diff --git "a/onshape/shard-01127.report.json" "b/onshape/shard-01127.report.json"
--- "a/onshape/shard-01127.report.json"
+++ "b/onshape/shard-01127.report.json"
@@ -214,7 +214,7 @@
         "mjcf_ms": 3.0880379490554333,
         "compile_ms": 39.20896723866463,
         "graph_ms": 85.3870757855475,
-        "render_total_ms": 1698.5566867515445
+        "render_total_ms": 1677.028683014214
       },
       "mesh_preparation": {
         "status": "complete",
@@ -275,16 +275,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.201296743005514,
-        "render_ms": 1494.533154182136,
-        "compose_ms": 83.90644006431103,
-        "write_ms": 92.2868070192635,
-        "foreground_fraction": 0.3597
+        "compile_ms": 41.533533949404955,
+        "render_ms": 1456.128166988492,
+        "compose_ms": 64.23376314342022,
+        "write_ms": 102.27754898369312,
+        "foreground_fraction": 0.3597,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2f676516ead954eeb32c104b40a5360d65b469564d4c95424fa54d3c9fb07483",
         "meshes.tar": "f8e381d3416c90a18758cbb969037ef92ed88593e7f96f9d2e314efebc75682f",
-        "render.png": "ba9377ad02e1f0d37a6a2593bcf6890ca4c89bd875b2fbb4880cdc1957106738",
+        "render.png": "083f2336d0ac734ceab45987907fe49a2b69e29816163f6c4f25d8486c3f11aa",
         "graph-raw.svg": "428a3e355c221f458e28c131abbf094962ed7789a9a7b2e892b30179a0e0f9de",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "65f997f8014026cd9cfc6d15f93198c8b890147c1a6f14b01d8db651f4cbcde8"
@@ -316,7 +318,7 @@
         "mjcf_ms": 2.691837027668953,
         "compile_ms": 19.257813692092896,
         "graph_ms": 178.27081913128495,
-        "render_total_ms": 1879.6485988423228
+        "render_total_ms": 1633.400254882872
       },
       "mesh_preparation": {
         "status": "complete",
@@ -377,16 +379,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.405579227954149,
-        "render_ms": 1709.7789039835334,
-        "compose_ms": 73.49406694993377,
-        "write_ms": 72.52198085188866,
-        "foreground_fraction": 0.7431666666666666
+        "compile_ms": 20.075994078069925,
+        "render_ms": 1462.6038409769535,
+        "compose_ms": 70.39112783968449,
+        "write_ms": 68.0537261068821,
+        "foreground_fraction": 0.7431666666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "457a160b7efcb0149fa46c9c810e78b4b43cd0e8fa0bd6a88128d5b1009fddba",
         "meshes.tar": "21b02b9fae9a1ce4204db2c91f46558f18d82faa17600d5ba296eded33df47c5",
-        "render.png": "d8d2639bdf5e54cbe8f22bd1151b6b21e0d4dbb26b366b3bcf3ac4289a16f26e",
+        "render.png": "e3629f84fb8b09d38cbafacb1706fadf8d1b41d85cda3568d7fc2784d2fc770d",
         "graph-raw.svg": "09647b8096c07d65a76c677a57ba0b8a39ee18a73e63b2594d190d4f5ab34df6",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f6ac4802af036d68b9b9cd3801be2d23fdf8b446db53bbd194371d6cf4ca0e32"
@@ -426,7 +430,7 @@
         "mjcf_ms": 3.3071450889110565,
         "compile_ms": 88.71049666777253,
         "graph_ms": 123.32260282710195,
-        "render_total_ms": 1695.995671208948
+        "render_total_ms": 1671.0022408515215
       },
       "mesh_preparation": {
         "status": "complete",
@@ -487,16 +491,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.64295869320631,
-        "render_ms": 1514.2842028290033,
-        "compose_ms": 66.20084634050727,
-        "write_ms": 80.15462569892406,
-        "foreground_fraction": 0.5786
+        "compile_ms": 86.90744079649448,
+        "render_ms": 1407.1184108033776,
+        "compose_ms": 73.25421506538987,
+        "write_ms": 90.27777565643191,
+        "foreground_fraction": 0.5786,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "97a912374abee6b9ca0ce5e519e8d6c9a6759e35266a573c4984d4c846cada11",
         "meshes.tar": "c7429b1e4390b32ab4312244ee04d1c5e9b2994dbbaab0be4001d63405fd367d",
-        "render.png": "4dfab798dd86218126b6c987be2f30d9238063fbc5fb23d322eb3764b3ecf8bc",
+        "render.png": "ea502095df26e1a893c20ece1a9528dbd0253796dcad88dc295659ffdc89f1cb",
         "graph-raw.svg": "bfcf24b3ae7008ac0d3176184f6aec04c5acc646f2011ba72e9e34866d0a1364",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3503885f5b2ab284a725ef1570bf4ac68e14c9414325cd90e39cd6c1002533a9"
@@ -528,7 +534,7 @@
         "mjcf_ms": 2.4975468404591084,
         "compile_ms": 70.0514130294323,
         "graph_ms": 67.83667020499706,
-        "render_total_ms": 1539.0435219742358
+        "render_total_ms": 1682.0174725726247
       },
       "mesh_preparation": {
         "status": "complete",
@@ -589,16 +595,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.289598066359758,
-        "render_ms": 1395.2161581255496,
-        "compose_ms": 54.74533420056105,
-        "write_ms": 67.8685917519033,
-        "foreground_fraction": 0.4169
+        "compile_ms": 72.60219426825643,
+        "render_ms": 1460.729739163071,
+        "compose_ms": 52.05527227371931,
+        "write_ms": 81.67248079553246,
+        "foreground_fraction": 0.4169,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b174adf3af498b8d9a404ad644827694efa425b7e235d508ab42c145c9e670c9",
         "meshes.tar": "f4e01612075c8310f9fe63d957b0d77dbadbc934281f71f0cc9a1af27093a2f6",
-        "render.png": "e688c9740964ea35a7a8af130c02270224eef590a2e1580208003b34f70f4b41",
+        "render.png": "0a524b55d945c8fc9535c72a16f3afc4dfaf6aaf800ca50a65aa228d705ef6ef",
         "graph-raw.svg": "adefa5b664f8a4f8db42e3aec5b2a06c55ce15459f07771dccba572cb9d61ed3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "74bdbc387fe51393c0daeed4746a5b0ba3a3b8318d923fd12714ae6eac4bebc6"
@@ -647,7 +655,7 @@
         "mjcf_ms": 3.7253000773489475,
         "compile_ms": 108.92890812829137,
         "graph_ms": 179.2670888826251,
-        "render_total_ms": 1930.394328199327
+        "render_total_ms": 1675.7318070158362
       },
       "mesh_preparation": {
         "status": "complete",
@@ -695,16 +703,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.68355991691351,
-        "render_ms": 1740.689123980701,
-        "compose_ms": 67.07300199195743,
-        "write_ms": 85.90641897171736,
-        "foreground_fraction": 0.473
+        "compile_ms": 91.76521236076951,
+        "render_ms": 1422.8922054171562,
+        "compose_ms": 59.90953370928764,
+        "write_ms": 88.74214626848698,
+        "foreground_fraction": 0.473,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "555251e7b0333687b563d2e93f35525ce06225e7c2d1361f0fb890f733763935",
         "meshes.tar": "edf11e07195c03f45b0751d16e577715a333ad2f1a495b7aaa0dc75252840ccf",
-        "render.png": "e4cdc6c05f43d64a5ab4adfa727bf799029488b173eb53e16fa5f64e9275d16e",
+        "render.png": "b9d162d5fdf31a696790b2d1c175ba7fc6e08e8f7092942ff57f5adac66bca6b",
         "graph-raw.svg": "d1c4374ffc70cf6e6257cf4e8758979b4b8ec94c53d54b4abe5d04c277dad3c2",
         "graph-robot.svg": "dd71763dbbe0c6d1c4f5ff98d78b723ef401132d54384dc9505ae4ddffd5d353"
       },
@@ -747,7 +757,7 @@
         "mjcf_ms": 2.6902067475020885,
         "compile_ms": 275.5747181363404,
         "graph_ms": 114.52576098963618,
-        "render_total_ms": 1914.5731730386615
+        "render_total_ms": 1967.4046351574361
       },
       "mesh_preparation": {
         "status": "complete",
@@ -795,16 +805,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 48.10877004638314,
-        "render_ms": 1699.6191130019724,
-        "compose_ms": 60.3811158798635,
-        "write_ms": 88.90395890921354,
-        "foreground_fraction": 0.3366
+        "compile_ms": 280.84989031776786,
+        "render_ms": 1506.2652458436787,
+        "compose_ms": 67.61310109868646,
+        "write_ms": 99.70173006877303,
+        "foreground_fraction": 0.3366,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "d7fdaa10665559c7cce4d08eccf439809ac3c59e332280b68ef11f7881ae2210",
         "meshes.tar": "d91e8062521dc43d4337b63a679188c2b53c4f94539003de61581c41b389435f",
-        "render.png": "779c026153819c4535b6fa555b90614f337bb2f91fc8744af07847414466c576",
+        "render.png": "36fdb29adee510000d3fe22859beed2228819020af10cdc404f6a8cacec2fea9",
         "graph-raw.svg": "40771252f46514ac03e213d4eccb7ac2e0db26c8937e7e01d778228d6b4efc6a",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -847,7 +859,7 @@
         "mjcf_ms": 3.1453147530555725,
         "compile_ms": 229.88740680739284,
         "graph_ms": 148.4483601525426,
-        "render_total_ms": 1739.8014888167381
+        "render_total_ms": 1843.0640948936343
       },
       "mesh_preparation": {
         "status": "complete",
@@ -895,16 +907,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 39.4001929089427,
-        "render_ms": 1515.3191690333188,
-        "compose_ms": 73.00175912678242,
-        "write_ms": 93.61418290063739,
-        "foreground_fraction": 0.47355
+        "compile_ms": 235.3595858439803,
+        "render_ms": 1434.9921881221235,
+        "compose_ms": 55.3355161100626,
+        "write_ms": 104.96092587709427,
+        "foreground_fraction": 0.47355,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "64bcd9d9e78a70c70433bcb1f7e387da81feecb5c76286bc2d28f4daaa1ee7d7",
         "meshes.tar": "1845f40d748e2a750bd0f4008bd8eb559c5081f75092808ba0845001a9d5e144",
-        "render.png": "69edfe49391bde9ae791118502b04220d453fa0b5e7c44a2458727f50f3c5ed4",
+        "render.png": "d3991bf0e9b6bad68648dc6fa4d1f392ae07863d8831ac5e9901e230d73524f7",
         "graph-raw.svg": "4a9100111b32f2ae61cf08a53a639bd2744097c8083c807ac8ae4507b4eedfaf",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -947,7 +961,7 @@
         "mjcf_ms": 2.7499711140990257,
         "compile_ms": 223.8908582367003,
         "graph_ms": 109.95176574215293,
-        "render_total_ms": 1704.9804399721324
+        "render_total_ms": 1793.733793310821
       },
       "mesh_preparation": {
         "status": "complete",
@@ -995,16 +1009,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.50263376161456,
-        "render_ms": 1531.3506009988487,
-        "compose_ms": 36.11377580091357,
-        "write_ms": 83.28170981258154,
-        "foreground_fraction": 0.4884
+        "compile_ms": 208.07427493855357,
+        "render_ms": 1442.6922188140452,
+        "compose_ms": 36.08620818704367,
+        "write_ms": 94.40535912290215,
+        "foreground_fraction": 0.4884,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "72a22c5157eea4a9139803cb1cfab164926d2672fa6c51cf10151d1fd154edc4",
         "meshes.tar": "6a5f78c76552697ce880a4f2d3a21b80ab6700f7e80ff816f1f758306873cc00",
-        "render.png": "ab34e7a02f3e6d82ca38bec2a3c112de5f4113793d1582454507b5236256d564",
+        "render.png": "9325c7e0d4942874133ab8ef85edb4cb02a1327f1a3d0eb591de01c282f15180",
         "graph-raw.svg": "dc224dedf7d7d084072f631695bff24fb9af14fb877faa8d76230b52c1f5db98",
         "graph-robot.svg": "34db8e62757dc3d0784d3ba391e444b829aa2838c41070f0f221ee9b7b4404da"
       },
@@ -1039,7 +1055,7 @@
         "mjcf_ms": 4.279299173504114,
         "compile_ms": 47.17350099235773,
         "graph_ms": 203.9737463928759,
-        "render_total_ms": 1554.2195453308523
+        "render_total_ms": 1486.7174890823662
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1100,16 +1116,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.534017950296402,
-        "render_ms": 1405.2067808806896,
-        "compose_ms": 64.9289502762258,
-        "write_ms": 57.410215958952904,
-        "foreground_fraction": 0.2871
+        "compile_ms": 29.978760052472353,
+        "render_ms": 1333.039270248264,
+        "compose_ms": 52.919563837349415,
+        "write_ms": 58.296604081988335,
+        "foreground_fraction": 0.2871,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "dd428202530a4641648209cb2a1eff4088f86e1d10481ece97560bbbe6942786",
         "meshes.tar": "77694f40d1c42cc151966516528e2f1b6809043949f60ac29c3aca1220321e59",
-        "render.png": "cb4add3cdeee9d279732209f4826191f38864234d9a06723b71805a41ae0a5bf",
+        "render.png": "1853fcca627a4b46cb41f3a2ea49cd546a7204f4661a3b07b0533cdc6100d3f0",
         "graph-raw.svg": "3625266bfb84937daf16622043ba579f00ed70d004f12c930f9268a50bbf1930",
         "graph-robot.svg": "9c1fb5a73df0f238636e9569a6c3e91d48ae8395cf8fecb056f2cc3c54be17f8",
         "robot.urdf": "d7b074d29cfdac50756ca17266bad01f5edfec55d747a4bd17aba8a9f907d6af"
@@ -1144,7 +1162,7 @@
         "mjcf_ms": 2.5181942619383335,
         "compile_ms": 62.7919789403677,
         "graph_ms": 99.23598915338516,
-        "render_total_ms": 1694.8413061909378
+        "render_total_ms": 1611.659713089466
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1212,16 +1230,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.185074113309383,
-        "render_ms": 1525.3076599910855,
-        "compose_ms": 53.58019098639488,
-        "write_ms": 87.6493752002716,
-        "foreground_fraction": 0.4565
+        "compile_ms": 50.00345315784216,
+        "render_ms": 1405.4859951138496,
+        "compose_ms": 52.4724549613893,
+        "write_ms": 91.35010186582804,
+        "foreground_fraction": 0.4565,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "0237a640bb722cfe746335bdc53f1ab4b4ad1efd7279fc05dbcf4406ed42ba0a",
         "meshes.tar": "6b5d9a806b9fce3e229c6d3ab7665d8416fe7b3418bbf76d2a84948e92c65bde",
-        "render.png": "6a4997e459c4ccfeb8f17cb6311e720431f8d7f7861bce12c66f1a9ba4c2cdd9",
+        "render.png": "74a474408ff29ad047fe465a7f1e8ff1198baac3aae1e6a1a36fbc5b5d8805cf",
         "graph-raw.svg": "5e1ae6f713f7b0c01bff8107587e52b771d346e025c22d0e9851c5fd0443af77",
         "graph-robot.svg": "b5f63aff869dbbee2010df83ec56395277ea03d24d9cd18282573462d8044603",
         "robot.urdf": "20d51058ed4da84b3db5ab718187bc8e8d6669186099e60088ba10119752442a"
@@ -1263,7 +1283,7 @@
         "mjcf_ms": 5.044901743531227,
         "compile_ms": 76.50115713477135,
         "graph_ms": 382.2496342472732,
-        "render_total_ms": 1613.492262084037
+        "render_total_ms": 1647.1357918344438
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1324,16 +1344,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.82520367205143,
-        "render_ms": 1416.830854024738,
-        "compose_ms": 81.90651284530759,
-        "write_ms": 78.71575700119138,
-        "foreground_fraction": 0.60335
+        "compile_ms": 85.79420391470194,
+        "render_ms": 1392.3661848530173,
+        "compose_ms": 73.51535512134433,
+        "write_ms": 82.95299019664526,
+        "foreground_fraction": 0.60335,
+        "style": "link-palette-v1",
+        "colored_bodies": 19
       },
       "artifacts": {
         "robot.mjcf": "210d43df920cda87403b1b8aadb7689a29ab0fb8347263863fe68d7c6e2e3a7b",
         "meshes.tar": "3a05ef9d7800631035a2d91ef83f6f4fdff2b742d615654676fd5279f5b5f96f",
-        "render.png": "d4c1971ea6651a15a55fd3d557d7737bbd06e0d10a6cfdceb43631d1156ebfd2",
+        "render.png": "cfcaf23c92fc0c0206d3f5a8d38102c3d4e86ec550342d8ea863611ef9bfaf69",
         "graph-raw.svg": "fc1e8a29b30ed2f031c004ac1255b0e266667593324a00cfb72daed53bafbd03",
         "graph-robot.svg": "ca4228f11ed39f9f98932b6df785a14321db458a8f9fdee2741364df69ccbcda",
         "robot.urdf": "9ea6f2ae7cdee8243189d80416e3582ec8e6fe120f7551665c7c64c6327bdff3"
@@ -1383,7 +1405,7 @@
         "mjcf_ms": 3.7743221037089825,
         "compile_ms": 69.21322690322995,
         "graph_ms": 197.85916106775403,
-        "render_total_ms": 1554.6223488636315
+        "render_total_ms": 1599.2807541042566
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1480,16 +1502,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.95909471809864,
-        "render_ms": 1413.6525518260896,
-        "compose_ms": 51.89948994666338,
-        "write_ms": 63.82987508550286,
-        "foreground_fraction": 0.20185
+        "compile_ms": 42.31680370867252,
+        "render_ms": 1416.2444397807121,
+        "compose_ms": 53.73030807822943,
+        "write_ms": 68.22053296491504,
+        "foreground_fraction": 0.20185,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "44f10edfe2dc1f63a239ca89289d19fe7b78b8de3fd51c2e5dcd65d4974e69e0",
         "meshes.tar": "973724820b1dfe698a45fbb8c147e8c64ef5ba44619db9099edadc16b05363c6",
-        "render.png": "e129a387cae324354dacc39fa086630edb85f22f3adf0383fddc640f83947841",
