef38f0b9e1d",
         "graph-raw.svg": "34c7ec61b6e6dd1fbaa1437aae3eae29c435d6e29ec723d6284ac452e470cc91",
         "graph-robot.svg": "29c802ba2c36dfbf57e48ae4340ef222fe474cf3ac38f5f90d60eeadbf5bf30b"
       },
@@ -8369,7 +8501,7 @@
         "mjcf_ms": 46.44928965717554,
         "compile_ms": 72.70891405642033,
         "graph_ms": 1456.4185189083219,
-        "render_total_ms": 1935.3163647465408
+        "render_total_ms": 1595.9921879693866
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8430,16 +8562,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 76.69691508635879,
-        "render_ms": 1694.7699710726738,
-        "compose_ms": 73.80516780540347,
-        "write_ms": 71.40878867357969,
-        "foreground_fraction": 0.6919
+        "compile_ms": 69.7172055952251,
+        "render_ms": 1373.0452749878168,
+        "compose_ms": 63.203126192092896,
+        "write_ms": 77.6868131943047,
+        "foreground_fraction": 0.6919,
+        "style": "link-palette-v1",
+        "colored_bodies": 54
       },
       "artifacts": {
         "robot.mjcf": "9bd9227764a7a024213750fcfd1e9d7def3beaadcaa1e19599b626a03c74aea6",
         "meshes.tar": "10199b881c492141a59c356f8ca21528246dec8c9f15e6630c46ec4c637e9856",
-        "render.png": "c876482ff26e8e228f093501904c827677682f6935e4440ef1ebbc42e62a1f51",
+        "render.png": "060f28792b5b8a41b447f756634849fede67c8994f3c4d60ac5dee3fa88086f5",
         "graph-raw.svg": "57a40d542693896053999d343d911b0d7984778a30506dfd8168978cef68bc18",
         "graph-robot.svg": "fd581bfcca5fe51957218c1898c4db6eccea798b9becd74e7cef835c65f035c2"
       },
@@ -8470,7 +8604,7 @@
         "mjcf_ms": 3.4910179674625397,
         "compile_ms": 3.450299147516489,
         "graph_ms": 128.2323650084436,
-        "render_total_ms": 1895.4690801911056
+        "render_total_ms": 1457.7322755940259
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8531,16 +8665,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.6265943199396133,
-        "render_ms": 1738.5920658707619,
-        "compose_ms": 69.86736506223679,
-        "write_ms": 63.796968664973974,
-        "foreground_fraction": 0.55495
+        "compile_ms": 3.562958911061287,
+        "render_ms": 1317.6837218925357,
+        "compose_ms": 58.10155114158988,
+        "write_ms": 66.46742997691035,
+        "foreground_fraction": 0.55495,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "990ffcea65a1758bcad87c17e446ff733ea255b530e9d32096b839abea41e549",
         "meshes.tar": "94603c7a0c2eb6bec6a2d430d1e4722d8edd01b9fe12556f02b885b533ea947c",
-        "render.png": "87eee9416cee3a9297d0138e8848aa2dd692f4ca5b371adde7d3c3456677da98",
+        "render.png": "1f3ca756c88d456513b654390f4c58ba5bc2f2c695db825f5321292938545132",
         "graph-raw.svg": "f41eddf221f8cd5d7a890969dc26093775ae198f6793557d553ac1199358ea6f",
         "graph-robot.svg": "d3d8c0d329395cf5f3319a3689a3b81669f1099289a6960f05b93489df08dfbc",
         "robot.urdf": "33ad580baff58145f0281230b7decd523484ace1af6f2a7d43dbf475e0558543"
@@ -8598,7 +8734,7 @@
         "mjcf_ms": 61.38461362570524,
         "compile_ms": 753.1136563047767,
         "graph_ms": 5334.436345845461,
-        "render_total_ms": 2999.5033009909093
+        "render_total_ms": 2344.917034264654
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8719,16 +8855,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 771.4594812132418,
-        "render_ms": 2061.1366196535528,
-        "compose_ms": 58.755870908498764,
-        "write_ms": 87.21492532640696,
-        "foreground_fraction": 0.3817
+        "compile_ms": 645.6335666589439,
+        "render_ms": 1556.5984230488539,
+        "compose_ms": 46.38196527957916,
+        "write_ms": 80.5595456622541,
+        "foreground_fraction": 0.3817,
+        "style": "link-palette-v1",
+        "colored_bodies": 324
       },
       "artifacts": {
         "robot.mjcf": "45d6ad6bb2cd06ff02d9e2ec5e19c97496f76d3c668f2323ec15b28870666e59",
         "meshes.tar": "1d049dad9bd21495c70279f5f60dfebe4c80ccc3d2517702fcff7f1fe1272db9",
-        "render.png": "b8522039fd16621ee67c9f1c8ab0e509b0c4f2c7dae564d7e7217e40ac6f0cfd",
+        "render.png": "2207379491881a57906f999313ed92666379fa31f6d11fa5ae502eb1c89ec513",
         "graph-raw.svg": "004946d57e10525b682680aa0846c5659ad89511b140750b307ab94033dbf09c",
         "graph-robot.svg": "1900373e631e55aa58648ca578390be725999e871a749277ae192d34f514576f"
       },
@@ -8760,7 +8898,7 @@
         "mjcf_ms": 3.966221120208502,
         "compile_ms": 1830.6534220464528,
         "graph_ms": 115.73158018290997,
-        "render_total_ms": 4191.255541983992
+        "render_total_ms": 3059.201273135841
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8821,16 +8959,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1809.2076629400253,
-        "render_ms": 2183.366895187646,
-        "compose_ms": 73.35763098672032,
-        "write_ms": 103.2744669355452,
-        "foreground_fraction": 0.671
+        "compile_ms": 1340.1619861833751,
+        "render_ms": 1538.1122450344265,
+        "compose_ms": 59.04224934056401,
+        "write_ms": 110.13668030500412,
+        "foreground_fraction": 0.671,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "d3b6a63d82872e16bcc233e2405cfc24990c40d7c5218a96132e3da4869ff371",
         "meshes.tar": "2f5ac20476bd22b8252a351405c5035b48cbafeb65bdf4af3826bac410e49ed6",
-        "render.png": "d2f23acb2b55c24e636014ec1af75209f979fb49d802dccd1cc23089c1797342",