+        "render.png": "f4ab49496e2bd899571eff3b7c35f8145c972f065fef8683f1bcf10bfdb1bb5c",
         "graph-raw.svg": "a9984bd268c4db3c3ad44db747df27108838ead7ef0d748762e3c721e90e6e7c",
         "graph-robot.svg": "17ef9fd0446758fae95ab9649f8304e257843015c411bc505bfda36af9d0dbc5"
       },
@@ -1522,7 +1546,7 @@
         "mjcf_ms": 3.231937065720558,
         "compile_ms": 22.6825550198555,
         "graph_ms": 126.95939559489489,
-        "render_total_ms": 1540.8716220408678
+        "render_total_ms": 1566.1033410578966
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1583,16 +1607,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.777518402785063,
-        "render_ms": 1388.697815593332,
-        "compose_ms": 61.62832397967577,
-        "write_ms": 70.6277140416205,
-        "foreground_fraction": 0.51205
+        "compile_ms": 23.745555896312,
+        "render_ms": 1397.3440639674664,
+        "compose_ms": 61.575104016810656,
+        "write_ms": 70.78372966498137,
+        "foreground_fraction": 0.51205,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "b803e5a15a3fe1df142290cf4a0ca5fd3fddb0224ff73ba4be0a0dd0e4c80fdb",
         "meshes.tar": "714d2eb7c2345ba7adc4daf32fbf4477919ced2565ef76cb6b975c78897c44dd",
-        "render.png": "90df49699922f3e4248f9891f3056267b17b185d514eb346ea5e87021361698c",
+        "render.png": "c6d3cded4f8e799efb2c9ee8e58086c15d3dbde38253008fca004807fe7de7c2",
         "graph-raw.svg": "d47c75d68eaa49acfc522551f8f10b58a4ba39c9141e9fdaa796e50515c738e7",
         "graph-robot.svg": "115e072afad8f67933f858092f92019e81d650611ac900848f63b238bbbcaa7b",
         "robot.urdf": "44a854f9aceb07eb57c5d06fc2b4a5e23a0006cf54579e57eabacc0183db9f94"
@@ -1637,7 +1663,7 @@
         "mjcf_ms": 3.41211399063468,
         "compile_ms": 38.34096994251013,
         "graph_ms": 176.22019723057747,
-        "render_total_ms": 1810.1137639023364
+        "render_total_ms": 1590.3902971185744
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1685,16 +1711,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.515238158404827,
-        "render_ms": 1632.2588589973748,
-        "compose_ms": 59.100470039993525,
-        "write_ms": 95.98823310807347,
-        "foreground_fraction": 0.6612666666666667
+        "compile_ms": 23.062272928655148,
+        "render_ms": 1402.5375051423907,
+        "compose_ms": 59.203369077295065,
+        "write_ms": 92.87185315042734,
+        "foreground_fraction": 0.6612666666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "18639e723610e735f9e9395ea7ab9a3ca0277d779c879063cab6f326ad366b16",
         "meshes.tar": "e3033afe1995b06beb41dcaff28a9fdfd8f651888c35cca43a634b171c934fbb",
-        "render.png": "122c7ef30453d1db295746ce730419304d000659547cf9bf3bf2edace5db2f97",
+        "render.png": "c451d822cdfb80bfd27423c1f7927b5a9643580812d3ea1c407e63e912817d56",
         "graph-raw.svg": "a8e74963c01722f10047943b502b454387a1853c484e3d04f120813c89f10e1c",
         "graph-robot.svg": "48a4bc70e5dd686fcab0835b06e9045603aa0a1bba9b216a69a7a1dff58e6146"
       },
@@ -1735,7 +1763,7 @@
         "mjcf_ms": 2.9453039169311523,
         "compile_ms": 153.79284415394068,
         "graph_ms": 78.88301275670528,
-        "render_total_ms": 1661.7706432007253
+        "render_total_ms": 1888.3363930508494
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1783,16 +1811,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.269905924797058,
-        "render_ms": 1453.831700142473,
-        "compose_ms": 70.29243605211377,
-        "write_ms": 93.18149415776134,
-        "foreground_fraction": 0.594
+        "compile_ms": 131.66728056967258,
+        "render_ms": 1446.5434602461755,
+        "compose_ms": 61.023603193461895,
+        "write_ms": 236.97313014417887,
+        "foreground_fraction": 0.594,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "57875208b7d0bf837e7071636d8c0401e11ced0fe576e691063497c6af3832c4",
         "meshes.tar": "8f2e838e5c3bf6019f3dd2bb3e87b17ed604c0875b6b376f6c0d896774872e5d",
-        "render.png": "149e8d07b39c6d2c321a098930214edcc0bebf8cb628e4b7519a88ae615c1a72",
+        "render.png": "73e64338d907bcfbc8d7572dca0f8953c3dc01ffa12b3edec70e0d91855de5aa",
         "graph-raw.svg": "bd8d36a9224ec458092b9dcf33fbc8d9bd56d4165475a33c236bf8a5cb6ed188",
         "graph-robot.svg": "509110f6a158e8e21d7f6dbfbdc6a2f46265a27ed6511ca9ba324c94fbc272ce"
       },
@@ -1832,7 +1862,7 @@
         "mjcf_ms": 128.11272405087948,
         "compile_ms": 671.2682982906699,
         "graph_ms": 244.9657921679318,
-        "render_total_ms": 1896.0435260087252
+        "render_total_ms": 2600.864014122635
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1923,16 +1953,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 154.41837906837463,
-        "render_ms": 1610.243489034474,
-        "compose_ms": 43.135167099535465,
-        "write_ms": 72.10701005533338,
-        "foreground_fraction": 0.09295
+        "compile_ms": 676.3383420184255,
+        "render_ms": 1791.2911977618933,
+        "compose_ms": 42.77763981372118,
+        "write_ms": 78.70945800095797,
+        "foreground_fraction": 0.09295,
+        "style": "link-palette-v1",
+        "colored_bodies": 27
       },
       "artifacts": {
         "robot.mjcf": "08fcab28b5ed4c3b9723e368c1c9e112bd5b957e7c340e4c55d3b8bdcb094117",
         "meshes.tar": "292bc10c523148519a2a215c7d96b6b5012264a9afa71fa894861f632202d5c7",
-        "render.png": "59443dd9968457a9a75cb9f49a93f8fd75d8fd8ee9ba0c668cdc0c7da8e399ec",
+        "render.png": "414bf768ba3c460df5375eb66de2557450df2ed6d05098b489441a47ec2a413e",
         "graph-raw.svg": "d73bdf0eeb07d80fa13e700e99e5ed8acd6d66cc71026835b2a502e9f8c23be8",
         "graph-robot.svg": "aa990d3a360789117d3b76e1af69b85314b8781a91793ca611c6ab467fe3ef93"
       },
@@ -1966,7 +1998,7 @@
         "mjcf_ms": 2.774940337985754,
         "compile_ms": 93.00722787156701,
         "graph_ms": 90.8428868278861,
-        "render_total_ms": 1771.1429949849844
+        "render_total_ms": 1590.5029997229576
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2027,16 +2059,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.967319667339325,
-        "render_ms": 1609.8389797843993,
-        "compose_ms": 65.50022773444653,
-        "write_ms": 67.64624593779445,
-        "foreground_fraction": 0.56815
+        "compile_ms": 71.87939807772636,
+        "render_ms": 1345.66081315279,
+        "compose_ms": 58.50801011547446,
+        "write_ms": 102.59868064895272,
+        "foreground_fraction": 0.56815,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "23794e9a5c1598a18578526022ce563e2fcb99da4d8f9b66b6b29def046e08fc",
         "meshes.tar": "b3b666f56312e3b324a7b23484367085f58d5572c60ab5d45dd4487d624b7c5f",
-        "render.png": "08211249e07f340f74cc18b17af063fef0b0feb2dbd0f852275d88b20167c9ad",
+        "render.png": "6d843a8a19fe032f56f57614a13b906b48922050e44340b7ce0f5f41f3f54cf4",
         "graph-raw.svg": "628feffe6b9c6d8bd1a1e91077cc2a7511ec8657c88460b052c912d15b2680ed",
         "graph-robot.svg": "6ca6f308eb9683af989680452c5dc4f141f324132ebbcfb84340c85b1bcdf509",
         "robot.urdf": "ed9e59e09217a8928f39859d1fe734d51dc6c1b21d4156ca96fa119e666aaf0e"
@@ -2086,7 +2120,7 @@
         "mjcf_ms": 4.652936942875385,
         "compile_ms": 139.70341393724084,
         "graph_ms": 273.6234846524894,
-        "render_total_ms": 1710.393251851201
+        "render_total_ms": 1725.3250190988183
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2159,16 +2193,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 31.92013595253229,
-        "render_ms": 1499.736858997494,
-        "compose_ms": 69.29902080446482,
-        "write_ms": 97.4696259945631,
-        "foreground_fraction": 0.77055
+        "compile_ms": 71.7675369232893,
+        "render_ms": 1403.5045043565333,
+        "compose_ms": 68.77106195315719,
+        "write_ms": 169.21844612807035,
+        "foreground_fraction": 0.77055,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "8a9034f975f7d7e82a93d4eb41916b8437d805ada7efa43182e6e983226409eb",
         "meshes.tar": "a72e67c1dc9ad840c84698b1355b9ebe0afe7c942d766d3ca3cf34863104f55f",
-        "render.png": "cb83fc1f5584e6b4640b90d73de6ee20870d8ed90649b8a3d7e22a3078133a1c",
+        "render.png": "7ebde73b21e2e3398c306d9f0e3ddffc36ac83924d821e19df80b4889b7c7a4e",
         "graph-raw.svg": "0a7c50a50723c0cbccef1fc4f19540f632aa3844951beb293dd13bb1addb998c",
         "graph-robot.svg": "81669d558e7e3cba599f60bfc8dd861685de99252e41e5f98be8b936c5a65ce6"
       },
@@ -2207,7 +2243,7 @@
         "mjcf_ms": 2.7701398357748985,
         "compile_ms": 141.8394292704761,
         "graph_ms": 88.77628482878208,
-        "render_total_ms": 1542.9596668109298
+        "render_total_ms": 1847.2679872065783
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2274,16 +2310,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.800365272909403,
-        "render_ms": 1390.0333349592984,
-        "compose_ms": 51.4520020224154,
-        "write_ms": 71.1927548982203,
-        "foreground_fraction": 0.33
+        "compile_ms": 231.64053680375218,
+        "render_ms": 1427.9103414155543,
+        "compose_ms": 51.00362794473767,
+        "write_ms": 124.60631364956498,
+        "foreground_fraction": 0.33,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d9266f3c12ce70b0f65d4737994742a7d0f9f0a6b3bf9dbd40e90fd1fab71c79",
         "meshes.tar": "6144e89352eaa5144fb287042a5cfa964dfe9d40ccea3e34be994f6a719648ef",
-        "render.png": "eea885d1f0588694b179065ad4afff11e8d3feb7ce2e45d51fa1efe07e813eb8",
+        "render.png": "485752769d9bac0a9892c2073450e528ab9e0c622bbe15d30d1b40d13cb4d33e",
         "graph-raw.svg": "af30943bbdb6ac3d1a43a9d0bda3c4a50511248a4390724d27806581f8caf544",
         "graph-robot.svg": "9fc7ac6e16ddb11e858ad130f8ed1f81dff9b5a1369aab9352055c1e7402f40d"
       },
@@ -2328,7 +2366,7 @@
         "mjcf_ms": 3.9780340157449245,
         "compile_ms": 291.1733156070113,
         "graph_ms": 1969.9862678535283,
-        "render_total_ms": 2033.902219031006
+        "render_total_ms": 2000.7998389191926
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4393,16 +4431,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 216.21428476646543,
-        "render_ms": 1636.1034391447902,
-        "compose_ms": 79.64425580576062,
-        "write_ms": 85.72655683383346,
-        "foreground_fraction": 0.69905
+        "compile_ms": 290.4115761630237,
+        "render_ms": 1539.5450512878597,
+        "compose_ms": 64.78833686560392,
+        "write_ms": 90.82127502188087,
+        "foreground_fraction": 0.69905,
+        "style": "link-palette-v1",
+        "colored_bodies": 13
       },
       "artifacts": {
         "robot.mjcf": "3ac5e03308301ab374250754e43a30cfcb6a7530259fb0a2ee370decc1f2e463",
         "meshes.tar": "c76795738ee0c43b5fe4152371e84b2a03220f7075740a342e3032f7d2eb8bdc",
-        "render.png": "b615c36d53cf88be4229e82b1bf3d81acc10b1ac5f83423a0f96c476828249a2",
+        "render.png": "9e3229277f2070c451e639df4e6e14908ca72962bacab63c00db0f37d0e34d7c",
         "graph-raw.svg": "8a89eeea2762439df2c39b8e1fbf5a839727be1ec59ec6740c25fa54cad87d13",
         "graph-robot.svg": "abc3e288d06de737886db23d844c4d0d576b4435932161dcc876a13b2c868f5f"
       },
@@ -4440,7 +4480,7 @@
         "mjcf_ms": 2.6975618675351143,
         "compile_ms": 48.019979149103165,
         "graph_ms": 101.75380622968078,
-        "render_total_ms": 1503.9067110046744
+        "render_total_ms": 1553.8869788870215
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4488,16 +4528,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.436444982886314,
-        "render_ms": 1346.5884560719132,
-        "compose_ms": 74.89933213219047,
-        "write_ms": 63.181652687489986,
-        "foreground_fraction": 0.6765
+        "compile_ms": 28.06486701592803,
+        "render_ms": 1376.1269501410425,
+        "compose_ms": 75.15019364655018,
+        "write_ms": 62.531095929443836,
+        "foreground_fraction": 0.6765,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "ae231f1fca78b86a25a0f19c4231be6556cb34c7c1b0cea27d97ada75a11a042",
         "meshes.tar": "ce63ed84b72e36c3a3853de62db3a2b93397a270d301a84e0d42246a803e63c0",
-        "render.png": "6837630c5f130520deea043a4f0f4f89073f6d69cdefc59f7518db80e5cd2ad4",
+        "render.png": "883ca24070f594322095fc710ad2b42c47480ec165dce91be755d7322829e957",
         "graph-raw.svg": "3cd5b63b9a42bba87035e75cc68cf71e5df2f91a251c681c9630046cf2a5eaec",
         "graph-robot.svg": "2a96d151cac16262005902ca0f333a86d54e26d093d8c65ca3af6788b0bddd59"
       },
@@ -4533,7 +4575,7 @@
         "mjcf_ms": 2.712543122470379,
         "compile_ms": 36.204125732183456,
         "graph_ms": 110.37456011399627,
-        "render_total_ms": 1529.1514652781188
+        "render_total_ms": 1595.8827720023692
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4594,16 +4636,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 34.7680551931262,
-        "render_ms": 1330.3065281361341,
-        "compose_ms": 63.28713893890381,
-        "write_ms": 88.78384623676538,
-        "foreground_fraction": 0.58905
+        "compile_ms": 36.36867320165038,
+        "render_ms": 1369.8095572181046,
+        "compose_ms": 72.44713697582483,
+        "write_ms": 101.46792605519295,
+        "foreground_fraction": 0.58905,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "adda4431215bfaceb9b1b8b2b982ffd7ff9a39dbccf5e2ec5ef67eca29b49eae",
         "meshes.tar": "c8e6b105255b7260b53db9f0d73cddbfdc59386a42d1b30b58f7ba7fe572e182",
-        "render.png": "e7cb3ebbcb4a9493f71e08614d11666cbe9c02606c894f31b0910efebed77152",
+        "render.png": "4aac535373f1bc68f63641dae36c55a350f379a788801782c28a60ebfae8762e",
         "graph-raw.svg": "bfdbbe94ead46c6889ca3d47e3086115820142d193ca540767e1bd33e7e1010f",
         "graph-robot.svg": "c3dd0f093088f0ad00c35df36ad579bbfe12c9739539c66b387c62aca18521bc",
         "robot.urdf": "6d9b70b64e16158201f7f4f8abeffd535b957df5a216395d799b9e3135013bd2"
@@ -4644,7 +4688,7 @@
         "mjcf_ms": 3.000915050506592,
         "compile_ms": 70.51111292093992,
         "graph_ms": 143.35756469517946,
-        "render_total_ms": 1531.3495881855488
+        "render_total_ms": 1568.5803163796663
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4692,16 +4736,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.57452228292823,
-        "render_ms": 1339.9199335835874,
-        "compose_ms": 75.10589295998216,
-        "write_ms": 70.70271484553814,
-        "foreground_fraction": 0.4015
+        "compile_ms": 59.11818007007241,
+        "render_ms": 1364.6106077358127,
+        "compose_ms": 62.333818059414625,
+        "write_ms": 70.32630126923323,
+        "foreground_fraction": 0.4015,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "8b45a3026218def93966df14f3a5e02876e3ce2fb007364f416e01c840a8c169",
         "meshes.tar": "df454bb12184f81f92853f150b7832634229f6431cb61f199d2930834252f35d",
-        "render.png": "00034707f27d8931d8de4417266d8b7f60edf09bc49e59c16bbb3ddd2a7dbed7",
+        "render.png": "79825a0bf447a3d721026cdae95d94312dfc1a4d30c01da7eb822cb37b63a758",
         "graph-raw.svg": "a786f47dd11b2c0ffe34111b2378940d0e0323968710852bd98175e889f31b44",
         "graph-robot.svg": "4ac138ac0133a073e27cb64d2ce51cbd53e6b9a5c06937161ae7b335b808f5bc"
       },
@@ -4741,7 +4787,7 @@
         "mjcf_ms": 2.7590692043304443,
         "compile_ms": 28.474530670791864,
         "graph_ms": 113.02787670865655,
-        "render_total_ms": 1566.7566838674247
+        "render_total_ms": 1585.616152267903
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4796,16 +4842,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.214376091957092,
-        "render_ms": 1378.761454951018,
-        "compose_ms": 62.347604893147945,
-        "write_ms": 85.25655930861831,
-        "foreground_fraction": 0.7795666666666666
+        "compile_ms": 19.324226304888725,
+        "render_ms": 1389.2573569901288,
+        "compose_ms": 68.92175367102027,
+        "write_ms": 96.2598454207182,
+        "foreground_fraction": 0.7795666666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "935e05d5d4caf85f1f3f8c7d9ef85076fa435842611c6e49680d51877c56d1a8",
         "meshes.tar": "4ef1c1fd932e885beebac0bd5215e9a00241ca01902674b1a30293a26ad3a9dd",