+        "render.png": "f815c66cb0e26892c32b7ebcf9eb9efcb078d8eddc33aac171e015a267bd685d",
         "graph-raw.svg": "ce90c4af459a101dcfeab684dc8cca173e2a5ff94d8bbb8b9eebf1fcdfe2470d",
         "graph-robot.svg": "7aecfbeeaddcdd0a45f37bb6c945c01725d75c9a5db3708e441e1ecd964eabdb",
         "robot.urdf": "0ea0c643bc91c6ca677215088afa94532d3754515e5804a50614101afb1d2ef6"
@@ -8913,7 +9053,7 @@
         "mjcf_ms": 3.563176840543747,
         "compile_ms": 85.53517889231443,
         "graph_ms": 121.9663992524147,
-        "render_total_ms": 2189.1688387840986
+        "render_total_ms": 1624.6265820227563
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8974,16 +9114,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 84.0469878166914,
-        "render_ms": 1896.03879628703,
-        "compose_ms": 77.29484094306827,
-        "write_ms": 111.16625089198351,
-        "foreground_fraction": 0.7674333333333333
+        "compile_ms": 57.680394034832716,
+        "render_ms": 1362.2465138323605,
+        "compose_ms": 63.12347995117307,
+        "write_ms": 129.9806539900601,
+        "foreground_fraction": 0.7674333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2d8e479edff01d4df7df64ad2d4a6833f731e257069d82f0ca9175e76455cb16",
         "meshes.tar": "30b115f5dc336da59378368c6019b2a95e484f88d9eea0f99b474abcbe0094cd",
-        "render.png": "e04d7bda030274f72d78d55bcc9fedda63433f9059e462555ea015d04679385f",
+        "render.png": "ba6beaf82df45fe39cc89c31ddc82b4275804221c13b38d00a32c49029ecfaa4",
         "graph-raw.svg": "2f3056ed4257b6979c8363a8a69199da503a81be6d55469e2df14e687b76fccd",
         "graph-robot.svg": "9914d0a13c7fe85bf171ae2b1b4a37f0f37d9bd45c4d4856daa0911f9899ce30"
       },
@@ -9031,7 +9173,7 @@
         "mjcf_ms": 4.964947700500488,
         "compile_ms": 204.6740478836,
         "graph_ms": 477.2192179225385,
-        "render_total_ms": 2586.9696107693017
+        "render_total_ms": 1744.775164872408
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9079,16 +9221,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 267.85781886428595,
-        "render_ms": 2139.7788380272686,
-        "compose_ms": 73.00096610561013,
-        "write_ms": 85.38429019972682,
-        "foreground_fraction": 0.4235
+        "compile_ms": 149.10549204796553,
+        "render_ms": 1448.0858128517866,
+        "compose_ms": 60.61968486756086,
+        "write_ms": 75.29232697561383,
+        "foreground_fraction": 0.4235,
+        "style": "link-palette-v1",
+        "colored_bodies": 14
       },
       "artifacts": {
         "robot.mjcf": "1eec175ed9ae6826bb627bc4eb6099b44132acb522bd58298c2c3a1e9ab06cd8",
         "meshes.tar": "fce54a41b188ecaaabfe738a118afb1d53901365cffd0d87f8f24e2321f33e37",
-        "render.png": "0dd20f84bf38177b815577cb12cfd588e389b9b1259e2ef5b2da710f4b009c86",
+        "render.png": "d749f605e75596c21cdc93237a342d092674c12b3311ac25d488d952d957831c",
         "graph-raw.svg": "59d2643b1895b87f4e964ec55db3e2ea57405fc923878c3b64b67f8fd75b4627",
         "graph-robot.svg": "0144a705a1faf794205c4aad9668ef5e8346e316dd4b5566b2cbfe67d04f9ccb"
       },
@@ -9128,7 +9272,7 @@
         "mjcf_ms": 3.2990616746246815,
         "compile_ms": 27.15243911370635,
         "graph_ms": 377.14898912236094,
-        "render_total_ms": 2035.8264837414026
+        "render_total_ms": 1513.5734542272985
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9183,16 +9327,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 43.280289974063635,
-        "render_ms": 1802.0598632283509,
-        "compose_ms": 91.83489810675383,
-        "write_ms": 76.21933007612824,
-        "foreground_fraction": 0.65615
+        "compile_ms": 24.549621157348156,
+        "render_ms": 1332.9160679131746,
+        "compose_ms": 73.79635283723474,
+        "write_ms": 70.3677898272872,
+        "foreground_fraction": 0.65615,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "bed39042e86bb9411149ad7ab9dcdc7d254edfd87cfbce3adebc624476454749",
         "meshes.tar": "690998daca9b65c46dcdcf755a44c2644f7b0bebe30f9239de8d9421ccae843a",
-        "render.png": "20f2a5d806f3dff51ae7eacb195f2ecd064d46bd7d8c019291cda6dbded158fc",
+        "render.png": "e2303ba9017f24b617c93b50c7a101a71fecdf6aec8a7c41539f1fb9edfa1ddd",
         "graph-raw.svg": "7dcace156025b64f39c0aa23fecf3902466f7fa870254c3a4363dc8b80441f85",
         "graph-robot.svg": "8cc3a7a6404f535495a13c1010130f37e65dc4e541cca7ae77c2b08c945f8751"
       },
@@ -9230,7 +9376,7 @@
         "mjcf_ms": 2.7162348851561546,
         "compile_ms": 25.414600037038326,
         "graph_ms": 101.88817186281085,
-        "render_total_ms": 2017.1396741643548
+        "render_total_ms": 1590.7815527170897
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9278,16 +9424,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.590834371745586,
-        "render_ms": 1790.6353641301394,
-        "compose_ms": 70.51012711599469,
-        "write_ms": 107.4482942931354,
-        "foreground_fraction": 0.7310333333333333
+        "compile_ms": 23.521990980952978,
+        "render_ms": 1366.0092847421765,
+        "compose_ms": 57.58626386523247,
+        "write_ms": 131.87244907021523,
+        "foreground_fraction": 0.7310333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4f43fb1cf637dc4e5ef52600b8618ba4eb95e16ba3c015f3f96a4a4aae038a2d",
         "meshes.tar": "7318ca010f934690f9f61787625913a6e04e15b9196e6c492e9e7e46d3fd3ba1",
-        "render.png": "d71682da3f3874cf252bd02cfe4ad3cc59f538f3ddadc8814e3613212a81e485",
+        "render.png": "0ce2f40ae908f8488f68b118f8c2e7d2d4dd90ccd860bcec404c19192600cced",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -9318,7 +9466,7 @@
         "mjcf_ms": 3.604473080486059,
         "compile_ms": 28.571447357535362,
         "graph_ms": 94.44025903940201,
-        "render_total_ms": 2088.6167590506375
+        "render_total_ms": 1556.4323686994612
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9379,16 +9527,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.235216788947582,
-        "render_ms": 1849.4962379336357,
-        "compose_ms": 75.86365891620517,
-        "write_ms": 106.62622097879648,
-        "foreground_fraction": 0.730275
+        "compile_ms": 22.840735968202353,
+        "render_ms": 1349.4739290326834,
+        "compose_ms": 56.59207096323371,
+        "write_ms": 115.70123676210642,
+        "foreground_fraction": 0.730275,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b9b281a523a1e985d4bc7615c4f746178ce361ae1d637d8573d99d367096e458",
         "meshes.tar": "056971cac258cd22f9a530b3c8ed034e8222a3ae978bfae617701addf25beffd",
-        "render.png": "1a3061af1cef948cc998ed7094db4f0b512ab8c662c100b66a6200a2e02e60f2",
+        "render.png": "b6279ac43a2b61904dbace6d1b959a983d72f570ccca60fec67f8c96bd68961d",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "ecba02cf5f1a360151432ea9ff1fc968ba8122b1af4d6deeb9fbc73d446b34a9"
@@ -9420,7 +9570,7 @@
         "mjcf_ms": 3.4426390193402767,
         "compile_ms": 15.630875248461962,
         "graph_ms": 102.60316962376237,
-        "render_total_ms": 1970.4433740116656
+        "render_total_ms": 1534.597405232489
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9481,16 +9631,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.825069975107908,
-        "render_ms": 1782.8499972820282,
-        "compose_ms": 63.42356000095606,
-        "write_ms": 86.64047485217452,
-        "foreground_fraction": 0.44715
+        "compile_ms": 11.827551294118166,
+        "render_ms": 1378.338323906064,
+        "compose_ms": 50.34551816061139,
+        "write_ms": 82.31204096227884,
+        "foreground_fraction": 0.44715,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "adc9990c8c5a05dfed69af2fcae67c55e02ac06983f019ceb43b3d9bd9ee3389",
         "meshes.tar": "a81d7965302c0802fa5e84dfee18957270b06595c22f98e29b10ab669d445da3",
-        "render.png": "c1893543325714cb70b0b66503d9fb6d7b61cbbc0d1c5afd2d4d6ba65237b1e3",
+        "render.png": "8e384e4832e160bc9da78c059f160a829b4ce28916de10551171dff441652317",
         "graph-raw.svg": "adefa5b664f8a4f8db42e3aec5b2a06c55ce15459f07771dccba572cb9d61ed3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "834e09e982a824f74686ed2e438d5f8f8007a07a0fac3a2e49e9692ae737d7e6"
@@ -9533,7 +9685,7 @@
         "mjcf_ms": 3.230153117328882,
         "compile_ms": 109.29667577147484,
         "graph_ms": 156.93550184369087,
-        "render_total_ms": 2276.099917013198
+        "render_total_ms": 1634.9147069267929
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9588,16 +9740,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 98.58458861708641,
-        "render_ms": 1969.7384289465845,
-        "compose_ms": 80.75688499957323,
-        "write_ms": 102.66426531597972,
-        "foreground_fraction": 0.7545416666666667
+        "compile_ms": 78.62056279554963,
+        "render_ms": 1362.7380952239037,
+        "compose_ms": 63.006630167365074,
+        "write_ms": 118.77702595666051,
+        "foreground_fraction": 0.7545416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d3cab9ddfbfb05d04aa1e283dc194949a4ab3c78592daf4058e53aa4d68a8b3c",
         "meshes.tar": "bf1bd4ef276fa770e98f162b50caba0aafad5fb2034d08786ad02654b2b354c6",
-        "render.png": "897522ede49222a23668cb2a0f7405b4e5187e9bdddbcc7bad8fc0875bc9967b",
+        "render.png": "5d4d910218b9a534ad90563089f0a1551f90eb25e0e45c5a6d7cdc74498fd567",
         "graph-raw.svg": "0042e05c546ab8fb8480e4ed931f94aaf738fa768c3dfc80784670cad7ae2722",
         "graph-robot.svg": "c6001b26a3fd3c38033a5d55775d88c65ab26c4917cca8582642e08dd6e8c436"
       },
@@ -9628,7 +9782,7 @@
         "mjcf_ms": 3.7569841369986534,
         "compile_ms": 76.55213214457035,
         "graph_ms": 104.78945402428508,
-        "render_total_ms": 2134.9122151732445
+        "render_total_ms": 1589.1327592544258
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9696,16 +9850,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 77.12197490036488,
-        "render_ms": 1899.780257139355,
-        "compose_ms": 62.08188971504569,
-        "write_ms": 73.71774362400174,
-        "foreground_fraction": 0.34276666666666666
+        "compile_ms": 65.28309639543295,
+        "render_ms": 1391.7309581302106,
+        "compose_ms": 46.684285160154104,
+        "write_ms": 73.82132485508919,
+        "foreground_fraction": 0.34276666666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "c78f2b1d79fb6d1079adac5fc6c8fb05937b6abdc23ab304d49f3109f8d63469",
         "meshes.tar": "d64bf9f0b0d12bec644553f78d5282d92ddb2c1a59e2a6f18dbfc28940493111",
-        "render.png": "816215d8c6900769506e9ba50de19282333739696192e36a83d81c549d86b249",
+        "render.png": "a3b09d5d60fcab06d32084bab487aaff01c42342ba03c60224aaaea2d2ca4892",