-        "render.png": "9d338def865be9b8eaf0830cb70dfb00e247dacbf7e4e2aa7ce6b582076d86e9",
+        "render.png": "3fbceb114d04b4b9e15c0311708b1a209f0420cec5666889d28bb73421c9ed91",
         "graph-raw.svg": "ecf01c90cfd4e241656c157db0892f99a670aa29f6f031a451bce501baa0b66d",
         "graph-robot.svg": "a98f2e67c23f656ca30ef90c5a8729717f870328aa1d27c82a77e3ab3841814a"
       },
@@ -4841,7 +4889,7 @@
         "mjcf_ms": 3.0557545833289623,
         "compile_ms": 26.130839250981808,
         "graph_ms": 167.20359213650227,
-        "render_total_ms": 1871.1602669209242
+        "render_total_ms": 1570.8763431757689
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4902,16 +4950,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.1339861638844,
-        "render_ms": 1665.6041666865349,
-        "compose_ms": 91.45228331908584,
-        "write_ms": 69.17233904823661,
-        "foreground_fraction": 0.62095
+        "compile_ms": 19.37397802248597,
+        "render_ms": 1403.998629655689,
+        "compose_ms": 64.52578026801348,
+        "write_ms": 71.21182465925813,
+        "foreground_fraction": 0.62095,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "320817e69f2bc4fa14ceaa4b656a4dfed511b4d8fd06d253ac0e242ad621448e",
         "meshes.tar": "c6b45574ddd960a42a16eb702226e43d30c3e7c480862e4f68331ce0990d65b7",
-        "render.png": "21753caee69bfa54e0d1bbf248c736c037905ce1dc60ebdbeaf0a658729d6b04",
+        "render.png": "6a9be320634b46dbd62cae31f82044a5893696302925d6543572dd6c7724c227",
         "graph-raw.svg": "4c7dfd7ced839b4fdc61b5303cbc30d84fabc0a04036d1b890f6d38272e90a30",
         "graph-robot.svg": "0a11400eddfef39b672fcee4918d6de79177468c8bbe1e36446ce153f78b344b",
         "robot.urdf": "b22a257a5baaf619b5d3990e1b5540f8f13ef97eed8fd09b4a661d814daa0722"
@@ -4948,7 +4998,7 @@
         "mjcf_ms": 3.5819527693092823,
         "compile_ms": 63.50766075775027,
         "graph_ms": 168.21546899154782,
-        "render_total_ms": 1823.2251890003681
+        "render_total_ms": 1594.9624311178923
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5016,16 +5066,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 60.60749618336558,
-        "render_ms": 1582.6067118905485,
-        "compose_ms": 71.28397095948458,
-        "write_ms": 94.45529105141759,
-        "foreground_fraction": 0.6226
+        "compile_ms": 42.48551605269313,
+        "render_ms": 1369.9802770279348,
+        "compose_ms": 63.86345764622092,
+        "write_ms": 106.68049193918705,
+        "foreground_fraction": 0.6226,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "dc0ee76a4b13cb86c09dc8674b0874761bb9f1514ad090e67ad00b7ab220089a",
         "meshes.tar": "ed7ec16ccfa7fd2d724f6a8851501b6134b73d8d293409265d57d10d221b71ef",
-        "render.png": "72b00a1411acfd0939bbcd5462783f17d3586c97281672a76bb342bf710faecd",
+        "render.png": "c9297066817e831bb66e207f5a5bad42f9646108697b55ed15bef06f9f4d5931",
         "graph-raw.svg": "d942437733e6999e5ad5995a9b8ce8c8cc681cced126dd2a8acc23b5660f85b8",
         "graph-robot.svg": "8174b0a7a306ff25e0f956e2bd3034dd799cd61c8830254e8f2bab0e60a60318",
         "robot.urdf": "1f02b3a9d5c06ba8026482a4573cbf2727b881d1dda30b209cfc1ae132643131"
@@ -5062,7 +5114,7 @@
         "mjcf_ms": 3.420454915612936,
         "compile_ms": 26.48128615692258,
         "graph_ms": 292.7881199866533,
-        "render_total_ms": 1639.7796482779086
+        "render_total_ms": 1521.3725878857076
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5136,16 +5188,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 39.197924081236124,
-        "render_ms": 1437.2985851950943,
-        "compose_ms": 71.5406802482903,
-        "write_ms": 75.2648557536304,
-        "foreground_fraction": 0.76725
+        "compile_ms": 24.749598000198603,
+        "render_ms": 1340.6496620737016,
+        "compose_ms": 67.45512410998344,
+        "write_ms": 76.71058690175414,
+        "foreground_fraction": 0.76725,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "01e50040dc0aa68edf00266834aea2536aed9f4edbd879ea2fa545c55dcca317",
         "meshes.tar": "3a4371a385147c3615fb8dafad4efed15db057bd209e557e081255a484a9c93c",
-        "render.png": "ddf242354e53af94325e661da0a80be66f9bf5ed983d0327e90538e0fc601c6c",
+        "render.png": "57d3ad2b2d71d5636af824c7679a7008dd4f79e93e3c155e3fdbe60a7bbeef40",
         "graph-raw.svg": "f96f9f33afbe0995a9489c120dc1f6e1f84036dda59a0a80c5d9363695f0a614",
         "graph-robot.svg": "29b8110828b1e740ec39a2e48d004a18cc88136fc59ac614a4d7dfa863ef09f3",
         "robot.urdf": "1b1088f7cd0b763078d122edc9a75380af8d2ae885fbf862837a16f5bbec140e"
@@ -5178,7 +5232,7 @@
         "mjcf_ms": 2.509737852960825,
         "compile_ms": 21.717052906751633,
         "graph_ms": 106.63388483226299,
-        "render_total_ms": 1784.8378559574485
+        "render_total_ms": 1576.9309899769723
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5239,16 +5293,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.219138987362385,
-        "render_ms": 1580.3233170881867,
-        "compose_ms": 62.670325860381126,
-        "write_ms": 104.60856277495623,
-        "foreground_fraction": 0.53075
+        "compile_ms": 11.298798024654388,
+        "render_ms": 1364.3452529795468,
+        "compose_ms": 60.83593238145113,
+        "write_ms": 128.65626299753785,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "fb66fa33a1adcc2a4a990e0f20f5a72a239e0262d208f8e8155ac4628ff9bed4",
         "meshes.tar": "ae0b9e74de3e4400a84a8eb26891cc6af14154130af6012ad39a8e21641328f5",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "798fe55813b5d9a65c08864ce7e1eb17a887382efcadcb5e0e8c9bf789657925",
         "graph-raw.svg": "73927b60ad3e258e4817fce021abd4e0172c266be620a9f1910b63f7cd98f753",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "ea3148cd6f9c3e37a736e0feadad565d947c3d5a990d5055b11cab67e5ccbfbb"
@@ -5287,7 +5343,7 @@
         "mjcf_ms": 6.570647936314344,
         "compile_ms": 173.03710291162133,
         "graph_ms": 707.8259591944516,
-        "render_total_ms": 1856.7285649478436
+        "render_total_ms": 1707.3471187613904
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5457,16 +5513,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 140.26984898373485,
-        "render_ms": 1529.9134640954435,
-        "compose_ms": 83.1569628790021,
-        "write_ms": 84.62339686229825,
-        "foreground_fraction": 0.7492333333333333
+        "compile_ms": 129.35594702139497,
+        "render_ms": 1418.050673790276,
+        "compose_ms": 63.96693317219615,
+        "write_ms": 84.11649987101555,
+        "foreground_fraction": 0.7492333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "25ce5233dce28578d2307dcb4de7032fed2db551959cfb009b3e02e995fd9730",
         "meshes.tar": "f76bfa6db0d9b51abf5818b96e6a970d9424c49fb22ae85f24afccb07167dedd",
-        "render.png": "1486eef582919696a9547d72e017a5b3770d6e1ea00d81a722d1c1b1580feb1d",
+        "render.png": "6f48e3297447038b6982729ba81e0f144b7876744582705453dd3038598c3900",
         "graph-raw.svg": "23cd77924ff68c9844a2fac156ff99d60d9e6bbc965f364e3e5c5c2c90a0b61e",
         "graph-robot.svg": "6d4e1becb3168b178bf5cd9d5d55512e5e80f400c1e73e180b33180626899ffe",
         "robot.urdf": "875f996ebda2a2bda28c707c770b79b2f18849bb9dffa2c15a0b38cf907dc042"
@@ -5498,7 +5556,7 @@
         "mjcf_ms": 2.876351121813059,
         "compile_ms": 14.359128661453724,
         "graph_ms": 69.63188294321299,
-        "render_total_ms": 1534.1884698718786
+        "render_total_ms": 1549.8589626513422
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5559,16 +5617,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.199606090784073,
-        "render_ms": 1376.117731910199,
-        "compose_ms": 60.79948274418712,
-        "write_ms": 76.45857706665993,
-        "foreground_fraction": 0.47135
+        "compile_ms": 8.433244191110134,
+        "render_ms": 1395.0766241177917,
+        "compose_ms": 53.59667493030429,
+        "write_ms": 80.76404873281717,
+        "foreground_fraction": 0.47135,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "8b0be702807272238aa07d344fae25554580e157829096c1f8a032e044549c2a",
         "meshes.tar": "b295c5afe94517237c4078596b939c80787870f232ab84200d48cf9d32e04439",
-        "render.png": "8172b663ca088f20dc3234b1e06aa5d59fe6e4e786a4e74c7fcd712e0a2e6719",
+        "render.png": "29c0251c66e0cb4df094454b94afc4be9425e3bb37325ceb82c1c81cea4af7f7",
         "graph-raw.svg": "adefa5b664f8a4f8db42e3aec5b2a06c55ce15459f07771dccba572cb9d61ed3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "4cda42a6431eb7ca69ead390b4940bc0966bff26fb2c1cf69e9c079ea5831fbc"
@@ -5601,7 +5661,7 @@
         "mjcf_ms": 2.95080104842782,
         "compile_ms": 20.85214899852872,
         "graph_ms": 101.4234060421586,
-        "render_total_ms": 1832.7580918557942
+        "render_total_ms": 1579.7173101454973
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5662,16 +5722,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.41619084775448,
-        "render_ms": 1606.826103758067,
-        "compose_ms": 83.70996499434114,
-        "write_ms": 104.57857185974717,
-        "foreground_fraction": 0.53075
+        "compile_ms": 11.001009028404951,
+        "render_ms": 1351.0358049534261,
+        "compose_ms": 58.5871459916234,
+        "write_ms": 147.339285351336,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "4e36512343c2bb9b44a46a0ba393818082433867075029e083b92ddf7a1ab9e5",
         "meshes.tar": "a65fa41493c6bf75eaa0c4842456e163d9cf7067c4a5487953a037add3619855",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "1171530fa43cf1351f434178a7e8fcc0b8d1db36e2e8e389ec51080170e9b5c8",
         "graph-raw.svg": "02966f114251a920b0abc9e6312bc5dd5577a86dfaee6725fd365f31b0911d91",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "873e0d01aabb57eed0de753a989e29e8c51ec6a7fc76d7f331de576924fb1728"
@@ -5715,7 +5777,7 @@
         "mjcf_ms": 4.749188665300608,
         "compile_ms": 176.53189087286592,
         "graph_ms": 396.17128716781735,
-        "render_total_ms": 1810.0316701456904
+        "render_total_ms": 1651.9663501530886
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5812,16 +5874,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 135.01167204231024,
-        "render_ms": 1491.9595727697015,
-        "compose_ms": 81.07257913798094,
-        "write_ms": 83.37986888363957,
-        "foreground_fraction": 0.689325
+        "compile_ms": 95.34407500177622,
+        "render_ms": 1396.3852729648352,
+        "compose_ms": 64.30444400757551,
+        "write_ms": 83.77111703157425,
+        "foreground_fraction": 0.689325,
+        "style": "link-palette-v1",
+        "colored_bodies": 25
       },
       "artifacts": {
         "robot.mjcf": "4a55be5eb6fe95e43e2a4e2f96acb1c5c0ba96117dc576ece0656b7e2daeed3d",
         "meshes.tar": "35b5ec13887c3196ad01b691e73f403b06ce71733c589b5acfa828c0d78a90fb",
-        "render.png": "7e68bd39e9c2efd0c7718f67e498b41806f9c9593bb0a184bc263ba38139cc69",
+        "render.png": "5d5ffabe9ae86fd889a2b622753a0141f6e3c7187947ed8b3d56c9ea897b3509",
         "graph-raw.svg": "e89a3730731f884ef43120a90184ecf670cbfbbcb3e982856df1bf7d97111bc7",
         "graph-robot.svg": "ce472b01fafab196d887a58faee67c3f5e80fa125b2cc64bbe2ececdee894b11"
       },
@@ -5854,7 +5918,7 @@
         "mjcf_ms": 3.0370941385626793,
         "compile_ms": 18.786180764436722,
         "graph_ms": 105.19045917317271,
-        "render_total_ms": 1591.211099177599
+        "render_total_ms": 2002.879235893488
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5915,16 +5979,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.222269412130117,
-        "render_ms": 1415.5438169836998,
-        "compose_ms": 65.92563400045037,
-        "write_ms": 77.11951900273561,
-        "foreground_fraction": 0.4763
+        "compile_ms": 13.309519737958908,
+        "render_ms": 1370.3767089173198,
+        "compose_ms": 59.977113269269466,
+        "write_ms": 547.3803556524217,
+        "foreground_fraction": 0.4763,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a21c57e285853b72d6b76af12e7c7d6b9ba93b1f8570bf6ec00ea4c733b31ade",
         "meshes.tar": "68b74fbfd7e0ad2bbcb801ae1ebb9b3500696916517e79fc9755bb9b12d8f3d8",
-        "render.png": "0837b3f3dffe35cc9310afda66f032ebfe19db0a6ffc9c71cd0b240a134dfb5f",
+        "render.png": "db5f9daff8e4fa99c0ade09416b43f31dac6429ff122c816020f717e22892101",
         "graph-raw.svg": "84a16b1057d8cec82ebed30cc2bb91aa014aa58554ca914d280575880aff2d00",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "1b7a1cef947d5530a5e6b5d2dd4263044ad307d5f373a8eee652d478ae02119a"
@@ -5962,7 +6028,7 @@
         "mjcf_ms": 5.427568219602108,
         "compile_ms": 85.82674711942673,
         "graph_ms": 385.67168219015,
-        "render_total_ms": 1778.6428197287023
+        "render_total_ms": 1663.6114679276943
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6096,16 +6162,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 86.08951512724161,
-        "render_ms": 1519.1385326907039,
-        "compose_ms": 72.77643261477351,
-        "write_ms": 81.3811612315476,
-        "foreground_fraction": 0.3256
+        "compile_ms": 96.04904986917973,
+        "render_ms": 1418.8170279376209,
+        "compose_ms": 53.90100693330169,
+        "write_ms": 82.7517919242382,
+        "foreground_fraction": 0.3256,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "e49dc0712bf1e91de67086d98ca8b9ec8018f58d05f1724a20127a4ce18925f7",
         "meshes.tar": "b5c626ff0c2399b153c01c37d75deef2c80048c42d58b55fbe6407cb298fba60",
-        "render.png": "3f87721b0a9760ab834889c9dc1f28910afd1a984d63e793154fb301b8c74cfa",
+        "render.png": "3e99440afb95fce7f1ec466644c0fd82589200bb8dfba9a404bd043848908b6a",
         "graph-raw.svg": "3f0da41b5ea79df280df0c66dcc194b7ace6be6731813824f58c33aae45c24fe",
         "graph-robot.svg": "49ff8efc91f2ae3618bae77ff7ea1f8f7a102464a17839bbcf16cab295c3d221",
         "robot.urdf": "36cfa56b9458fa652db0351f01e1d5d2ab205627e773a55b08660b320d2d667e"
@@ -6146,7 +6214,7 @@
         "mjcf_ms": 6.878198124468327,
         "compile_ms": 153.82825816050172,
         "graph_ms": 530.8846449479461,
-        "render_total_ms": 2229.226286057383
+        "render_total_ms": 1764.743102248758
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6280,16 +6348,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 153.27710704877973,
-        "render_ms": 1888.1195792928338,
-        "compose_ms": 76.13401301205158,
-        "write_ms": 97.72321907803416,
-        "foreground_fraction": 0.70235
+        "compile_ms": 84.67946806922555,
+        "render_ms": 1468.9883622340858,
+        "compose_ms": 76.35742891579866,
+        "write_ms": 119.92315202951431,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 29
       },
       "artifacts": {
         "robot.mjcf": "f8588837200f87e0d4887ee8fbe23302d044a2f88e27c336fa124228b6efffa6",
         "meshes.tar": "a53ebe7cef80da11f8515b4016ebdb50d58996157a9a178580ac889cefeff563",
-        "render.png": "e8dd8e7d8555a70fb2ee5a1a0d56895b3fd4dc9187c050d06d41b6deb6387221",
+        "render.png": "34183bfb5ed7d8d4c676fe1d0c766d76ae5597a7eea088ee4f9eb63a9d0743b4",
         "graph-raw.svg": "990cc07ffb1bb8b55ad282508f336757c0f342576367c3bdf94b6f1d64abfa0b",
         "graph-robot.svg": "8769d0c033bc8221b01d1e92696bc1551ef19b0bbb8b728c806b75e3c67660a3",
         "robot.urdf": "00d80cb98c17a055796bccae0b3a9846ce3668b7542c20cd0c6ee93bde9d2f7f"
@@ -6323,7 +6393,7 @@
         "mjcf_ms": 2.8864447958767414,
         "compile_ms": 45.48616986721754,
         "graph_ms": 247.02358804643154,
-        "render_total_ms": 1923.1443009339273
+        "render_total_ms": 1555.7659538462758
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6384,16 +6454,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.72723896428943,
-        "render_ms": 1723.696214146912,
-        "compose_ms": 67.5068199634552,
-        "write_ms": 74.74341988563538,
-        "foreground_fraction": 0.6182
+        "compile_ms": 25.242025032639503,
+        "render_ms": 1375.3107558004558,
+        "compose_ms": 66.17812905460596,
+        "write_ms": 76.8347829580307,
+        "foreground_fraction": 0.6182,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "aec02376acb2a068abd8a89cf680fa0f966be3aa09b80d3d01e72c5cc805e3bb",