         "graph-raw.svg": "95d143c5342178a756eea7c9eb0b2d2de93c0245c7fa2b1883e1d6c956b69f75",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "38f127fbe64d0c34b9d84582b972074501039413db4c4b7620f994ce05eebf9e"
@@ -9746,7 +9902,7 @@
         "mjcf_ms": 3.8828961551189423,
         "compile_ms": 47.930724918842316,
         "graph_ms": 150.13085072860122,
-        "render_total_ms": 2162.6687799580395
+        "render_total_ms": 1640.8344632945955
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9807,16 +9963,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 59.56629617139697,
-        "render_ms": 1887.367800809443,
-        "compose_ms": 86.90971788018942,
-        "write_ms": 106.692667119205,
-        "foreground_fraction": 0.7879083333333333
+        "compile_ms": 41.95861890912056,
+        "render_ms": 1407.9233221709728,
+        "compose_ms": 64.00933815166354,
+        "write_ms": 115.21966615691781,
+        "foreground_fraction": 0.7879083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "cd8c4db5793e934632193313a65f126b28b28e44846b973cb78983637c11df1e",
         "meshes.tar": "344a62171a6d0e2ae438a76b3dcd3ce08f6f24f268c0ffdf9de7957efad463c7",
-        "render.png": "90bf40afd0acb1cf1ed57f67d67162e3315a06cde85f91e48b53903ce981e9d4",
+        "render.png": "bb61c27604d34bffbbc430c57afde01e7d72fb89025aaac4aa52d5afa8f060c6",
         "graph-raw.svg": "4180a5e4dd77447a7108b83f6638384596342f0418166f9aedf653acd6034fed",
         "graph-robot.svg": "ad5a8ce7a3f2c87dbbfe366f72d9e9e25a7ed4d0bc72e133bc1bcd2ed07d98fc"
       },
@@ -9855,7 +10013,7 @@
         "mjcf_ms": 3.3797193318605423,
         "compile_ms": 9.638769086450338,
         "graph_ms": 213.27294828370214,
-        "render_total_ms": 1976.4447431080043
+        "render_total_ms": 1462.078692857176
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9903,16 +10061,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.934494383633137,
-        "render_ms": 1805.5357956327498,
-        "compose_ms": 72.30766396969557,
-        "write_ms": 72.12363928556442,
-        "foreground_fraction": 0.7219333333333333
+        "compile_ms": 3.5575106739997864,
+        "render_ms": 1321.8588083982468,
+        "compose_ms": 59.81520377099514,
+        "write_ms": 65.11870585381985,
+        "foreground_fraction": 0.7219333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "15183260ea81f2124f8bddcf3fb5cc914f5fc87349c80106401ddc1bbb8edf99",
         "meshes.tar": "a5eac62ae0b02eb1bb260b232dbcb444d73ff0f6de3b2877421dae0a1edb191a",
-        "render.png": "fc6eef7c00f221d81a60bd87013bac673a7cc6b65dc448e8200e2a2e766e8afb",
+        "render.png": "9d04604e6816670e5fa88dc5a55ac28de4d1ddc43e4bc69f74ecc7651d256514",
         "graph-raw.svg": "4a9aa6b5d11f135a89eb9a95d3a15f4464e5b97fb96b24137085a7a046a03bfe",
         "graph-robot.svg": "4619931a58673fc053f59eeb38a88692db6c733c7c6779ad3b5a541f80e426df"
       },
@@ -9943,7 +10103,7 @@
         "mjcf_ms": 3.1101061031222343,
         "compile_ms": 35.06578505039215,
         "graph_ms": 88.73619418591261,
-        "render_total_ms": 2142.1203268691897
+        "render_total_ms": 1529.0743629448116
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10004,16 +10164,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 36.41036665067077,
-        "render_ms": 1923.383858986199,
-        "compose_ms": 69.20956028625369,
-        "write_ms": 90.81963915377855,
-        "foreground_fraction": 0.42405
+        "compile_ms": 23.798466194421053,
+        "render_ms": 1345.1822446659207,
+        "compose_ms": 53.933353163301945,
+        "write_ms": 93.5214338824153,
+        "foreground_fraction": 0.42405,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d3dc89cc43626bfea130ab718c279f2dd122a45844f82d49ca2bc2f4334a63b0",
         "meshes.tar": "1fb67692daa53b64a9254c50ec7d6e78dbbfab6dadb87503cab41eaa96bb37d3",
-        "render.png": "de7d53ec7e884f1a5e795b545b40b336cf13d4e6251e002997ec09d7863580da",
+        "render.png": "5582bbea1c0e0290a27fc315e0d0c5055ceaab9b0372a3bada6be7d1ef25ba5d",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "11f7d578aa16d825e366197fde4bb7e2499bbb48f34dc112bba2d7d5f65afcc1"
@@ -10058,7 +10220,7 @@
         "mjcf_ms": 4.656947683542967,
         "compile_ms": 554.5758157968521,
         "graph_ms": 319.13834111765027,
-        "render_total_ms": 2849.972615018487
+        "render_total_ms": 2033.5962669923902
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10119,16 +10281,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 542.2905487939715,
-        "render_ms": 2128.6740149371326,
-        "compose_ms": 80.30379423871636,
-        "write_ms": 77.0253399387002,
-        "foreground_fraction": 0.67265
+        "compile_ms": 388.079141266644,
+        "render_ms": 1465.6789461150765,
+        "compose_ms": 63.163400162011385,
+        "write_ms": 103.00438338890672,
+        "foreground_fraction": 0.67265,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "8373320c32f83b4d55a9c91d42cb4346af8b62f6f5227b101738cb57a5b45fcb",
         "meshes.tar": "3e68bc10c42e5d868cc43cc817d7d0a96192d6ae4a1e1354787664ec1d1b9756",
-        "render.png": "dd0ebbe384fb1447d55dcaabd276cbfa57573a19a9c2b98a1d2b12322ea64014",
+        "render.png": "b926fe474274d6f3ce9edc7e4d9916d32837ce4d47e6ddbcb93d9ab9fc821b4d",
         "graph-raw.svg": "a66efad362e431591a73bf2738a04beaab9bb8432dbe41679350082e9fc03e70",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "abcc2f36326c0bbe745f59ced14a2991ec24eccff37380ab7fc9139a4dd6ccf8"