         "meshes.tar": "95056d39e8b3082505583146c31abadb4a4298692ac370238a8819026a4b521b",
-        "render.png": "c45c1aecbd2512fe39c2bb242fdaa0ec20fd18c3f2b5e681ac81136f1e5bb420",
+        "render.png": "600641d68072d393d3c8bffb0fd92119816774afebc1780a10b23a4f4246db2f",
         "graph-raw.svg": "883e0595cf29d2063aceead1cc94024a37cea4ac04a080911aa98ee70d14061d",
         "graph-robot.svg": "b477f9a026a693b52950743c984a598c147b7a716e7ca6c60bf78f86af8248d1",
         "robot.urdf": "a00c2565d0f473324cd397d2897482620296adf15fde33bd136b7b07fea35520"
@@ -6432,7 +6504,7 @@
         "mjcf_ms": 6.491024978458881,
         "compile_ms": 135.7889212667942,
         "graph_ms": 574.3771102279425,
-        "render_total_ms": 1854.7254730947316
+        "render_total_ms": 1767.319560982287
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6602,16 +6674,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 138.98187270388007,
-        "render_ms": 1537.0725393295288,
-        "compose_ms": 75.25524497032166,
-        "write_ms": 84.90824699401855,
-        "foreground_fraction": 0.7499916666666666
+        "compile_ms": 108.69475360959768,
+        "render_ms": 1482.5251251459122,
+        "compose_ms": 75.70654200389981,
+        "write_ms": 83.62552803009748,
+        "foreground_fraction": 0.7499916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 22
       },
       "artifacts": {
         "robot.mjcf": "3a0d8cf0a133e7a8ffefd17a17604f031691d9aa59c0630f687f2c3368379342",
         "meshes.tar": "7414f12b03fbd59d01634b6153cc42ac0c806c0c2b00b0a8366fc1041378ffc7",
-        "render.png": "f6301d224a82a92180c317eaa1704300d3b21183815ce464a398c9715a91a22d",
+        "render.png": "2868320dd456cbf383a8852c14f8ca9c5c87c44abdcfc7c9b10135b4b442eb95",
         "graph-raw.svg": "842706c3b6f7636c9f5afb0d66daef6b8f53b22f6eefbfddefbebd54c5b014f8",
         "graph-robot.svg": "0b428646d407dff5cdb1d0dff2abaf319434d7f2a74a361d0021a3e0a0479788",
         "robot.urdf": "6f1cf6039680b01c0f586a8a574e2db7630005100de489382335bff5c3e38d89"
@@ -6647,7 +6721,7 @@
         "mjcf_ms": 4.683876875787973,
         "compile_ms": 109.81300473213196,
         "graph_ms": 353.956812992692,
-        "render_total_ms": 1745.0122851878405
+        "render_total_ms": 1644.151042215526
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6781,16 +6855,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 106.7982530221343,
-        "render_ms": 1449.531523976475,
-        "compose_ms": 89.28815694525838,
-        "write_ms": 78.15608568489552,
-        "foreground_fraction": 0.77055
+        "compile_ms": 60.92736776918173,
+        "render_ms": 1415.3144829906523,
+        "compose_ms": 76.31624583154917,
+        "write_ms": 79.40934086218476,
+        "foreground_fraction": 0.77055,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "d0361bb0bd1d0ba506133067e975d0c7d93455e50266df1f8c1c72580e0f2105",
         "meshes.tar": "ace0f881e7299cf8d4c9e670cfb6585c8b9002d184a78117188d31e9b810a31e",
-        "render.png": "04cd2d28a78f38616477c64aa28b63423cd2ec41b30c6ac7bfefa83556bb5acd",
+        "render.png": "15c5e6a1af09447add793352f623a85f1ad540195ee5fefc7e5d78989e76c86e",
         "graph-raw.svg": "8a6e79ef730cda9611a66acdb330f66d5b78a3fdfee3a036d2d5f6f45191dc65",
         "graph-robot.svg": "d486fd7fb249f7df368c770edb24eaae125a063b74ab55a11efbbf4b98232ee7",
         "robot.urdf": "15ced263666b8f57ba6c5c2bc59e143b09dfb08337492ec4474b15b7518f74ef"
@@ -6830,7 +6906,7 @@
         "mjcf_ms": 7.327495142817497,
         "compile_ms": 133.07596324011683,
         "graph_ms": 529.8315519466996,
-        "render_total_ms": 1828.9489629678428
+        "render_total_ms": 1700.562085956335
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6964,16 +7040,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 129.6979859471321,
-        "render_ms": 1500.763540621847,
-        "compose_ms": 81.21024677529931,
-        "write_ms": 99.11119379103184,
-        "foreground_fraction": 0.70235
+        "compile_ms": 82.13153900578618,
+        "render_ms": 1420.6361924298108,
+        "compose_ms": 74.22793004661798,
+        "write_ms": 111.00921407341957,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 31
       },
       "artifacts": {
         "robot.mjcf": "2518c0447b7f719856e01c3bca7ffaff15995891b512fef063f867d1df197f8c",
         "meshes.tar": "45d62186fbb04fa274807f235f60169d5cb52f2329af8b6bf010c8af22c0ec4c",
-        "render.png": "be11cde83725e656b8d7ad9986979e22ac9f89f20692a31af73cf13d3cd4c44d",
+        "render.png": "c46471960208033be8ee46a53b64576b55892f1f340b81a589306807cb37a853",
         "graph-raw.svg": "4061f00a3bee560a21e855c6e2ac468026098b3ad4eb1158ccb085abaf59b768",
         "graph-robot.svg": "ca53453cc44aa004d94cbe4680fdead60862a87fd0f1674b6f061adaa335d1a1",
         "robot.urdf": "9b571b7bab3299125dd7e5229d0191121a72a71d66a3aaa32883bef9395b1714"
@@ -7015,7 +7093,7 @@
         "mjcf_ms": 7.174562197178602,
         "compile_ms": 141.07190910726786,
         "graph_ms": 616.2183731794357,
-        "render_total_ms": 1930.056412704289
+        "render_total_ms": 1794.8384890332818
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7125,16 +7203,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 169.07507693395019,
-        "render_ms": 1545.3934450633824,
-        "compose_ms": 88.917703833431,
-        "write_ms": 109.38105685636401,
-        "foreground_fraction": 0.7645
+        "compile_ms": 116.88094586133957,
+        "render_ms": 1462.225170340389,
+        "compose_ms": 70.85102191194892,
+        "write_ms": 132.50581920146942,
+        "foreground_fraction": 0.7645,
+        "style": "link-palette-v1",
+        "colored_bodies": 39
       },
       "artifacts": {
         "robot.mjcf": "55966528f7ec825492f65af63cdd5e4014f69e8d2522df2c62d7ee5b1599d42b",
         "meshes.tar": "e11e6d9df448b7696e3d808615b84e7f6cbd2ab6e449dc673ddfa3afa5f5ca2e",
-        "render.png": "54c4838cf32425a4db45f08ddb11beaeb05e88911ed7a6f225b6b568bc9c6b43",
+        "render.png": "e9e86594ecd223a5b25cd3a945613b76c234168efe748a19feefd9fb2604af84",
         "graph-raw.svg": "9bae118800cded7cd2b2ba02b82817ef4ee765c14bb9ce0b38cdf56d6e6cdcc4",
         "graph-robot.svg": "861afc26bb64615e5f6d5361e45e35a8d3aa29f2f498f67ddce4a533f69f7eb7",
         "robot.urdf": "1eb33cda2ef50560d9bad2b940def593f7e825d54263e78d312b937d9144a7d6"
@@ -7175,7 +7255,7 @@
         "mjcf_ms": 6.6066221334040165,
         "compile_ms": 99.50045822188258,
         "graph_ms": 685.9947312623262,
-        "render_total_ms": 1831.6151089966297
+        "render_total_ms": 1795.5099418759346
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7309,16 +7389,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 140.07555320858955,
-        "render_ms": 1477.3851041682065,
-        "compose_ms": 97.65114262700081,
-        "write_ms": 97.4984266795218,
-        "foreground_fraction": 0.7018
+        "compile_ms": 94.35831010341644,
+        "render_ms": 1492.2841042280197,
+        "compose_ms": 87.17595227062702,
+        "write_ms": 109.44495117291808,
+        "foreground_fraction": 0.7018,
+        "style": "link-palette-v1",
+        "colored_bodies": 33
       },
       "artifacts": {
         "robot.mjcf": "84c0ee233538361d5e0c60da374a446af78e2af15ea3c1f1ccc491efdfd3a0ef",
         "meshes.tar": "a0c90ce7a5c6d788dde7b7f109d7a92c14ccea89196252864a1f820ca0b5175e",
-        "render.png": "563b296cfa93c3a45ce0cf243b7e276fdc31b3fa9651d70505047f8946d57b6a",
+        "render.png": "2f8d75e7476e1186dde1f40f09f193667f19b9be0845d4256922ff5864e5b19a",
         "graph-raw.svg": "12bd1a6bbfb9c5154b511e088cccf6c23cb320e1a6c7d792cdb01164fd5491be",
         "graph-robot.svg": "89c6810d41ddae985fe94e09676a69bb8c0d8cb5750dd3584dcd992e64e349b1",
         "robot.urdf": "f496f7fba7216798b88c3f4f3dbd427f3b4cea98b83b2d6242e4f36d6e5f8793"
@@ -7358,7 +7440,7 @@
         "mjcf_ms": 2.7711032889783382,
         "compile_ms": 32.25076990202069,
         "graph_ms": 87.4967291019857,
-        "render_total_ms": 1585.792858619243
+        "render_total_ms": 1536.6763696074486
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7406,16 +7488,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.29214357957244,
-        "render_ms": 1410.4141909629107,
-        "compose_ms": 55.27771729975939,
-        "write_ms": 72.37765286117792,
-        "foreground_fraction": 0.32725
+        "compile_ms": 19.302891101688147,
+        "render_ms": 1381.5054101869464,
+        "compose_ms": 49.11043681204319,
+        "write_ms": 74.61214298382401,
+        "foreground_fraction": 0.32725,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "1d1268d30177658f797b5b7853bb2766c8d61e59bdb06d3d5732e6bb35d8da38",
         "meshes.tar": "151573a4777805ae0627b5e934422a88b812f49a371709a12dfee9cb61a8bb73",
-        "render.png": "69b819e7a0b400a65b3e5d65cb7971cf27610f4606311827581a2e1638f4e9d3",
+        "render.png": "2f4fa25d3b311278eb05c61903f3eecacc5a134b3166de1f7a893f6bd22c071a",
         "graph-raw.svg": "1a070eb0a57723afa6fbe50f95685394a9d6d0b1414917d73a68a244d777f232",
         "graph-robot.svg": "f50985730a4f4d492f5eacde00e8272c182832617a8bf264cb603efa813ad869"
       },
@@ -7458,7 +7542,7 @@
         "mjcf_ms": 2.7667288668453693,
         "compile_ms": 48.10525896027684,
         "graph_ms": 192.50111188739538,
-        "render_total_ms": 1671.0053910501301
+        "render_total_ms": 1652.9149021953344
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7506,16 +7590,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 46.74199782311916,
-        "render_ms": 1458.078701980412,
-        "compose_ms": 72.05741526558995,
-        "write_ms": 75.45900903642178,
-        "foreground_fraction": 0.36465
+        "compile_ms": 26.530561037361622,
+        "render_ms": 1473.4078138135374,
+        "compose_ms": 62.016275245696306,
+        "write_ms": 75.74980892241001,
+        "foreground_fraction": 0.36465,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "775b1d9a723e1350683464440eb988a0cdf067e33fb08c7e14c7da297438226d",
         "meshes.tar": "8750536a647b40ab111804ac7dd768e21947ff2bce27d0354d8cc92705e445b8",
-        "render.png": "7e1f57f1c535d6b8cfee6619cb70808a62bf6e1a721e18243d9fd2eff6350ce3",
+        "render.png": "a798860642def1f60f7b41c38858d8dd200e24f2ce6eec5425a545fc41667b97",
         "graph-raw.svg": "22b9323e8bb28841a942e216e5ae720089dd4f55d3d65d8e1d5b29b885158773",
         "graph-robot.svg": "a5f20d875bb43225ad9657ba4002b560b76b26fa5c265a4fe53225ba26e5f1f2"
       },
@@ -7548,7 +7634,7 @@
         "mjcf_ms": 2.8719441033899784,
         "compile_ms": 52.611063700169325,
         "graph_ms": 110.28042901307344,
-        "render_total_ms": 2028.8406051695347
+        "render_total_ms": 1626.6887998208404
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7609,16 +7695,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 44.742565136402845,
-        "render_ms": 1802.0496000535786,
-        "compose_ms": 78.92014691606164,
-        "write_ms": 81.564508844167,
-        "foreground_fraction": 0.64185
+        "compile_ms": 35.86789406836033,
+        "render_ms": 1428.3891869708896,
+        "compose_ms": 61.37944990769029,
+        "write_ms": 88.64714717492461,
+        "foreground_fraction": 0.64185,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d5d8799fd8cc62ab987782728926faa1f63a8d6091924729ab99429c6e1286b3",
         "meshes.tar": "443c54c76dadfcb4a88653fe3be64adf19875871449b53e511711198691c9556",
-        "render.png": "2e692ee4ae989741aa3145ff759c43dcc95e4bd3818d3eae7636c9663ee4d213",
+        "render.png": "213ab6a0adb445e6bb0775e7b212200b91356415b8b82c3903855809c51c9f62",
         "graph-raw.svg": "c5887770160908224336020a6de9404877e4863439f5cce8937025e066c22921",
         "graph-robot.svg": "1817ebe2e567f9f344b650d3bf5252a1af84d3e08154f0b0a1bdd1a8212cb8b6",
         "robot.urdf": "4aa3b13302e865770cafc8867af1cdd16fcf42205e3373d6bbe09e74b4ab0bf0"
@@ -7681,7 +7769,7 @@
         "mjcf_ms": 6.119156256318092,
         "compile_ms": 502.1158470772207,
         "graph_ms": 1671.6851750388741,
-        "render_total_ms": 2372.926235664636
+        "render_total_ms": 2175.5551169626415
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8678,16 +8766,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 559.0644460171461,
-        "render_ms": 1653.8153318688273,
-        "compose_ms": 68.22651624679565,
-        "write_ms": 73.5848587937653,
-        "foreground_fraction": 0.5797
+        "compile_ms": 469.33321887627244,
+        "render_ms": 1556.77147815004,
+        "compose_ms": 62.84749787300825,
+        "write_ms": 71.75620691850781,
+        "foreground_fraction": 0.5797,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "2f9a56ae8e79264b47a70aa6345aa2969845575cdddb959908fbfaed1f7c4c64",
         "meshes.tar": "10d682b5d7c0fb75bb432d65f41cd5a9c449a3a1e79dcbc1f81b49eb3991fc5e",
-        "render.png": "088558d0d19588fe0853df005bc3d7b043f8e7217309d8d04ec4ae9b640e0d6e",
+        "render.png": "dd7f93c2df8dc88e6fe56cbd57d171b4568d7d6e00c1976d060330740eb9937b",
         "graph-raw.svg": "a22dc76a07d1fd882c57f6b1624689c46dce34ea9dca8c51d39e8810dbb34479",
         "graph-robot.svg": "229a71a13df0e2d37ae23d0521f7789def2a2dcf569c0d6b4af87addf18f6bdc"
       },
@@ -8758,7 +8848,7 @@
         "mjcf_ms": 8.30337917432189,
         "compile_ms": 625.822801142931,
         "graph_ms": 2906.0985506512225,
-        "render_total_ms": 2503.940595779568
+        "render_total_ms": 2320.924212690443
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10505,16 +10595,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 610.9394719824195,
-        "render_ms": 1751.1910083703697,
-        "compose_ms": 55.78036606311798,
-        "write_ms": 73.71649006381631,
-        "foreground_fraction": 0.50435
+        "compile_ms": 519.4054916501045,
+        "render_ms": 1650.6805098615587,
+        "compose_ms": 53.37977688759565,
+        "write_ms": 82.4930309318006,
+        "foreground_fraction": 0.50435,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "dbd789d6d11cfe7890a9846516caf47d24685b11e3f7632858e6571e8e887b09",
         "meshes.tar": "5b46c3205a36f7c3794ead5f47f829ece35fdc15eed6aef0f52d269f4d8850ea",
-        "render.png": "fd5f4ed03e7183e3122131f131f7125b685946592c580a7142197eacce96bf46",
+        "render.png": "22978f60ba18af8d831f97d0c8ca6d601a17a48c9f2468d004317e5fb78e5650",
         "graph-raw.svg": "aaa70b60cf12647355ebb15d3617c5df1eaad1d8bf58cc37de567c7e99d0007c",
         "graph-robot.svg": "f1fbba38a4051be1f88d6bd62b35d4f351388ffa3e0342287ae0028488f7307c"
       },
@@ -10546,7 +10638,7 @@
         "mjcf_ms": 2.49862065538764,
         "compile_ms": 562.3366930522025,
         "graph_ms": 86.58121805638075,
-        "render_total_ms": 2233.346813824028
+        "render_total_ms": 2254.749597981572
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10607,16 +10699,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 469.5469010621309,
-        "render_ms": 1567.5982548855245,
-        "compose_ms": 71.13305805251002,
-        "write_ms": 111.77567578852177,
-        "foreground_fraction": 0.75515
+        "compile_ms": 482.55017679184675,
+        "render_ms": 1558.9463720098138,
+        "compose_ms": 61.34070362895727,
+        "write_ms": 139.93201730772853,
+        "foreground_fraction": 0.75515,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "719e172a5eb2f841abe0a2a8451b3737d935a05731024d23262c7a82bc6e72d3",
         "meshes.tar": "259ae311ab722dd730d1c9f5c633749e06096a2bbe95ac21dc0a7d325ce0a9aa",
-        "render.png": "2b5833993cc27148a795b05227685793af469f87e74a8b62bdc2f5be2bbafdfc",
+        "render.png": "74cbbd98189ff8b7b590dec1092e7a28b39f0d300f93bed1c323a544e96d3d99",
         "graph-raw.svg": "8dc166ac6c60806e51c6164c136c3fa8a7c51a9161e9206da33511fa1ef28c70",
         "graph-robot.svg": "7313c4c9d05fe8f66e8e5046340aa7bc1d54e3462a91edd76d58b2efa7ffccac",
         "robot.urdf": "5b4574a76ba24c130037ee90f1bd72e8c1ed737deef85d5686ec4bfc6a9703f5"
@@ -10648,7 +10742,7 @@
         "mjcf_ms": 2.869822084903717,
         "compile_ms": 7.413545157760382,
         "graph_ms": 70.14095596969128,
-        "render_total_ms": 1492.8670460358262
+        "render_total_ms": 1605.6244182400405
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10709,16 +10803,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.004986189305782,
-        "render_ms": 1308.8936093263328,
-        "compose_ms": 95.084966160357,
-        "write_ms": 65.56147709488869,
-        "foreground_fraction": 0.7090416666666667
+        "compile_ms": 16.39683311805129,
+        "render_ms": 1378.8904827088118,
+        "compose_ms": 69.25226608291268,
+        "write_ms": 129.0195737965405,
+        "foreground_fraction": 0.7090416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "2c485a581c805ffe0345676bdcb850c73cb5c78a8833432179f12fe4d8e5c13f",
         "meshes.tar": "63c6657f60c0c2d48962146fa51df5f3b1ac5cb97be94d8d135a38d316da273d",
-        "render.png": "18e7e70ff4f527f5c0617156b51400d784e8b2fd3642a3fbdfe396099239aad7",
+        "render.png": "58be6cdd44fa21beab1374715ff69967dadf292fb10590baf557277e05f60466",
         "graph-raw.svg": "dc20c0552226f397b710c7cf58b549752dca25bd7fe0c55cfee538cbb5c0894b",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "c721421a533b13b31c1b16476c893e208aae047a04835154abc5bf91d0085ee7"
@@ -10757,7 +10853,7 @@
         "mjcf_ms": 2.0174640230834484,
         "compile_ms": 7.936584297567606,
         "graph_ms": 80.72019554674625,
-        "render_total_ms": 1629.8849149607122
+        "render_total_ms": 1852.1247492171824
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10818,16 +10914,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.009340148419142,
-        "render_ms": 1465.9174783155322,
-        "compose_ms": 59.473355300724506,
-        "write_ms": 84.29414080455899,
-        "foreground_fraction": 0.5313
+        "compile_ms": 8.319267071783543,
+        "render_ms": 1330.9843097813427,
+        "compose_ms": 58.3406537771225,
+        "write_ms": 442.7219796925783,
+        "foreground_fraction": 0.5313,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "5c2964aee70446febb1a715527fdc476c4e8a5947b52bf4d2f4e5ab5b61fc56e",
         "meshes.tar": "69069e7d0ba41a79dd3d0700dc0eb6af5bb1a5475f1bb74f4026ce216a5c7997",
-        "render.png": "4e831d8872aa2959f6f78a8d61af6137609a244253449031bc898efcbd243bfe",
+        "render.png": "812dfcac0faba61b86f58b8c37d5625465491900c5eaf606b557f6fe14c5ba30",
         "graph-raw.svg": "031fc51213482d6b44e18f275439169664a379b8238ad5fd51a08cfc5650913d",
         "graph-robot.svg": "4f99d4a9b42833225fe2b1fc87cda7443418d2b21428e584456478c339b715b0"
       },
@@ -10865,7 +10963,7 @@
         "mjcf_ms": 3.885663114488125,
         "compile_ms": 7.269115187227726,
         "graph_ms": 259.420161601156,
-        "render_total_ms": 1492.646378930658
+        "render_total_ms": 1518.6381503008306
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10913,16 +11011,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.944330874830484,
-        "render_ms": 1345.4502476379275,
-        "compose_ms": 58.14398219808936,
-        "write_ms": 66.53321906924248,
-        "foreground_fraction": 0.3212
+        "compile_ms": 6.175022106617689,
+        "render_ms": 1379.742560442537,
+        "compose_ms": 52.3479119874537,
+        "write_ms": 68.58055666089058,
+        "foreground_fraction": 0.3212,
+        "style": "link-palette-v1",
+        "colored_bodies": 18
       },
       "artifacts": {
         "robot.mjcf": "81aca4f66456fc12f0619e87eb7d5f05b8a50a69b396037e8484079d2180162d",
         "meshes.tar": "6354d05689ef6da7dc0407f01fc90e5ca85226c50e7e883f4fb45275ede23413",
-        "render.png": "816ddc585a0f6ce8b46a248ed30e7871f586c7819ce8b9725b8b39398486e6e4",
+        "render.png": "fde74dccea60173d7838d9ff2ab33389cf1c180ae602f05c20e48066c24e375c",
         "graph-raw.svg": "e0771e90412b422aeb56e969f32de947286a9bddd9f1ef62c1ea9330f88c46c1",
         "graph-robot.svg": "a3ef62dfd16a9e9b30bda3dd87b4bc3076c44da6a10abd36a62431ad07525097"
       },
@@ -10969,7 +11069,7 @@
         "mjcf_ms": 4.9103121273219585,
         "compile_ms": 235.0493692792952,
         "graph_ms": 297.58983477950096,
-        "render_total_ms": 1831.1835937201977
+        "render_total_ms": 1880.5744503624737
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11054,16 +11154,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 208.65267608314753,
-        "render_ms": 1460.6046741828322,
-        "compose_ms": 106.60768998786807,
-        "write_ms": 41.39422299340367,
-        "foreground_fraction": 0.5581333333333334
+        "compile_ms": 212.8310790285468,
+        "render_ms": 1509.5775160007179,
+        "compose_ms": 103.7187441252172,
+        "write_ms": 42.37722232937813,
+        "foreground_fraction": 0.5581333333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "08c2e59401ffa6168947f01761e1098d4ff96dc5c140f50ca113c694b600ff42",
         "meshes.tar": "69dcf303f2d0b2c6a02b30997b73832da9236b4f43a2395f0540e917b6d6bd9f",
-        "render.png": "c2aa0443914cf9a58f38270eef5410d4ed3de5bb3e086aba7aa32e627853d9a0",
+        "render.png": "101480f2e3bce6e4f9fac4e2499594a615868bb111da1c51a6932464f95500f8",
         "graph-raw.svg": "4383a6b1134a0f11605ce0ebf3269ee2d8d2c16562705a157e9a83d6b67194b8",
         "graph-robot.svg": "6189a9dfe1a3781147aa8071a3a36abc13a87feee3901902f90cecb316cd0cbb"
       },
@@ -11109,7 +11211,7 @@
         "mjcf_ms": 4.236976150423288,
         "compile_ms": 143.35082611069083,
         "graph_ms": 299.5701148174703,
-        "render_total_ms": 1809.4050171785057
+        "render_total_ms": 1740.4377139173448
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11308,16 +11410,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 157.04546310007572,
-        "render_ms": 1491.0245328210294,
-        "compose_ms": 65.55294618010521,
-        "write_ms": 80.70620940998197,
-        "foreground_fraction": 0.7189
+        "compile_ms": 159.87399499863386,
+        "render_ms": 1433.4204848855734,
+        "compose_ms": 58.23622131720185,
+        "write_ms": 76.97704760357738,
+        "foreground_fraction": 0.7189,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "9ecc686f526954f8d0a77a9646f8eff5f92aa641afc88167f5e0b7c415edf817",
         "meshes.tar": "c8ac01e1885e00acc01d4bd2d9cbc716b94bbd30033a9aca9ab57a08d5dcaa25",
-        "render.png": "cc3e31f4a0305a5de5182bddf895d328efb8df9b4debe19be5942c1da8f956a9",
+        "render.png": "77a974a09b535fd7fa2d0303a8b7a557e8a860c89fb23a737a66e794caad1209",
         "graph-raw.svg": "61caa6161258e3388d245e6463c5107125ca57e5657fcb2552a9662780df8fd1",
         "graph-robot.svg": "a5032e60174b7823e278fd53d2076eb23622484ccbdce730e2e483d9a9f8ab22"
       },
@@ -11351,7 +11455,7 @@
         "mjcf_ms": 2.8734994120895863,
         "compile_ms": 24.66155681759119,
         "graph_ms": 114.81969524174929,
-        "render_total_ms": 1608.5139699280262
+        "render_total_ms": 1491.5012428537011
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11412,16 +11516,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.088965892791748,
-        "render_ms": 1450.5036692135036,
-        "compose_ms": 51.181744784116745,
-        "write_ms": 67.09298817440867,
-        "foreground_fraction": 0.22495
+        "compile_ms": 16.779197845607996,
+        "render_ms": 1349.2539557628334,
+        "compose_ms": 44.86101400107145,
+        "write_ms": 68.8486723229289,
+        "foreground_fraction": 0.22495,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "e3cdd83bb30a2839ba7530db5fbda3837c82ffc07ac736f59a49e5aeff671554",
         "meshes.tar": "1c72b6552b3286fca1fef5394a9d6e914d0b5618efcd769fe10f6ca88f0e5a1a",
-        "render.png": "c457391ed9a07dfbddaf5d4d912b6f8f0e6785d09f93b01cb570396c98114252",
+        "render.png": "10166cfcd784a13185836d9fd4d445ef5e656bfab889d9417e0a62b1902698af",
         "graph-raw.svg": "0194c3051f1b1719a206f65b84768ee472823238cc07852112018faf12706119",
         "graph-robot.svg": "cf96e421a5c9c1fade8a0d7f2cd4b55d501eec72df179935e05fe428d79261b1",
         "robot.urdf": "50e1df399384d39e46654275472c3c124c9451af1f591df9a2be425a7f007bc9"
@@ -11456,7 +11562,7 @@
         "mjcf_ms": 2.8147082775831223,
         "compile_ms": 12.27503689005971,
         "graph_ms": 144.68351611867547,
-        "render_total_ms": 1519.3720003589988
+        "render_total_ms": 1545.6669521518052
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11517,16 +11623,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.592537328600883,
-        "render_ms": 1351.4756131917238,
-        "compose_ms": 62.87265894934535,
-        "write_ms": 70.71741111576557,
-        "foreground_fraction": 0.3322
+        "compile_ms": 12.86789821460843,
+        "render_ms": 1396.724121645093,
+        "compose_ms": 54.74473489448428,
+        "write_ms": 69.53406380489469,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "279fde84fe9804e4433ad38f64892b42284b8e53ba7bed2d79f561db7e2dbde0",
         "meshes.tar": "373d23c5eef697afbb1834da0cf82d5295552e6ea55af5a4d834044b7d7bcd96",
-        "render.png": "73d786f5ccd2419cd2d5f42aa392925fdeaf76d37f5ef3570811fcfab67f3880",
+        "render.png": "83558da1c5815dae5890620b663c9719dc2733971f3727a6d615b2684549f51b",
         "graph-raw.svg": "f79019469f0f6d1765cadd2e6ca772a6c58dee8c95cd3c7810b4650e7b8a9335",
         "graph-robot.svg": "7aa457e9cdf9359d4a22acf81c3f08398af4e80f04023f0df2669c4766fd9f6b",
         "robot.urdf": "0199c8134ed28dbdf2be43d33d3e6750df4164049bf22203b5b55db1dd820f4c"
@@ -11559,7 +11667,7 @@
         "mjcf_ms": 2.7933670207858086,
         "compile_ms": 7.055236026644707,
         "graph_ms": 87.49058097600937,
-        "render_total_ms": 1591.8895741924644
+        "render_total_ms": 1526.1942986398935
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11620,16 +11728,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.805709097534418,
-        "render_ms": 1432.237972971052,
-        "compose_ms": 65.90534234419465,
-        "write_ms": 75.06701489910483,
-        "foreground_fraction": 0.7954916666666667
+        "compile_ms": 6.882505025714636,
+        "render_ms": 1368.907144293189,
+        "compose_ms": 61.43967993557453,
+        "write_ms": 77.14574690908194,
+        "foreground_fraction": 0.7954916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "951f5c1537a870355df4e67853fd100420684e2c2755189682c75d70374b5bef",
         "meshes.tar": "1454a72fa018b8ceaeaa5c7cd5d09c9b032de440483e87b65a5b9b54d65a7a8c",
-        "render.png": "e709ebdf9f481eb9a67b6bacffdc3b77253e651d912b9f8fc1df5542d914cf55",
+        "render.png": "a8dfa72b232fa8082a578cab2a3cc3358348e18e7369a0caac9599827222d39e",
         "graph-raw.svg": "23d6bc0b90bfabded094c523d772ef5bfe3da13d5af0c08b04415cc071088300",
         "graph-robot.svg": "7313c4c9d05fe8f66e8e5046340aa7bc1d54e3462a91edd76d58b2efa7ffccac",
         "robot.urdf": "9da4ed66d723afa74e5c38a2d329dc23138bddb9fb6fb3eb233c07b646ec6b0d"
@@ -11677,7 +11787,7 @@
         "mjcf_ms": 3.168894909322262,
         "compile_ms": 21.932629868388176,
         "graph_ms": 175.3492378629744,
-        "render_total_ms": 1595.2886859886348
+        "render_total_ms": 1564.2705471254885
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11725,16 +11835,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.187469147145748,
-        "render_ms": 1413.2769601419568,
-        "compose_ms": 73.12649115920067,
-        "write_ms": 76.01813925430179,
-        "foreground_fraction": 0.64955
+        "compile_ms": 14.843721874058247,
+        "render_ms": 1400.3636636771262,
+        "compose_ms": 58.36817296221852,
+        "write_ms": 78.9625239558518,
+        "foreground_fraction": 0.64955,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "45d7b8a5b120f83121025db1a5004c89d41f415856e069b849e551020ee17bc5",
         "meshes.tar": "c65f3cdc7373a7f9b72e6329e4f9dd13ddeb4b8dda76145c2d7454f62f858da8",
-        "render.png": "ed516dbcf099b99169c0079c88be00701dcdbb230b34b96773429cd972f7e2a2",
+        "render.png": "391e1b58ffb8a55d1ff6928c5663b513e66282ea88f741850754de931ca5f700",
         "graph-raw.svg": "7dd6f981e85801399782418e1f5fa6e54bf70e4e9de7c398331e785788f9ab7d",
         "graph-robot.svg": "a18a7901bc4ea15a7bde7db309c18a29ffd3398e1e9932d710dbec52d38eab09"
       },
@@ -11766,7 +11878,7 @@
         "mjcf_ms": 2.920137718319893,
         "compile_ms": 6.827753968536854,
         "graph_ms": 124.02408197522163,
-        "render_total_ms": 1636.6600980982184
+        "render_total_ms": 1562.8788699395955
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11827,16 +11939,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.014034617692232,
-        "render_ms": 1454.3531681410968,
-        "compose_ms": 75.81403758376837,
-        "write_ms": 84.31412884965539,
-        "foreground_fraction": 0.7454416666666667
+        "compile_ms": 6.2881819903850555,
+        "render_ms": 1390.6313017942011,
+        "compose_ms": 60.04607304930687,
+        "write_ms": 91.49791579693556,
+        "foreground_fraction": 0.7454416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d5a1d88eb2a6995e9fdfdd8180b9044d0c7632129c0b61ef0d0cea9b6ad09654",
         "meshes.tar": "969d99ef4e5109410335b7a98ab4fd60e4ba5fe58d0b9b6e94055422290ae029",
-        "render.png": "4c7079f683945727723a34233f4648475f0892bf7dfce71b45ab9c48cc39c20a",
+        "render.png": "930a003066d98eef032378060e10cd35b820c3587588e9f9639f27b0078671e8",
         "graph-raw.svg": "049b614718b78d10947a6c4e4a265fd70afbcef9abc87e104ff4868dfc6ac8b6",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "d9addc7055e55cbd6413c7f0ac5d37a5c82317063196997e70a69b1cf78dda62"
@@ -11875,7 +11989,7 @@
         "mjcf_ms": 2.095039002597332,
         "compile_ms": 6.461853161454201,
         "graph_ms": 70.81258110702038,
-        "render_total_ms": 1798.3929119072855
+        "render_total_ms": 1594.1479611210525
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11923,16 +12037,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.322954971343279,
-        "render_ms": 1587.8240033052862,
-        "compose_ms": 86.00631589069963,
-        "write_ms": 92.31083607301116,
-        "foreground_fraction": 0.5885
+        "compile_ms": 9.479465894401073,
+        "render_ms": 1412.0388771407306,
+        "compose_ms": 63.91166569665074,
+        "write_ms": 96.85232024639845,
+        "foreground_fraction": 0.5885,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "fb345947a376961cf25364723326dbdd62f7eb969c4ecda5ebcf785e8a1c64b8",
         "meshes.tar": "7bac7ec15ec5f0835ac710a210d2031224eeda5b2e3a5029804d2ba9076e75f9",
-        "render.png": "c11c418f97efb86f712916ebef785acf38ffe302792c21b1c05895c6cfc3a902",
+        "render.png": "f10558f6099050aa816e397bba98a42e2d6ec259aee841b0e8f971a1b4a04b2e",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -11963,7 +12079,7 @@
         "mjcf_ms": 3.1982851214706898,
         "compile_ms": 17.665483988821507,
         "graph_ms": 412.1376918628812,
-        "render_total_ms": 1701.3885090127587
+        "render_total_ms": 1556.6137242130935
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12024,16 +12140,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.147657107561827,
-        "render_ms": 1533.8331861421466,
-        "compose_ms": 67.3084119334817,
-        "write_ms": 73.11897398903966,
-        "foreground_fraction": 0.49665
+        "compile_ms": 21.764376666396856,
+        "render_ms": 1389.5701630972326,
+        "compose_ms": 59.04924310743809,
+        "write_ms": 74.18896304443479,
+        "foreground_fraction": 0.49665,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "f8620abe8ccc7bbd9f23ec646b727bdfc80a40608d91697df35ec57b454e3db2",
         "meshes.tar": "19d2863daccd1950328e06eabec65fb3a823c8e1fb09cbd4b80d3c35758c4562",
-        "render.png": "2165a600b80f59e5168efaceeb29c9c8c93bb72a04f05de799bfbf58513afe02",
+        "render.png": "b6e7a40af6d83083d7b731bb21be0aecb4ff3f9fddbaef321146c7200043ba44",
         "graph-raw.svg": "893d65f43aedad8c205d44a9d235eaf030d117d8d3df9a5db790e33260f6e100",
         "graph-robot.svg": "65e9c9d26a9059dedafeb334e2deed916b819952fc7adc4fa35957773f0668a7",
         "robot.urdf": "c35128745c1070b1c0d68b31e07fef4cadc33722965e912c04ba59e57b1bab77"
@@ -12074,7 +12192,7 @@
         "mjcf_ms": 2.9500192031264305,
         "compile_ms": 132.37628899514675,
         "graph_ms": 120.89827237650752,
-        "render_total_ms": 2167.526899371296