@@ -10182,7 +10346,7 @@
         "mjcf_ms": 5.402215290814638,
         "compile_ms": 398.8795946352184,
         "graph_ms": 319.4009237922728,
-        "render_total_ms": 2742.723003961146
+        "render_total_ms": 2068.81250301376
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10237,16 +10401,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 411.704670637846,
-        "render_ms": 2127.1271691657603,
-        "compose_ms": 97.3297799937427,
-        "write_ms": 85.25340911000967,
-        "foreground_fraction": 0.55165
+        "compile_ms": 276.4065908268094,
+        "render_ms": 1528.6146900616586,
+        "compose_ms": 79.93041025474668,
+        "write_ms": 170.03091424703598,
+        "foreground_fraction": 0.55165,
+        "style": "link-palette-v1",
+        "colored_bodies": 19
       },
       "artifacts": {
         "robot.mjcf": "11d22cd71ef83ac6187eb9a8a107379c6a2353df7ca0fd6f475196e9024f29c3",
         "meshes.tar": "e0701dbac85376c977350461559485d70ca22196573287426283e4b6d8cfbfff",
-        "render.png": "4a48fa3bbc62e793edefa6acad6c09446b2565aa040bbbf798e7d76b9c0534eb",
+        "render.png": "e5491b4e0e45f39667308030ff835fec74f2807d6edb9ff543b569ea19bba0a8",
         "graph-raw.svg": "1f8065e19e93c7483942917e80c711ebd29ad01940a585019c5bf02489d28c2a",
         "graph-robot.svg": "fa5a0a54fbbde1a5b2cce73949bd585cbb9d6e5ab617d382b57fc89df187e02d"
       },
@@ -10565,7 +10731,7 @@
         "mjcf_ms": 4.344281740486622,
         "compile_ms": 28.14842015504837,
         "graph_ms": 285.698929335922,
-        "render_total_ms": 1987.6076648943126
+        "render_total_ms": 1916.8606200255454
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10626,16 +10792,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.069037918001413,
-        "render_ms": 1797.373232897371,
-        "compose_ms": 67.9788407869637,
-        "write_ms": 75.30864188447595,
-        "foreground_fraction": 0.4807
+        "compile_ms": 26.317388750612736,
+        "render_ms": 1341.716255992651,
+        "compose_ms": 52.881446201354265,
+        "write_ms": 484.24367792904377,
+        "foreground_fraction": 0.4807,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "786c10e8ea26614c5f92d329749f025e07791507ff814c0f33fda8dd35669979",
         "meshes.tar": "73aa8a0739373dcca25ffdb36095f66529c477bf617037092deade9ce3e68ac5",
-        "render.png": "3a0d185e34a8c238fc42c9cca4786646d9bf38b46fdd6310e47ad3975c69588c",
+        "render.png": "7c0e1294764ca18da9b0f5613567f5ebc9ffd7d3361fd2b80fcab48d99e9c19a",
         "graph-raw.svg": "9235e4347d89226c46659a872b25c3ca500efcd165f86ecd71b17078bba6e6c4",
         "graph-robot.svg": "9ee7fc41a9450e1948e46ebc48cd787a5448dc141a96a51bdafddcd420b7182e",
         "robot.urdf": "45c41e6e5953bdf31b8d4dd973b8b76d7ef75e557a80135237730d4a7a0ff6b2"
@@ -10667,7 +10835,7 @@
         "mjcf_ms": 3.6969692446291447,
         "compile_ms": 15.762190334498882,
         "graph_ms": 173.44079399481416,
-        "render_total_ms": 1936.6748230531812
+        "render_total_ms": 1523.4810998663306
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10728,16 +10896,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.952959958463907,
-        "render_ms": 1759.6770939417183,
-        "compose_ms": 78.69363203644753,
-        "write_ms": 62.98420112580061,
-        "foreground_fraction": 0.56705
+        "compile_ms": 12.064524926245213,
+        "render_ms": 1356.0929326340556,
+        "compose_ms": 76.20042283087969,
+        "write_ms": 58.94705606624484,
+        "foreground_fraction": 0.56705,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "1ec9d00115ee6e3d78c3836bb1549973745a6d4eb4d58d2aeaeb00f99e1c752c",
         "meshes.tar": "aeba35d43e448e426e478270fd77456482a62a5841769606a8ab24c24b2bab5e",
-        "render.png": "d59230bab4e0d5f8731cf709f8b8e49ea0b3601e2a866fef5e5fedd7783770f2",
+        "render.png": "ef8dcd9a46460c4f72d97167d4173f801105c3841533b40162a6d2a44c5be5bf",
         "graph-raw.svg": "65e700d9fb86b8c6b1388ad396a3febf7eccd06ed0c6717e78e35cac3ea0c76b",
         "graph-robot.svg": "04c0e206b0c8970c94eb374b566ab3353a29694202f95c8d8daaaaa1bcfcf168",
         "robot.urdf": "c3ff618d2b7c879da704a0384f6156ce2cc645f7829d134e32cdd4f102e2473f"
@@ -10769,7 +10939,7 @@
         "mjcf_ms": 3.4993477165699005,
         "compile_ms": 3.3518802374601364,
         "graph_ms": 111.01109022274613,
-        "render_total_ms": 1899.0040039643645
+        "render_total_ms": 1479.3199501000345
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10830,16 +11000,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.303143825381994,
-        "render_ms": 1732.01397433877,
-        "compose_ms": 72.99583964049816,
-        "write_ms": 68.97542998194695,
-        "foreground_fraction": 0.5654
+        "compile_ms": 4.066920839250088,
+        "render_ms": 1341.1060497164726,
+        "compose_ms": 60.145433992147446,
+        "write_ms": 61.957704834640026,
+        "foreground_fraction": 0.5654,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "938dc67ba762ce30603159f24c141014c0875c4775782f70192d75daaf18c750",
         "meshes.tar": "6101ce734d472af0198ad8125bb43bddd60b6e871d3879e201bb0c7cdbedcb5e",
-        "render.png": "a580581bded2b3da2be4692f4b751fe0eb5b9c40530f530a82e1ac0adee7b840",
+        "render.png": "bdab91bb711ddb344158a011868b19de80afaf3ce73f02a4c0eef379bef7d3b8",
         "graph-raw.svg": "3db23c0e8246d40d2158df7c03cf7fc1f2554780bbc14c1a41b51d15bfe6f813",