+        "render_total_ms": 1808.7993101216853
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12122,16 +12240,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 115.64726429060102,
-        "render_ms": 1836.581223178655,
-        "compose_ms": 91.65404038503766,
-        "write_ms": 103.80457108840346,
-        "foreground_fraction": 0.61765
+        "compile_ms": 101.60439601168036,
+        "render_ms": 1498.8099657930434,
+        "compose_ms": 69.55231074243784,
+        "write_ms": 124.5406330563128,
+        "foreground_fraction": 0.61765,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "ec1a50bf59ae4664454c6f2e44457572151207dbbe6360881d838177c2664317",
         "meshes.tar": "be759c4e34dcc9c8b1e78d2bc388ed595394e72db3d28050435cc9bd7a6beaad",
-        "render.png": "76dfe5301e10f8ea8e68ca462e6cd199ab9d610d51ba54b37c8da5137e49fdf0",
+        "render.png": "3765f141e37b30edf06cf974b1297ff5e56271f53d4370c77551b7a3edb49933",
         "graph-raw.svg": "c37e64810daa19b479694f9103e5624ccf1440894cfd246693b692510301b006",
         "graph-robot.svg": "df8df2cd0b42314c0c0b5a05c2e936731c6b865b1e515f20125e1f1fe8a2e3d6"
       },
@@ -12162,7 +12282,7 @@
         "mjcf_ms": 2.580570988357067,
         "compile_ms": 41.321802884340286,
         "graph_ms": 124.48812974616885,
-        "render_total_ms": 1954.1277610696852
+        "render_total_ms": 1619.3141359835863
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12223,16 +12343,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 37.750890012830496,
-        "render_ms": 1725.0494579784572,
-        "compose_ms": 75.50819031894207,
-        "write_ms": 93.78867829218507,
-        "foreground_fraction": 0.6885666666666667
+        "compile_ms": 22.654590662568808,
+        "render_ms": 1431.4010017551482,
+        "compose_ms": 67.33604706823826,
+        "write_ms": 83.27275514602661,
+        "foreground_fraction": 0.6885666666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "10a065a532d05aee121bf8245cb9610d454d217205e22afe17f39a7b5e9ed1a3",
         "meshes.tar": "25f2673cda7aa5c4c4d9da3527420363ba3f01c3d25c40647b8b54372942329b",
-        "render.png": "4468d2e6cfcfd4f0d9de8c44e65e263147e8710cadb847d5db434820495195e1",
+        "render.png": "636099f56ba8ec9593898a8890aab6ad7a8720c6dc4745a356b6e1ba93ca3444",
         "graph-raw.svg": "e3109311be7f8d7469d87298daf91a0cfdb6205e70b33bba08a511ae84f53be4",
         "graph-robot.svg": "d100445295608f59bf8faee48d0e622c4dfaf60b1466d11e52f816ec9a2e8a85",
         "robot.urdf": "7e85238ac3c94a9bf65d50fa1cd9a0c9309e4a32b15dd9fd9bc7c79ced3c3057"
@@ -12271,7 +12393,7 @@
         "mjcf_ms": 2.4429517798125744,
         "compile_ms": 27.485258877277374,
         "graph_ms": 86.89679112285376,
-        "render_total_ms": 1923.939113970846
+        "render_total_ms": 1550.618914887309
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12319,16 +12441,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.74285788089037,
-        "render_ms": 1712.4570510350168,
-        "compose_ms": 83.42499518766999,
-        "write_ms": 81.93830400705338,
-        "foreground_fraction": 0.7060083333333333
+        "compile_ms": 26.341915130615234,
+        "render_ms": 1358.2200203090906,
+        "compose_ms": 62.72503826767206,
+        "write_ms": 91.57854411751032,
+        "foreground_fraction": 0.7060083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "c218b1cf2169a7b4f73ea73d6a62dd4fd1ec7404def090b674561e5c05e9c66b",
         "meshes.tar": "a564116078e8bee3368154ee2d5d48f82e018504b2069698071bd6da6e02177e",
-        "render.png": "2117927a6888aa288977ba7f73714c82042c65760967a60ffdf52f2dc12156e8",
+        "render.png": "aef2f2c62d78b4175615334465274283b3cb0215b8f3c2eff9827db6d495756d",
         "graph-raw.svg": "cb57531cce8b17d49d4590589d0430c16527af5df81f01a3a35f1c98532bb63a",
         "graph-robot.svg": "e4d7ad5a88b6fd7549e03390a44d8d22ce6fbc830bb545be5e1024671faaff93"
       },
@@ -12360,7 +12484,7 @@
         "mjcf_ms": 2.4899900890886784,
         "compile_ms": 11.132073123008013,
         "graph_ms": 72.54088902845979,
-        "render_total_ms": 1723.454120568931
+        "render_total_ms": 1510.3457299992442
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12421,16 +12545,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.935654863715172,
-        "render_ms": 1532.2107779793441,
-        "compose_ms": 91.33699582889676,
-        "write_ms": 70.49163803458214,
-        "foreground_fraction": 0.7355833333333334
+        "compile_ms": 8.823048323392868,
+        "render_ms": 1354.439987335354,
+        "compose_ms": 63.364480156451464,
+        "write_ms": 71.9588017091155,
+        "foreground_fraction": 0.7355833333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "f28e05a1a02e87270787208033feeefc553fabb1f50a0d659ba9bd7265b1aacf",
         "meshes.tar": "26da5d4de845c6d8cf1a4a892eccdf9c286e29026e38f906a7193f975c52261d",
-        "render.png": "9388ff02cdfda0e7c8cfbd3a3119d458b57929968d10885260885da1fe75b2bd",
+        "render.png": "e97f040818d8dbce29309640549eebbf8ab60a80a704782f451915602986b97e",
         "graph-raw.svg": "aee321fd40423ac7128b39335eafa6345dced954e890358fcffe907d0ce0a7bb",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a22b602398b87abf306c736adadcea9241909233d6fa483b44a47c60ae249f4a"
@@ -12470,7 +12596,7 @@
         "mjcf_ms": 2.1378621459007263,
         "compile_ms": 35.395205952227116,
         "graph_ms": 91.02216316387057,
-        "render_total_ms": 1714.607551228255
+        "render_total_ms": 1609.4716773368418
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12525,16 +12651,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 37.69073914736509,
-        "render_ms": 1506.3646067865193,
-        "compose_ms": 69.89634688943624,
-        "write_ms": 78.71619984507561,
-        "foreground_fraction": 0.5357
+        "compile_ms": 30.925245955586433,
+        "render_ms": 1429.276602808386,
+        "compose_ms": 55.94774475321174,
+        "write_ms": 81.46073296666145,
+        "foreground_fraction": 0.5357,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "9296c521b9284c8446d0bc999faf022837a29150dd76fad7a9d1834bf41dce50",
         "meshes.tar": "c6ed76102c83a2cd862ae32096ebe2de17920c1901754f5d5ca691756b833b48",
-        "render.png": "c40b5855db37aa41550093574e88c110d63eb431d881a93535d32e4579357e53",
+        "render.png": "1dc5fda54c099b384c8660a3a08dee8500bcd67435c78d674ec2d76a5237d1a5",
         "graph-raw.svg": "6134db8218719365c8aafb1220c2b6b97584eb3c452ec8f33cb4c4d327a6c3a9",
         "graph-robot.svg": "78b7c2fee263bef06440d051c0926ae237015ae860d4e2e244bd962e0ce5fecc"
       },
@@ -12565,7 +12693,7 @@
         "mjcf_ms": 2.6766248047351837,
         "compile_ms": 437.05440405756235,
         "graph_ms": 215.2378880418837,
-        "render_total_ms": 2384.7486306913197
+        "render_total_ms": 2175.6149157881737
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12747,16 +12875,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 447.50290317460895,
-        "render_ms": 1797.5025242194533,
-        "compose_ms": 59.32630319148302,
-        "write_ms": 60.91258628293872,
-        "foreground_fraction": 0.40095
+        "compile_ms": 512.839260045439,
+        "render_ms": 1533.0639840103686,
+        "compose_ms": 52.039045840501785,
+        "write_ms": 64.0235641039908,
+        "foreground_fraction": 0.40095,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "f57e7a36f443c826184297b8a88bb902f5011851090900622c67b0cded082a19",
         "meshes.tar": "08f1a68f099810ad50dbcf3141578ba9811622029f653b35175923b4e916bdbc",
-        "render.png": "ba464dc0781bf6ae1c931f17832763aa42fa408625bf21c4d1bf1c45945ba815",
+        "render.png": "c97f86a15f81494b39adba99ef26f2cb938c61d0ef9520b32ab487ec34cc5292",
         "graph-raw.svg": "025da604a52dae2cfd835465bd48bf72f221bd1e29aeab3fece8c7026f9f9341",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "ddc22258401cde3a0e3531fd9f72abad007350a0a835754db0dc775492a906fb"
@@ -12795,7 +12925,7 @@
         "mjcf_ms": 2.33450997620821,
         "compile_ms": 20.247942302376032,
         "graph_ms": 73.01576901227236,
-        "render_total_ms": 1705.3301143459976
+        "render_total_ms": 1551.8400520086288
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12843,16 +12973,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.695693764835596,
-        "render_ms": 1522.6751030422747,
-        "compose_ms": 68.84738989174366,
-        "write_ms": 80.12144733220339,
-        "foreground_fraction": 0.6809
+        "compile_ms": 19.408426713198423,
+        "render_ms": 1369.961194228381,
+        "compose_ms": 60.90847682207823,
+        "write_ms": 89.79043271392584,
+        "foreground_fraction": 0.6809,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "140806ff28345abbb50d2f6947634ab197720a3189368b0db7ecd1a49d60c272",
         "meshes.tar": "c8ec2262d4d52f9f0a4b878c587e5d6eaf59b4b8b62751066e6baad3c567db7c",
-        "render.png": "fdd3eb5671255188a8b3c41f1c7ca10a9af88341e9d9cd286bb441710f580be1",
+        "render.png": "19d2bf2fd2a6bd7ca9ee602046eb9f5d9f3498dc57d007e77faeaebc7fdfc4a4",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -12895,7 +13027,7 @@
         "mjcf_ms": 2.8282050043344498,
         "compile_ms": 250.78051211312413,
         "graph_ms": 113.02597494795918,
-        "render_total_ms": 2235.312486998737
+        "render_total_ms": 2633.981919847429
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12943,16 +13075,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 269.9201889336109,
-        "render_ms": 1788.8885838910937,
-        "compose_ms": 62.14508321136236,
-        "write_ms": 94.23341322690248,
-        "foreground_fraction": 0.4444
+        "compile_ms": 380.9331781230867,
+        "render_ms": 1491.8893310241401,
+        "compose_ms": 53.91663918271661,
+        "write_ms": 695.3026126138866,
+        "foreground_fraction": 0.4444,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "967b0adad2d5998710c5eab4ae6818218a01d150be0b79a8983b6ca1e36d18a0",
         "meshes.tar": "6f10e1ac52b22bdc13984e53431f815aca126e614174867522d1bb69dcd410df",
-        "render.png": "1d213ae54ee42a6c774a280c7ebeca354557f7e54f6da19daa1f2368f1778aaa",
+        "render.png": "a068b290e610c492d38fdd9cbad615917344c39d65a9cb936ca3db410d10d188",
         "graph-raw.svg": "40771252f46514ac03e213d4eccb7ac2e0db26c8937e7e01d778228d6b4efc6a",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -12983,7 +13117,7 @@
         "mjcf_ms": 2.629432827234268,
         "compile_ms": 34.17678503319621,
         "graph_ms": 73.93563678488135,
-        "render_total_ms": 1894.5662751793861
+        "render_total_ms": 1728.9926828816533
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13044,16 +13178,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 32.78571180999279,
-        "render_ms": 1656.320028938353,
-        "compose_ms": 82.02779199928045,
-        "write_ms": 103.15493494272232,
-        "foreground_fraction": 0.789425
+        "compile_ms": 32.54886483773589,
+        "render_ms": 1380.3857490420341,
+        "compose_ms": 62.67738714814186,
+        "write_ms": 241.43889779224992,
+        "foreground_fraction": 0.789425,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "5aaaab7ec320e809d7d627b99b87ed250e1ee0100f11f64605ca8ae50e080e1e",
         "meshes.tar": "a716d71e3a8e7530e2d64ee1c4e5b4aed1a469a0f40a01acb339d533b5e051c8",
-        "render.png": "65ec8eb604d55a93b028b555e7608fd376f90cd6412e09de0579df7b2db4eafd",
+        "render.png": "dcdbd616cffa1b19daa2749370fbde8471c707cdede6d4c0c436834aae2d430f",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "51bdf69653710d6b1f13d10c5e48a04f385105492f9e1411a9cffc8f37ce41a5"
@@ -13086,7 +13222,7 @@
         "mjcf_ms": 4.723347723484039,
         "compile_ms": 9.983523283153772,
         "graph_ms": 253.9990241639316,
-        "render_total_ms": 2045.8267512731254
+        "render_total_ms": 1801.4372172765434
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13147,16 +13283,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.349148254841566,
-        "render_ms": 1839.4000930711627,
-        "compose_ms": 102.52368124201894,
-        "write_ms": 70.6845666281879,
-        "foreground_fraction": 0.76895
+        "compile_ms": 311.1820728518069,
+        "render_ms": 1346.7178768478334,
+        "compose_ms": 62.26991396397352,
+        "write_ms": 69.39912401139736,
+        "foreground_fraction": 0.76895,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ca3e8d2a614b3a60b86e5ac8c613e3f9483f30deb0429093d57b369832ccf10d",
         "meshes.tar": "8b644bad508ea90e34dbdce4fc118bfb41c38e88371aeb54657e535ca5e65c15",
-        "render.png": "ef596ba59a05d9c10742d3dc52a056ad26cd570eba69d0ee52b66134038138c4",
+        "render.png": "25c643708bdb68fafb0e56ad6cece3c355dce37157cdfcd8eee28367b1543729",
         "graph-raw.svg": "4270978ed0dedf1676ba3571b1492397a72ad5cecb49a46b5ce6ae4dad83d886",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "92da5494b677847a48d703a0c9a1650014da3aa80f68a8609d30c87e8be836fd"
@@ -13197,7 +13335,7 @@
         "mjcf_ms": 4.761791322380304,
         "compile_ms": 450.97486628219485,
         "graph_ms": 294.7882954031229,
-        "render_total_ms": 2348.9196239970624
+        "render_total_ms": 2326.076000928879
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13258,16 +13396,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 453.0664519406855,
-        "render_ms": 1682.5153580866754,
-        "compose_ms": 99.29287293925881,
-        "write_ms": 90.94658400863409,
-        "foreground_fraction": 0.7128
+        "compile_ms": 547.8923036716878,
+        "render_ms": 1585.7651489786804,
+        "compose_ms": 84.34022590517998,
+        "write_ms": 92.83360885456204,
+        "foreground_fraction": 0.7128,
+        "style": "link-palette-v1",
+        "colored_bodies": 18
       },
       "artifacts": {
         "robot.mjcf": "ce12988cc0bcac00f61d6434d370903506d8bbecc807f26dae34c19f52dd808d",
         "meshes.tar": "3f9b667a282ba8fb2c8f5fd27488394a4565061536f0bd94a372f426c282d472",
-        "render.png": "cfbad39f4a86e13247b58dfa56e1e8699a4a43311a7fafd1b47c5c076249cf52",
+        "render.png": "ab4f2ada542643b707ca17a5a32d57a080d59ee95d48feeadad8e55782524f59",
         "graph-raw.svg": "ef0343719bf022390fa891dfb852389ceff8f7575f2d8d7deb20c71e0a78c67f",
         "graph-robot.svg": "3d7db1a1af006f2f9f005c4e66562f4d89aa7079ef60bcf113809ee7465f9716"
       },
@@ -13298,7 +13438,7 @@
         "mjcf_ms": 2.3238537833094597,
         "compile_ms": 11.550341732800007,
         "graph_ms": 78.99444317445159,
-        "render_total_ms": 1775.4138363525271
+        "render_total_ms": 1508.9720808900893
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13359,16 +13499,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.10341315343976,
-        "render_ms": 1631.7824772559106,
-        "compose_ms": 63.21025500074029,
-        "write_ms": 60.43229531496763,
-        "foreground_fraction": 0.5434
+        "compile_ms": 4.262913949787617,
+        "render_ms": 1371.859807986766,
+        "compose_ms": 61.2148130312562,
+        "write_ms": 59.83958300203085,
+        "foreground_fraction": 0.5434,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "8280629853e2696fcf70d0703a05260ce0a1430d8fecbd844c8a15396a564fb9",
         "meshes.tar": "5079f9ca958401ca1c56693520f52d1c3983e5e340bd194ae6e0e8af1f0872ad",
-        "render.png": "bfb09acd8d91e8b20dfbfea9df30a8dca6ec0761aa80f2c4ead5f2736dc80c81",
+        "render.png": "2711072f7affeddba952db1be9b9f550049d869d137fa6311a68816f10c7235a",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "56be023cd4276dfa4d7369a61c9104981561afde19e724925506b4a5a7fe9156"
@@ -13400,7 +13542,7 @@
         "mjcf_ms": 2.2901208139955997,
         "compile_ms": 2.3648878559470177,
         "graph_ms": 69.26642917096615,
-        "render_total_ms": 1806.701044086367
+        "render_total_ms": 1532.1536283008754
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13461,16 +13603,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.7817033007740974,
-        "render_ms": 1659.5678431913257,
-        "compose_ms": 65.88527094572783,
-        "write_ms": 61.0836292617023,
-        "foreground_fraction": 0.5434
+        "compile_ms": 2.6444299146533012,
+        "render_ms": 1401.0207820683718,
+        "compose_ms": 55.56620191782713,
+        "write_ms": 61.24060694128275,
+        "foreground_fraction": 0.5434,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b6bc784755d4e20cc0d21a7f96feec0d0424c0421b33a241beb697c87d43476b",
         "meshes.tar": "f83be4788eee667cf5b8925cf7e473bc9d9c47e415fe4fe7de928d987da18454",
-        "render.png": "06eb7b2a630f572dc42c6550196cf3c29b1d6ed69833a4613a8a14dc09fd296e",
+        "render.png": "7cb05a82ea31ac8684c3e4bb19a3d07f53ce8a1267e6891a9a61d9a713945ed1",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "caf3e0e496e759b08a267f4d7044f7d8fa785be7aaa1577ac4a6c0d5962424bc"
@@ -13510,7 +13654,7 @@
         "mjcf_ms": 2.612106967717409,
         "compile_ms": 2.2062198258936405,
         "graph_ms": 207.38530810922384,
-        "render_total_ms": 1568.9826142042875
+        "render_total_ms": 1520.6370227970183
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13571,16 +13715,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.916329074651003,
-        "render_ms": 1411.1103690229356,
-        "compose_ms": 72.3258089274168,
-        "write_ms": 63.86443413794041,
-        "foreground_fraction": 0.5632
+        "compile_ms": 2.7391789481043816,
+        "render_ms": 1385.3090768679976,
+        "compose_ms": 57.81670520082116,
+        "write_ms": 62.886220403015614,
+        "foreground_fraction": 0.5632,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "40ad31bc8d938c01d5d3dc83810935c41ac09796798875e87e900dc770a35e38",
         "meshes.tar": "7e51b2e61da9477a36ef678739d21e2584faf92eb23972c51d23aa475c5ab9db",
-        "render.png": "ac42b614e5cc009340623b60fc5b0a8d73a973d446e3e9d8884765c67c6faeb9",
+        "render.png": "5fa86fb364eca9a461dea12a5bc3922d4a5b16ebd8890a203dff0dcabc1b1438",
         "graph-raw.svg": "639748cc5c8b476d7b8acffd55a6d8127cfcdbc5f6b5981393d726b489d522b2",
         "graph-robot.svg": "cc050e489f95a9b385965cbb0f447211bb45fb9195eac26678f9f9325da8676c"
       },
@@ -13618,7 +13764,7 @@
         "mjcf_ms": 2.3224023170769215,
         "compile_ms": 3.4474837593734264,
         "graph_ms": 76.14859705790877,
-        "render_total_ms": 1736.171420197934
+        "render_total_ms": 1511.9724362157285
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13666,16 +13812,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.8849031552672386,
-        "render_ms": 1581.5910412929952,
-        "compose_ms": 74.78658063337207,
-        "write_ms": 57.65265366062522,
-        "foreground_fraction": 0.5478
+        "compile_ms": 3.8506127893924713,
+        "render_ms": 1374.6040291152894,
+        "compose_ms": 58.50472021847963,
+        "write_ms": 63.17839724943042,
+        "foreground_fraction": 0.5478,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "4986b5137ca1f40df05d54fcc5bd99665c37f76974f10e6b947e1ac6faa957f5",
         "meshes.tar": "62eb042400e7c7b5a1f1ca08a26a13daacd9d1648ceb8f98c66c6e14fd953f42",
-        "render.png": "07765418cd2df0518f6c460959b99b068bcaa93df30956ed1f4d0a14dbb551b6",
+        "render.png": "e47b61b461500bdae726c70697fa64909a6d0d4a0313e649ce5128af9b86ee0e",
         "graph-raw.svg": "22927235d47a53ce4c447e39267be0ab716bb35f1b7a64193ffc587df438892e",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -13706,7 +13854,7 @@
         "mjcf_ms": 2.661488950252533,
         "compile_ms": 14.969310723245144,
         "graph_ms": 77.00004708021879,
-        "render_total_ms": 1676.2559590861201
+        "render_total_ms": 1556.1639564111829
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13767,16 +13915,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.867112807929516,
-        "render_ms": 1496.5162500739098,
-        "compose_ms": 64.57274407148361,
-        "write_ms": 83.92701810225844,
-        "foreground_fraction": 0.5841
+        "compile_ms": 20.815078169107437,
+        "render_ms": 1380.396205931902,
+        "compose_ms": 57.58811300620437,
+        "write_ms": 85.4006758891046,
+        "foreground_fraction": 0.5841,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "e5a40b1ba23d0896ee6120f8cf946a6de423422b5f8e5e98b4868202b278b024",
         "meshes.tar": "f483fdeb75a5016f9d5a1e0d17be7959ca2afd3d326d252ed3e55a7e4f032c4a",
-        "render.png": "8903ad3fa9a1bec0819e81cd609c87f03ba58247518d292da0d544d533594cdf",
+        "render.png": "eb6dbacd03bf39cb0c0cf9b97fca47c41482b3f3899c89c65600a5cd39988f8c",
         "graph-raw.svg": "dc20c0552226f397b710c7cf58b549752dca25bd7fe0c55cfee538cbb5c0894b",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "5c3e2f8f73f82d011ac1488f9b1f8946eb5fefb04b7e496f474f1ac9aae4ab0f"
@@ -13815,7 +13965,7 @@
         "mjcf_ms": 2.2895028814673424,
         "compile_ms": 131.9241849705577,
         "graph_ms": 113.63834515213966,
-        "render_total_ms": 1923.1370920315385
+        "render_total_ms": 1813.567508943379
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13863,16 +14013,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 140.2655290439725,
-        "render_ms": 1613.574508111924,
-        "compose_ms": 61.60154705867171,
-        "write_ms": 93.27610908076167,
-        "foreground_fraction": 0.5839166666666666
+        "compile_ms": 151.36688761413097,
+        "render_ms": 1462.4624592252076,
+        "compose_ms": 56.94763083010912,
+        "write_ms": 131.11745426431298,
+        "foreground_fraction": 0.5839166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "d531425e03eabd26ccb45d7c2857556b34c36ed112f816c073dd13a524025769",
         "meshes.tar": "a1d5dd3def51ec4d611777c6fdaa40bc79fa68a7303338c10f07c5ebcfa47b3b",
-        "render.png": "5321137ee117b209014492694cd0d0909cf0c030915568f91bf47429e17bfe80",
+        "render.png": "c73e40c4bdbaab7a0e0a5f0c13b377ea2a47e8ddb4c8fd250883782f61e3f925",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -13906,7 +14058,7 @@
         "mjcf_ms": 3.178226761519909,
         "compile_ms": 32.01368497684598,
         "graph_ms": 129.74761985242367,
-        "render_total_ms": 1643.7139632180333
+        "render_total_ms": 1512.7025688998401
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13967,16 +14119,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 32.84121910110116,
-        "render_ms": 1478.0982751399279,
-        "compose_ms": 54.897502064704895,
-        "write_ms": 61.217288952320814,
-        "foreground_fraction": 0.3058
+        "compile_ms": 28.875503689050674,
+        "render_ms": 1362.5833597034216,
+        "compose_ms": 49.73872797563672,
+        "write_ms": 59.6076981164515,
+        "foreground_fraction": 0.3058,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "06b2415c66d8fa183b6e512ad218639c4a41c781628badbff1bc8529628e7366",
         "meshes.tar": "d765a120f201718a7dca15bd56c497d8868192b23a6f1f9bc7f6b53a7ed9c83c",
-        "render.png": "dd55b1699d8d84f2ada0d323c4db5a75c886933b81b5ef351f54637c20db8a8b",
+        "render.png": "40dfbc36bd15127a6a7ecc5c6991dd38a8606097b1d79ad6074e98a36e74aab4",
         "graph-raw.svg": "fa2cde11a7a4333426d24f803099022c0483ba43ca2da8a5108fe404f4b35cd9",
         "graph-robot.svg": "5912500ec0ec8491609e222b10cdb84b5450b5b6e92fd68e40c03a5418661c04",
         "robot.urdf": "b7ca6511e829a7a703bf7503e7e15a4f003215f0943fd799d1be617804cc467a"
@@ -14162,7 +14316,7 @@
         "mjcf_ms": 2.3030457086861134,
         "compile_ms": 90.74691263958812,
         "graph_ms": 135.90108696371317,
-        "render_total_ms": 1852.4023960344493
+        "render_total_ms": 1666.4090072736144
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14253,16 +14407,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 87.50270074233413,
-        "render_ms": 1572.518177330494,
-        "compose_ms": 66.81806780397892,
-        "write_ms": 106.85908561572433,
-        "foreground_fraction": 0.451
+        "compile_ms": 86.08455769717693,
+        "render_ms": 1391.3874621503055,
+        "compose_ms": 50.64292438328266,
+        "write_ms": 126.32494792342186,
+        "foreground_fraction": 0.451,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "6b82efcdcaea9efb2b64bec9c9abf37e5b230752679be3648a0731a957b422aa",
         "meshes.tar": "2cfdde957195b8d830a0d9d5614256bacf5d9f4d54794fb68162f087b1cff02b",
-        "render.png": "90333388efc15c1110aa6d26669da20916f8425909651290e226e99240b01a5d",
+        "render.png": "f3e0db8492dfc8928da3dba046b0e8529a676334ea6d1f2d2a3b7b0b346f7ba0",
         "graph-raw.svg": "d1cbabd45716b95cf15c27105d33e9b46decf9eca25832974b98af9fe379b263",
         "graph-robot.svg": "a3d6e9094c228eddc7451206e2af41c4b92c556a1e394e20152a93aa3a110a18"
       },
@@ -14300,7 +14456,7 @@
         "mjcf_ms": 4.0267338044941425,
         "compile_ms": 414.2736280336976,
         "graph_ms": 85.19347105175257,
-        "render_total_ms": 2223.456986248493
+        "render_total_ms": 2006.4480863511562
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14373,16 +14529,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 412.58011013269424,
-        "render_ms": 1611.1149010248482,
-        "compose_ms": 77.84689217805862,
-        "write_ms": 102.86247311159968,
-        "foreground_fraction": 0.7242083333333333
+        "compile_ms": 403.6808400414884,
+        "render_ms": 1404.8337070271373,
+        "compose_ms": 60.91659888625145,
+        "write_ms": 125.04909886047244,
+        "foreground_fraction": 0.7242083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a8a76a20b7bc0621aef0129eb00db961287f27ecb165aa6b17294cb9bd9e7a47",
         "meshes.tar": "e691829b5c86e4b6fa65cf17a7374e260f30034f95e1e5266d78bf2a359dcabc",
-        "render.png": "3e131ac68ba6292836dd753f4a220405fb522311f2d12d90f66c3b350212cf93",
+        "render.png": "6d14dbb9846ac45de81dea5d7ac7c680f44b60fe291b00b5ac39458988a7b459",
         "graph-raw.svg": "586547cd0777ec379a9ab3db0bb5031740f903a7d956799dabf338ad3322749e",
         "graph-robot.svg": "1a7a0021fcc7634a7764dd8127f441c9d7d2d6cc935f436e6edbc95e76ebe4ac"
       },
@@ -14414,7 +14572,7 @@
         "mjcf_ms": 2.782907336950302,
         "compile_ms": 11.61187095567584,
         "graph_ms": 78.94492195919156,
-        "render_total_ms": 1698.2031636871397
+        "render_total_ms": 1495.6745211966336
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14475,16 +14633,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.309294167906046,
-        "render_ms": 1547.4192891269922,
-        "compose_ms": 61.35266087949276,
-        "write_ms": 62.81424826011062,
-        "foreground_fraction": 0.28875
+        "compile_ms": 9.559485595673323,
+        "render_ms": 1352.7621496468782,
+        "compose_ms": 51.98366520926356,
+        "write_ms": 69.48964390903711,
+        "foreground_fraction": 0.28875,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "10dd28cf48c32a6d6a29eb9290167de90fe94b9dd8fb51eeaa0106424cca4f81",
         "meshes.tar": "55f87e889f24e8a852bafe9243d14921f7696a7b784db0b47fd1455dad3e9d8e",
-        "render.png": "b99488e76b4d1c6b9a41e290ea0515786790039da2fd13f259a083ae06f355e8",
+        "render.png": "f5b72b909b64c55993ca8e64c40a390bca8d8f031820c18a53cc147e8cf8b93a",
         "graph-raw.svg": "922f6bc3f7cf698e3054b80c449c8c458aeca11e47a9010a3d016815adf81134",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3f27cbc9c6f73d3b5bb07a93b12464ada00c575b9513a5ee93d7dcd86203654e"
@@ -14524,7 +14684,7 @@
         "mjcf_ms": 2.9161120764911175,
         "compile_ms": 5.479468964040279,
         "graph_ms": 146.32765017449856,
-        "render_total_ms": 1681.2343611381948
+        "render_total_ms": 1528.9394687861204
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14597,16 +14757,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.331004038453102,
-        "render_ms": 1489.4264452159405,
-        "compose_ms": 94.19816080480814,
-        "write_ms": 72.0219612121582,
-        "foreground_fraction": 0.7469
+        "compile_ms": 5.9899091720581055,
+        "render_ms": 1366.046586073935,
+        "compose_ms": 72.37585913389921,
+        "write_ms": 72.78434839099646,
+        "foreground_fraction": 0.7469,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "25014f7dc86072ac2a65f46f1a6a357263edca19e29c700972b31f15b457e8dc",
         "meshes.tar": "72e58cf0d4e86c36685eea2478204a90e76d759183973b085cdaf28b3e2a27bd",
-        "render.png": "a4c8f763b3706c7cc180063894dc1b464c38225ed54c6e38708cac959c3786a5",
+        "render.png": "6c83c3b3b907b2eda5fba82650ad82851c10a230e3976142f0f85fe5440e928f",
         "graph-raw.svg": "92a7a5e7667f0e260674198d20c44bc646dafb4226a262e59544e771c814ce33",
         "graph-robot.svg": "0820e2c0b7b0be577ae13acf3320cb682f4b48687c6b4d8798a1ec936dbc1570"
       },
@@ -14644,7 +14806,7 @@
         "mjcf_ms": 1.9830791279673576,
         "compile_ms": 74.1361198015511,
         "graph_ms": 116.37526703998446,
-        "render_total_ms": 1722.092140931636
+        "render_total_ms": 1622.95903544873
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14765,16 +14927,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 70.31774707138538,
-        "render_ms": 1478.9067530073225,
-        "compose_ms": 59.62663097307086,
-        "write_ms": 95.7365040667355,
-        "foreground_fraction": 0.28545
+        "compile_ms": 69.55213192850351,
+        "render_ms": 1377.9612979851663,
+        "compose_ms": 46.34738294407725,
+        "write_ms": 117.19885002821684,
+        "foreground_fraction": 0.28545,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2d84c6dab12c86e700d19cfc44363969fc109d5450c823538a9a5a9954b952b2",
         "meshes.tar": "546a35054eb5187821428a9947ca660768c4a4f4cefb2970a68375175cf75c11",
-        "render.png": "43f6f6416db2f1049889dab597024bd888ce2dfc7b001705993e45f476e2116f",
+        "render.png": "8a6041ff819296473606e14cdf6d776841449f64af90b729b4d6abce112aab43",
         "graph-raw.svg": "aaeb4bfe216d263863d19211cb340775f2b50d4f75016fb6d6db0240bdd24db6",
         "graph-robot.svg": "0dbfde6e04881473b50af8d62363e55abd51a7d7a6eca21546082a0dca8ffcba"
       },
@@ -14821,7 +14985,7 @@
         "mjcf_ms": 4.038215149194002,
         "compile_ms": 317.347289994359,
         "graph_ms": 227.495641913265,
-        "render_total_ms": 2111.8669249117374
+        "render_total_ms": 2086.6853101179004
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14869,16 +15033,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 303.2009950838983,
-        "render_ms": 1614.6928849630058,
-        "compose_ms": 71.00666873157024,
-        "write_ms": 103.9297180250287,
-        "foreground_fraction": 0.7644
+        "compile_ms": 325.71188174188137,
+        "render_ms": 1575.8910300210118,
+        "compose_ms": 63.78820491954684,
+        "write_ms": 107.78781399130821,
+        "foreground_fraction": 0.7644,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "4ec208a73909c0e60d99cad89ab8c041d22cb71381c6211f6eb5b1a90d03f612",
         "meshes.tar": "3287bf010fb86495d8a8e6fd5f955fe016b3e98b4aca0e451c5bf01c3ddfd232",
-        "render.png": "1477ab650a6d5bca882b32b104f31c94f8ba9433bdefd855b6bfbc0b18990d73",
+        "render.png": "7fcd5c753965d12f74866bc66b26a462b90ba7df25c57124c90cacb3ee32bc93",
         "graph-raw.svg": "e10c7d6aea1e7f44647982fe9a4f2cacce44397dabe3ae743017fdf3189a3937",
         "graph-robot.svg": "d9795d3fe0bea90b611dcfeeebd04c9e233e9e0055dbb3caa4067093d81af68b"
       },
@@ -14916,7 +15082,7 @@
         "mjcf_ms": 2.0735813304781914,
         "compile_ms": 13.14442278817296,
         "graph_ms": 106.88002314418554,
-        "render_total_ms": 1585.5540200136602
+        "render_total_ms": 1514.1719519160688
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15037,16 +15203,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.918651983141899,
-        "render_ms": 1452.8661258518696,
-        "compose_ms": 41.96006990969181,
-        "write_ms": 69.2450231872499,
-        "foreground_fraction": 0.0979
+        "compile_ms": 8.76657199114561,
+        "render_ms": 1387.5860050320625,
+        "compose_ms": 36.5971839055419,
+        "write_ms": 69.5717460475862,
+        "foreground_fraction": 0.0979,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "4e54095649a2bb770feca41ac06ba6e6d41fc380d54e14377574b9630a423eac",
         "meshes.tar": "93b5d9f928acca8456503f163552425a8c7bca54c65d2571578ce25dcb2d77ab",