         "graph-robot.svg": "f3e6348b906f1b73c46dfb1e6573189fc73fd5b53cecb42f585acfbe28968530",
         "robot.urdf": "51803914c96d2f7349a6e69ff1a7aabe11b87bb4bab7f61951beaa43c4064cee"
@@ -10871,7 +11043,7 @@
         "mjcf_ms": 4.049837589263916,
         "compile_ms": 12.739876750856638,
         "graph_ms": 174.19984890148044,
-        "render_total_ms": 1841.8609169311821
+        "render_total_ms": 1492.3918559215963
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10932,16 +11104,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.75953981652856,
-        "render_ms": 1684.4385601580143,
-        "compose_ms": 60.34833285957575,
-        "write_ms": 59.01863658800721,
-        "foreground_fraction": 0.2629
+        "compile_ms": 12.401485815644264,
+        "render_ms": 1362.8266812302172,
+        "compose_ms": 50.791144836694,
+        "write_ms": 54.68661384657025,
+        "foreground_fraction": 0.2629,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "f2f38bc4adc9f877a7c381161e7eddd4a21b4555f22d16e0d3604be33f2fba61",
         "meshes.tar": "474c5201b3301fa51fae18650e916cd45f7c9a1bb76edfdf8266fcf8ae8cda03",
-        "render.png": "82e93bf50ee48ac681f86ed0fe240d6e5ad31ffec86fb639154f990cf8ac588c",
+        "render.png": "b44850031840f3e1effcf12054479ec15954bcc04b83fc21b9541566d9efb033",
         "graph-raw.svg": "83e9b2fc04a56ca4ebbe60ff2e6da5da719b79df00bad4047d528abb45b1e019",
         "graph-robot.svg": "3ada5d87c13972deffcf8d8cd2d099c4608233235961dbc59492b72ab13aa57b",
         "robot.urdf": "cf7f1526626009fd748126543884b80896a4292fb3eb940b986d8145e0b9ba22"
@@ -10973,7 +11147,7 @@
         "mjcf_ms": 4.0405928157269955,
         "compile_ms": 16.13876223564148,
         "graph_ms": 192.88998702540994,
-        "render_total_ms": 1864.9627859704196
+        "render_total_ms": 1546.533287037164
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11034,16 +11208,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.42889964953065,
-        "render_ms": 1690.7129921019077,
-        "compose_ms": 72.21114495769143,
-        "write_ms": 65.05178194493055,
-        "foreground_fraction": 0.6545
+        "compile_ms": 22.598393261432648,
+        "render_ms": 1388.5685317218304,
+        "compose_ms": 61.94670544937253,
+        "write_ms": 61.71744829043746,
+        "foreground_fraction": 0.6545,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "29214d6395abe460cf32b6e1e57fd635c3b95a674617ce693ae8911d85413919",
         "meshes.tar": "5bc177845c11eba7ebec6bef71460b0490b1ca5c4c6afce106c58fa21913691b",
-        "render.png": "8629936553eebce6ff3a4d3cd091891bb10b7cfe58257236d239242153a3e26e",
+        "render.png": "4f181b45d75e33d2796b1b8a3c0b3a9c8f2e67dbd3f94ca7f601aa1cf0513ec6",
         "graph-raw.svg": "776532bdf8fa24c1645499b7bbc3f1e98c8c0c3e945b43d502588cc70bc0a76d",
         "graph-robot.svg": "f478c9bc1cb8cc558f703e78220d382b4ee82c687b1160d23eefc00f29e5cf1b",
         "robot.urdf": "30b1f28cbaae17422584c853d2206365014e5b117199e9ee1750300fd60a0d94"
@@ -11075,7 +11251,7 @@
         "mjcf_ms": 3.954992163926363,
         "compile_ms": 4.569688346236944,
         "graph_ms": 199.22437192872167,
-        "render_total_ms": 1871.7123176902533
+        "render_total_ms": 1490.61982287094
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11136,16 +11312,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.450925789773464,
-        "render_ms": 1723.961102310568,
-        "compose_ms": 51.884174812585115,
-        "write_ms": 70.96417993307114,
-        "foreground_fraction": 0.2002
+        "compile_ms": 4.86883707344532,
+        "render_ms": 1362.270015757531,
+        "compose_ms": 43.14432106912136,
+        "write_ms": 68.69725184515119,
+        "foreground_fraction": 0.2002,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "b1bab8213ed3db443d125adcbb61d36cf17c01a9809e49bb3ad60ad6caa8f64b",
         "meshes.tar": "f6adb5beb8dfcd1b5c737a13ac2b5abc248c49d9b5ffed2ad31f8bf78e890378",
-        "render.png": "2db12bcbb0dd93b636d6ec888d3999b1e71ee1403703083eec346bd551f7a61e",
+        "render.png": "fd44380ee475ecb64d3aed13d744128c73134f9a286c424dc05122e6e37426a5",
         "graph-raw.svg": "76c36b6793a5a459b0fecebb24cab9739506d11c373735992f44263f8826ae05",
         "graph-robot.svg": "d1e544d31fdd414c3556bfc312f41c2ba34756fba9dc3dc659483820fe1a8f62",
         "robot.urdf": "c8e4b6d4584beb80f5a6a8271513a7cec2bd4938b3a334de55f07f823f162ae6"
@@ -11177,7 +11355,7 @@
         "mjcf_ms": 2.947875764220953,
         "compile_ms": 2.6959949173033237,
         "graph_ms": 108.03809901699424,
-        "render_total_ms": 1816.7139333672822
+        "render_total_ms": 1515.4474130831659
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11238,16 +11416,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.125955048948526,
-        "render_ms": 1638.6728901416063,
-        "compose_ms": 84.5595570281148,
-        "write_ms": 69.9386652559042,
-        "foreground_fraction": 0.6435
+        "compile_ms": 3.0277036130428314,
+        "render_ms": 1363.9129400253296,
+        "compose_ms": 71.70431921258569,
+        "write_ms": 65.24527631700039,
+        "foreground_fraction": 0.6435,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "9bc5983a8e5e676cebb71dae9f3f39ab8656db59dfe30908cd66be27e0fb5658",
         "meshes.tar": "24a151c26b295bc79258546a758573d775171fc93076d6ea3b59993fc62df6f9",
-        "render.png": "dc72c7b14bee3a694874fcb19ac98f9995fd1c20bf22ce2c71192c48f8ada7c5",
+        "render.png": "3fd9dbcac3d8267c3b48c120a4676a44bb24247f75340bb39c0b9110c0ec6e66",
         "graph-raw.svg": "3db23c0e8246d40d2158df7c03cf7fc1f2554780bbc14c1a41b51d15bfe6f813",
         "graph-robot.svg": "f3e6348b906f1b73c46dfb1e6573189fc73fd5b53cecb42f585acfbe28968530",
         "robot.urdf": "6bc12399df3be374b3228966eafd2cc1bb1338ee456bd96a795c7bc2e6487ea2"
@@ -11288,7 +11468,7 @@
         "mjcf_ms": 4.007452167570591,
         "compile_ms": 94.29143369197845,
         "graph_ms": 370.85085082799196,
-        "render_total_ms": 2066.1864900030196
+        "render_total_ms": 1663.537790067494
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11529,16 +11709,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 101.00569715723395,
-        "render_ms": 1780.815654899925,
-        "compose_ms": 92.63591701164842,
-        "write_ms": 69.75653115659952,
-        "foreground_fraction": 0.5643
+        "compile_ms": 74.17371589690447,
+        "render_ms": 1423.8913212902844,
+        "compose_ms": 81.28402614966035,
+        "write_ms": 72.33180059120059,
+        "foreground_fraction": 0.5643,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "f22fbd30471c07f50f547cc9466564ef4ea78e7d7b830f26fa62791ccdd16cbf",
         "meshes.tar": "1395886a115008d0b09d7c3e7de548255d695028e8ce0e6a931b91816eab9b9b",
-        "render.png": "c54bf7082f170c1842bcb0c4b493dc5f12ff143291719c55f6627a88148eb50c",
+        "render.png": "52479332848a9c1a56bec3878db73e0d26c8fd92ed81b6a42132385b5b7c0c4a",
         "graph-raw.svg": "b52931b0a386e5c50eb40c648638d1f51d136d0666ab93603852233fe86d3c5c",
         "graph-robot.svg": "717edba3369a27e3d62c38171d727395cce666a3751e8e71dd38a8a4285e1d66"
       },
@@ -11570,7 +11752,7 @@
         "mjcf_ms": 3.690045326948166,
         "compile_ms": 5.201210733503103,
         "graph_ms": 125.37661753594875,
-        "render_total_ms": 1845.5635397695005
+        "render_total_ms": 1541.4391630329192
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11631,16 +11813,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.583761725574732,
-        "render_ms": 1664.1993280500174,
-        "compose_ms": 74.60322696715593,
-        "write_ms": 81.65418915450573,
-        "foreground_fraction": 0.7843
+        "compile_ms": 4.765261895954609,
+        "render_ms": 1385.0751528516412,
+        "compose_ms": 63.931227661669254,
+        "write_ms": 76.04428427293897,
+        "foreground_fraction": 0.7843,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "423552bbdc48c134e496869e5fb4ba1ec9fcfbb6aafea24a51e90b456cd297e6",
         "meshes.tar": "d682383f9142cfca314434e11828e59ebb55c4182663d3727702ecb2d7166910",
-        "render.png": "dc7d8befd68af65af3033724d58eb7d341c7798984b2ea54a48ac6af13f8bedf",
+        "render.png": "1b68d926d285ed371d8526a5dea7c0f9cd54ce43250e2fa8b7ed60fb66dc9fdb",
         "graph-raw.svg": "284b781bbb6778dce5f9c6c2039305c0aa186b4c7d519c426d0195bdb63df961",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "624e41d936d52e8c18ab54b3396ce7cb28cd657a4275f00788d4f29805dae732"
@@ -11679,7 +11863,7 @@
         "mjcf_ms": 3.0006151646375656,
         "compile_ms": 6.457682233303785,
         "graph_ms": 109.89487962797284,
-        "render_total_ms": 1845.7760089077055
+        "render_total_ms": 1460.8233286999166
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11740,16 +11924,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.222697138786316,
-        "render_ms": 1678.2671590335667,
-        "compose_ms": 65.2004829607904,
-        "write_ms": 75.5480551160872,
-        "foreground_fraction": 0.35805
+        "compile_ms": 6.083878688514233,
+        "render_ms": 1316.829539835453,
+        "compose_ms": 55.002321023494005,
+        "write_ms": 71.26505905762315,
+        "foreground_fraction": 0.35805,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "c5b5b0a5702c840b3b25ca2809e94959724c1ccf80f7909cca0f6177ed2e4424",
         "meshes.tar": "a055a0d133166c4ea4a82e48674f54728664ff25b8a954e5f254c40d7953793c",
-        "render.png": "123fa0d74206d2cfa498e173f3c0b95f90a4b86f069ef07a27c1b52148e261cb",
+        "render.png": "b1640fd70fc67cb64b01c6d3477b15392a6f35dabb94c338277bbefa88d5525f",
         "graph-raw.svg": "1465ee24fdee12dff04eaf04204ce5cb67ac30f2bf00b7707d4dc54ca141e6b8",
         "graph-robot.svg": "3dc0efc934cab511d554b87a6c1b0a9abdb6453a6a28f751e328e45a73f6225c"
       },
@@ -11832,7 +12018,7 @@
         "mjcf_ms": 11.948068160563707,
         "compile_ms": 193.21448495611548,
         "graph_ms": 2022.6021688431501,
-        "render_total_ms": 2376.9240039400756
+        "render_total_ms": 1823.527793865651
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11911,16 +12097,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 203.1290871091187,
-        "render_ms": 1975.4777159541845,
-        "compose_ms": 79.52675595879555,
-        "write_ms": 93.49737642332911,
-        "foreground_fraction": 0.5555
+        "compile_ms": 174.62135013192892,
+        "render_ms": 1495.4275167547166,
+        "compose_ms": 52.79522994533181,
+        "write_ms": 87.13331306353211,
+        "foreground_fraction": 0.5555,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "2f7e7ec8ddbc850cd76f5f9b3facd0c52d5bafef8a44d4f022624ea51e5f3f11",
         "meshes.tar": "89f98da0c2abd0679f21239b7ea04dc32a7f64539afd1c52e6b7054bdda903b5",
-        "render.png": "e53db57476b6ebecb0be9b9c4186d634b7b256ccdb7db7795308b03f6edb5922",
+        "render.png": "7ca9bd16d35bf7f13183e99b53a03f52f9fa72b196b462474dfe0c4abc255aa6",
         "graph-raw.svg": "accf8535a4fe1d0247943bbac7a5fdefc13fa681f7a3e3d68acee83c47273653",
         "graph-robot.svg": "b272894f7add81c5d75bda5684c55ad52636968ed10ff9d8792bea4487e867d5"
       },
@@ -11995,7 +12183,7 @@
         "mjcf_ms": 10.490329936146736,
         "compile_ms": 207.64439599588513,
         "graph_ms": 1487.3439599759877,
-        "render_total_ms": 2554.5364562422037
+        "render_total_ms": 1749.9011880718172
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12050,16 +12238,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 228.7417259067297,
-        "render_ms": 2145.860518794507,
-        "compose_ms": 64.37022564932704,
-        "write_ms": 94.08944007009268,
-        "foreground_fraction": 0.5357
+        "compile_ms": 170.66234024241567,
+        "render_ms": 1428.7922359071672,
+        "compose_ms": 51.944514736533165,
+        "write_ms": 86.83530986309052,
+        "foreground_fraction": 0.5357,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "6fa029d6de85aa195aeb16caf3ee3842749cd077c41810735ce8df6ee93d7013",
         "meshes.tar": "0b290fe421aac2b6ff073cc8dff281efe1d2cf6211d1ee00a111ec464894d352",
-        "render.png": "13e554bf2fde14e144f1f3740bb1d397ede86496b6f9714065505373632eff9b",
+        "render.png": "8e0f7dd4e803a1fc226132c887462db8f7168e086e688f0a2350e37f62bd3aa9",
         "graph-raw.svg": "3254c4096ce2e373b5ec7446f93ece71f7967285825f35ad5466b652816ac076",
         "graph-robot.svg": "60ab59b87a1944e482471602b5e4b002a637d2cd2fd35892f22bcc1102f29854"
       },
@@ -12130,7 +12320,7 @@
         "mjcf_ms": 9.464893024414778,
         "compile_ms": 196.4958948083222,
         "graph_ms": 603.3863122574985,
-        "render_total_ms": 2524.8065912164748
+        "render_total_ms": 1752.854262944311
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12185,16 +12375,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 198.27196188271046,
-        "render_ms": 2135.9487660229206,
-        "compose_ms": 70.36343682557344,
-        "write_ms": 98.67575811222196,
-        "foreground_fraction": 0.52325
+        "compile_ms": 152.48768497258425,
+        "render_ms": 1446.2186112068594,
+        "compose_ms": 55.197272915393114,
+        "write_ms": 87.19114121049643,
+        "foreground_fraction": 0.52325,
+        "style": "link-palette-v1",
+        "colored_bodies": 37
       },
       "artifacts": {
         "robot.mjcf": "b00f7d83747915b3f01489393c34539304d17eb8c124cf0ab1754f5ad4a54075",
         "meshes.tar": "8f7ac2d4a523d72c38cdaa48f3380bea384da0233ff84669f96bffaafa937b0d",
-        "render.png": "74f9e30108582a56debac6e94d67f0eb9a3492f216d54a6d719fcad03c75f8e0",
+        "render.png": "59380e470390315ff4cf8610a0109932aa2b6491817f370f55af6574b617c6eb",
         "graph-raw.svg": "b967d62ae251b8b44525f9cf7691d1542f342aef93691ac6697d8253c7cd658e",
         "graph-robot.svg": "cb0ee7ed14fe69e36c2f8eee435da785ac5cd9c3da1a469741323783152a2a9a"
       },
@@ -12232,7 +12424,7 @@
         "mjcf_ms": 3.459388855844736,
         "compile_ms": 39.95241830125451,
         "graph_ms": 145.93496499583125,
-        "render_total_ms": 2135.72207512334
+        "render_total_ms": 1474.8234301805496
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12280,16 +12472,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 67.27783009409904,
-        "render_ms": 1901.0446150787175,
-        "compose_ms": 73.35626892745495,
-        "write_ms": 71.97568705305457,
-        "foreground_fraction": 0.6468583333333333
+        "compile_ms": 42.42483992129564,
+        "render_ms": 1294.2464989610016,
+        "compose_ms": 59.919956140220165,
+        "write_ms": 66.65357993915677,
+        "foreground_fraction": 0.6468583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "64b52b443aa5ad9145600b58bf37720506343645802e942e5ef9a02eea67d64a",
         "meshes.tar": "6ed03f0d1e909d49d45c16ee0762707307d3c0f6c4ed26ebf3079b1338950e09",
-        "render.png": "4693a30068b0e1dc9a3a5ac1a65c828fa02ce9f3da0a672cd1a6704f105ef9b3",
+        "render.png": "fa47096b43cccf35673a60786802273ec0a47c60a789fa016d554e82822d7a88",
         "graph-raw.svg": "6c064eaba959aa21a96c6619ed1b15868d64d678b788e4014620e30d35d5f038",
         "graph-robot.svg": "f91871f7ba74d0338d8482fcec5d5d5194509826d860e48774a539a507016432"
       },
@@ -12301,12 +12495,89 @@
   ],
   "output": {
     "archive": "shard-01057.tar",
-    "archive_sha256": "f4144b956c24ed06177de5241ef13bf4298933c3c8db4420eef5c31fbd608a98",
+    "archive_sha256": "8a1d3c72d68e1735be87145f209443e2c958b47c60ecc57fa535cd7809929fd8",
     "packaged_samples": 97
   },
+  "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": "f4144b956c24ed06177de5241ef13bf4298933c3c8db4420eef5c31fbd608a98",
+      "report_sha256": "6ab7c897571d4b7b2d526279e9e3c86ae426673d27727b2428eb21ce85eb0043"
+    },
+    "scheduler": {
+      "job_id": "60317112",
+      "array_job_id": "60313720",
+      "array_task_id": "1057",
+      "node": "gl3122",
+      "host": "gl3122.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 97,
     "compiled_models": 97,
-    "archive_sha256": "f4144b956c24ed06177de5241ef13bf4298933c3c8db4420eef5c31fbd608a98"
+    "archive_sha256": "8a1d3c72d68e1735be87145f209443e2c958b47c60ecc57fa535cd7809929fd8"
   }
 }