-        "render.png": "5de389f2f0caf6a33bdc3dc6beb28efcbb4f96a0db20b1637020efc1d6d63bbb",
+        "render.png": "0f63acc94d45d7b007be5b69b8134ecbecd7b3b942592924093b42e15d5ee5e4",
         "graph-raw.svg": "f136b22ba4ddc21562a87bce588a5cdb3283bb498206d23d9e0f4f1d98dd6bff",
         "graph-robot.svg": "b14ea19e88dbcebb90b107de0e0215f9ccccace9bdbbd4cfc284135ef8a20a38"
       },
@@ -15098,7 +15266,7 @@
         "mjcf_ms": 5.717711057513952,
         "compile_ms": 529.864280950278,
         "graph_ms": 431.82019609957933,
-        "render_total_ms": 2447.0293638296425
+        "render_total_ms": 2401.7238318920135
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15237,16 +15405,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 501.64979603141546,
-        "render_ms": 1752.7929488569498,
-        "compose_ms": 83.32496508955956,
-        "write_ms": 85.86707478389144,
-        "foreground_fraction": 0.7106
+        "compile_ms": 459.86324502155185,
+        "render_ms": 1684.1222932562232,
+        "compose_ms": 73.5865319147706,
+        "write_ms": 168.2199276983738,
+        "foreground_fraction": 0.7106,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "5f7eca85ed440ec809d5494979f78f379e800ac6151636b92774f0b7d9c4dd2d",
         "meshes.tar": "15d8bc84a72763f5b09c6003dacb7efc7c8c560c99bbc3b89aae78fea8087963",
-        "render.png": "aa4898075fa9718f2613c4a9c343d10407e885ca14613459196ec96db2e76176",
+        "render.png": "cf10dd0aab9c036b866ff9ce25b71632009daba366f1ee2785834cb7cf7c2ce8",
         "graph-raw.svg": "cccbe0c093b7f3aa30fb41733c78e3ae2c9ed4a9c39bda44b3229378c0f61e85",
         "graph-robot.svg": "28d83bdabcbcd3ffab7f4ea5306e773db6cbada73cfe73d2ddc5909558d03ea4"
       },
@@ -15277,7 +15447,7 @@
         "mjcf_ms": 2.3962408304214478,
         "compile_ms": 13.509226962924004,
         "graph_ms": 73.26543983072042,
-        "render_total_ms": 1686.5656529553235
+        "render_total_ms": 1499.5530368760228
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15338,16 +15508,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.985767882317305,
-        "render_ms": 1531.4041669480503,
-        "compose_ms": 67.1364450827241,
-        "write_ms": 64.29958110675216,
-        "foreground_fraction": 0.61325
+        "compile_ms": 11.692465282976627,
+        "render_ms": 1344.6338349021971,
+        "compose_ms": 63.89451725408435,
+        "write_ms": 64.39951527863741,
+        "foreground_fraction": 0.61325,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "19b182072b9c9ef1c35be0c279959d9462a12ccd95a0b5769e0ab6d561032abc",
         "meshes.tar": "41fb51d9a980dd4fff6fe9b5cc2c416fd9390d2d2abe6f731bbbaacfb546e1d1",
-        "render.png": "5943e1db642e73a01e67d5a63576584dc9d4b262d94ff246a50d71b9714f13aa",
+        "render.png": "f746b59635e7f7a11300958c041e65fb3d1d044f2a351a2eab72edf0a0a0eecd",
         "graph-raw.svg": "c471cab9825f6857ed702326984a0aeea4fd2588686acb1196f081e340806fce",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "2ca03705dae1a20a54c9886a6c65259353a8c622a92f6ae78ee08292a7232599"
@@ -15379,7 +15551,7 @@
         "mjcf_ms": 2.4962802417576313,
         "compile_ms": 127.07020528614521,
         "graph_ms": 71.87822926789522,
-        "render_total_ms": 1795.0406540185213
+        "render_total_ms": 1750.0175419263542
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15440,16 +15612,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 133.6770406924188,
-        "render_ms": 1450.2518828958273,
-        "compose_ms": 80.22537501528859,
-        "write_ms": 113.3134993724525,
-        "foreground_fraction": 0.7854
+        "compile_ms": 115.77897612005472,
+        "render_ms": 1402.3894532583654,
+        "compose_ms": 70.65844489261508,
+        "write_ms": 149.0191351622343,
+        "foreground_fraction": 0.7854,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "3d5580d40cb066a462c3156b16d2b11f21f11d4adf69b138a45e1256bc6e491b",
         "meshes.tar": "ded3958767ea0c2017580a4fe54bfe3daa03549bd72cecea05f037bb6076d19f",
-        "render.png": "fcdbeff9ed744f0df1b3de70484199dc99e52b707e8dbc21bee217b8abe7505f",
+        "render.png": "87fe6e3102ab2871a89cee2362946e193fa5f827c8e6e7aff956694dc05ef9a4",
         "graph-raw.svg": "194fbe7ea515662b95edd135a80804ad93ce4ab734288121b04d7df2dffecabd",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "1a3830ff42b2fab807bcf5422185ad28854ea8ec9a88c742477fbe41783386b6"
@@ -15481,7 +15655,7 @@
         "mjcf_ms": 2.4141259491443634,
         "compile_ms": 17.873717937618494,
         "graph_ms": 69.46506584063172,
-        "render_total_ms": 1573.6637338995934
+        "render_total_ms": 1559.0262380428612
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15542,16 +15716,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.19677322357893,
-        "render_ms": 1397.4384050816298,
-        "compose_ms": 71.88678625971079,
-        "write_ms": 74.69206489622593,
-        "foreground_fraction": 0.6963
+        "compile_ms": 15.108257997781038,
+        "render_ms": 1384.6054109744728,
+        "compose_ms": 69.3016080185771,
+        "write_ms": 78.33925914019346,
+        "foreground_fraction": 0.6963,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "86bfd56f8bb3f36cd8d5ce6cb668d31709edcda5d467aa1a7b50c163baf2948b",
         "meshes.tar": "2883a239708ee89c801437a0428f3b52bb719f2b99bcc0e508d7dadefdd805e0",
-        "render.png": "cb975597e7a99748e0fbe711d77744c345394ddbcd2a5279f21ee2c61ee6b297",
+        "render.png": "66fbcf2cbec345be0c347e646c4a1ed065dbe1c09ad077b2d570b6dfbf830d14",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "3587f1fb539373c92aa47ab9ccb951aea5a9864e0f844a29f5e701640a98b14d"
@@ -15611,7 +15787,7 @@
         "mjcf_ms": 9.057534858584404,
         "compile_ms": 542.4152901396155,
         "graph_ms": 656.4809968695045,
-        "render_total_ms": 2591.214339248836
+        "render_total_ms": 2329.393388237804
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15659,16 +15835,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 514.5738320425153,
-        "render_ms": 1912.0017769746482,
-        "compose_ms": 62.996880151331425,
-        "write_ms": 82.12809404358268,
-        "foreground_fraction": 0.39545
+        "compile_ms": 466.7938398197293,
+        "render_ms": 1716.5864212438464,
+        "compose_ms": 51.92709108814597,
+        "write_ms": 78.23613192886114,
+        "foreground_fraction": 0.39545,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "e1df53b67d96b6d372d998500c7f32e12b3a1899c3b997e65a7f659e5cff1c53",
         "meshes.tar": "e5127f9fa57263f1a1f790ff683573808038427f5fdae57eb260fc091d21f77d",
-        "render.png": "bc344394792a96436988026e2f07f4d58c03831259cd2da4b93277c66508007a",
+        "render.png": "c402caef83bd22a6600a5e0de4587f15fa1b29a9a748c504449aa8acf245d00f",
         "graph-raw.svg": "cf860a1a973f2dbf6dffb21ec9f206fa6c2f457f9f06ffa061a2773fc1ba4d2a",
         "graph-robot.svg": "206c0b77053e6e3ece6b6fc6316c3af2716f2631c05610c7cdd5c75813f322be"
       },
@@ -15714,7 +15892,7 @@
         "mjcf_ms": 3.1206770800054073,
         "compile_ms": 31.921932939440012,
         "graph_ms": 196.26000616699457,
-        "render_total_ms": 1781.52214596048
+        "render_total_ms": 1583.7953560985625
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15762,16 +15940,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.372551564127207,
-        "render_ms": 1611.5528619848192,
-        "compose_ms": 71.24999491497874,
-        "write_ms": 62.99582589417696,
-        "foreground_fraction": 0.6650583333333333
+        "compile_ms": 19.851001910865307,
+        "render_ms": 1426.681478973478,
+        "compose_ms": 63.25316010043025,
+        "write_ms": 62.233212403953075,
+        "foreground_fraction": 0.6650583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "941b9688a9bdd9aba5a745e75492aab3d9ebd8678586923c1ef56df3de68b018",
         "meshes.tar": "1634b1067ea29752940b4ead233c877b68d5267745c2afbc9c3df58bc9554776",
-        "render.png": "cb3decb12f2cb16ae7fa6ed1c74a0820e97b7f99b782383320f8c36a4928963e",
+        "render.png": "a0f466860395f0775325465e6b8033459efc02ec03000555c85d1ca27cc9cb61",
         "graph-raw.svg": "019e295c05c6c6cf308840167de5f91d74ff200a5f7356da56296219e3605b48",
         "graph-robot.svg": "9ea5ba70c73c4101e671983e2263bc208381b6aabb2ce57d53cf6d0e6f6f0c20"
       },
@@ -15816,7 +15996,7 @@
         "mjcf_ms": 3.1046001240611076,
         "compile_ms": 64.93217404931784,
         "graph_ms": 226.95535514503717,
-        "render_total_ms": 1817.9621659219265
+        "render_total_ms": 1612.9704667255282
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15913,16 +16093,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 65.63262175768614,
-        "render_ms": 1588.7641380541027,
-        "compose_ms": 67.26609589532018,
-        "write_ms": 82.40197319537401,
-        "foreground_fraction": 0.6931166666666667
+        "compile_ms": 46.43521411344409,
+        "render_ms": 1405.2326949313283,
+        "compose_ms": 59.544302988797426,
+        "write_ms": 89.92348704487085,
+        "foreground_fraction": 0.6931166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "17b2ca976c7635e60088edd3a7178eef6cfe5103da53fef9e01c2b956784af97",
         "meshes.tar": "f95de32358f3fd48dbdd50f61cc17f8f67e988a0fc433fee2becef341d498ae8",
-        "render.png": "28d07154d7ee85696a5e547e1fb78c15fd52f46d137222a7190175f507824258",
+        "render.png": "d6561dc19dc978db5676adef908b9d1d1c7577eeb5159263f452a8d212aaa0e5",
         "graph-raw.svg": "e0deb42a3d1d0607a698948377c0a42f73a84151579aba6d5403314063660c9d",
         "graph-robot.svg": "4107912602e8328aaada2a92cee9223557057f2f2118a95ff402837adaec8f18"
       },
@@ -15970,7 +16152,7 @@
         "mjcf_ms": 3.1713061034679413,
         "compile_ms": 40.72766099125147,
         "graph_ms": 161.91225312650204,
-        "render_total_ms": 1707.7790070325136
+        "render_total_ms": 1571.4188115671277
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16018,16 +16200,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 40.823630057275295,
-        "render_ms": 1502.9291338287294,
-        "compose_ms": 66.4960602298379,
-        "write_ms": 78.8535438477993,
-        "foreground_fraction": 0.7067666666666667
+        "compile_ms": 32.84269291907549,
+        "render_ms": 1382.96277821064,
+        "compose_ms": 60.36678096279502,
+        "write_ms": 83.55287835001945,
+        "foreground_fraction": 0.7067666666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "b9e647b99143d4713a726b4dfec777d8f946f483ac4124bd2ad9ca9126de412c",
         "meshes.tar": "ade3ffb0e1f50f283faaab26d0f24b088fbc44612af419f23f6efa61584ff768",
-        "render.png": "f17c8f56d8e855044b2560c6a45dbfcc5fc9205c799b765f3bc19a67aede4573",
+        "render.png": "075a4aca6d1a9113ffa45999b689cda76f83c917228124d5e8734a9450242245",
         "graph-raw.svg": "6c9904331eacb6f80f684f96a7e8293266f472a7e48f3d68b4fe8488fe09052b",
         "graph-robot.svg": "d84b06567f52d60c1ad4642c06145cbb0a51798640f63a5703ee33021553a222"
       },
@@ -16073,7 +16257,7 @@
         "mjcf_ms": 4.551260732114315,
         "compile_ms": 37.44385810568929,
         "graph_ms": 235.16777297481894,
-        "render_total_ms": 1652.8267175890505
+        "render_total_ms": 1601.5912480652332
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16134,16 +16318,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 56.33721500635147,
-        "render_ms": 1414.6603173576295,
-        "compose_ms": 80.05501423031092,
-        "write_ms": 82.61738112196326,
-        "foreground_fraction": 0.6476166666666666
+        "compile_ms": 38.73020317405462,
+        "render_ms": 1402.4758809246123,
+        "compose_ms": 67.2529130242765,
+        "write_ms": 81.2290869653225,
+        "foreground_fraction": 0.6476166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 20
       },
       "artifacts": {
         "robot.mjcf": "a91b8663d426a68fd933b50a166cd6fabbf61e4a3c255624077e4d15eb712500",
         "meshes.tar": "253e72e3bdf452b1cbacc29eeed3e1740cc605fdc7a42c894fcbe7e8393cc0fd",
-        "render.png": "cbb5e2cc0e452c033455a543d552b82fee33bbb451604c8f8f0543c7c99941af",
+        "render.png": "7ea8ef2343e9b65b2ee5aa69e1af436c0ea0b7b1a0913d9d6d844acfdfce0786",
         "graph-raw.svg": "b643423dda8544e02bf5a5f9db70e3bb3f497214c59612bca922aa2c8fd7d8e9",
         "graph-robot.svg": "4e7a1810396d8185d4a318f76cded99729697286d91635e4e791ca9b0df92b89",
         "robot.urdf": "474d14ae597318bd5f51dc66d430319965db9956d69f042592a88a0286291326"
@@ -16176,7 +16362,7 @@
         "mjcf_ms": 2.5388537906110287,
         "compile_ms": 12.260692659765482,
         "graph_ms": 193.0944100022316,
-        "render_total_ms": 1572.6705165579915
+        "render_total_ms": 1557.8095857053995
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16244,16 +16430,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.067825835198164,
-        "render_ms": 1364.2153600230813,
-        "compose_ms": 86.83318691328168,
-        "write_ms": 91.80912608280778,
-        "foreground_fraction": 0.63965
+        "compile_ms": 10.894150007516146,
+        "render_ms": 1367.828064598143,
+        "compose_ms": 69.95176197960973,
+        "write_ms": 97.4716329947114,
+        "foreground_fraction": 0.63965,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "709ed07ee3e652d9de68abf3e1d2ea7bf921fd219fcdd8fa84de9df10bcdc551",
         "meshes.tar": "52a88c3129ac80a23fddd3d03f508f564c33ba4fc0ffb40ee87354ca0e839883",
-        "render.png": "5447c9b941309cd8e5c84f04355cbf6eb58d4e7976abf32dc8c398f792a930c7",
+        "render.png": "8ffde6249422be7d312a9e48d0ba7158d908ef5f81db38dabc218b9ac5ce82b6",
         "graph-raw.svg": "5fa49648fb1a2e5b9f5a7596a02af8ac1c978b34fe53af7664c54cbee89d13c4",
         "graph-robot.svg": "7313c4c9d05fe8f66e8e5046340aa7bc1d54e3462a91edd76d58b2efa7ffccac",
         "robot.urdf": "2dc2ab1dd8a74debf610d718311fdf043db9f608bd627b0eb79cb175c55c6273"
@@ -16316,7 +16504,7 @@
         "mjcf_ms": 3.7674042396247387,
         "compile_ms": 530.6867798790336,
         "graph_ms": 336.1314991489053,
-        "render_total_ms": 2205.208657309413
+        "render_total_ms": 2113.2937860675156
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16364,16 +16552,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 543.4733950532973,
-        "render_ms": 1501.3179741799831,
-        "compose_ms": 70.80131908878684,
-        "write_ms": 73.91129992902279,
-        "foreground_fraction": 0.4796
+        "compile_ms": 483.9404500089586,
+        "render_ms": 1483.5241921246052,
+        "compose_ms": 58.157436084002256,
+        "write_ms": 75.9320161305368,
+        "foreground_fraction": 0.4796,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "0966aab147991e33af9ac95033a0d727a39bb4e3e2f725b9390c7554bcb769b6",
         "meshes.tar": "c1a50c72eca0e7b1b1d0f35669384054bc82c27267e6ea9c7ea94bed398df112",
-        "render.png": "0d3c03cede94115634b4c3b06a4d1f92b7c354975a1a41dcc6136cac204b5443",
+        "render.png": "d1237125fadfc2df6812ca64116af5ba100b746a3d1b3a4688ba92d2bc866f77",
         "graph-raw.svg": "7e753bae7b048e68cdcae9183bcffde5ef5fc83d19aff784ecf5604815aabbe8",
         "graph-robot.svg": "2d8ac713249f199b564bca43650b35f5d7e4aef62c402980d743eae79a4023fd"
       },
@@ -16405,7 +16595,7 @@
         "mjcf_ms": 2.3763920180499554,
         "compile_ms": 1210.2309060283005,
         "graph_ms": 67.79568595811725,
-        "render_total_ms": 2879.1870758868754
+        "render_total_ms": 2942.7596079185605
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16466,16 +16656,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1181.489345151931,
-        "render_ms": 1523.1311186216772,
-        "compose_ms": 72.88527581840754,
-        "write_ms": 86.45692700520158,
-        "foreground_fraction": 0.6985
+        "compile_ms": 1285.1954651996493,
+        "render_ms": 1483.09917608276,
+        "compose_ms": 58.59237955883145,
+        "write_ms": 103.80211379379034,
+        "foreground_fraction": 0.6985,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "838d5356e2d68a3a546dbfd3cecf37318b2b7e3818d16ae1c01c0453ace46437",
         "meshes.tar": "9a57ba9c048329f8359c395c7b2af79bce7d2f80c99888b2fcb6fafb0e780a4a",
-        "render.png": "9731ee3afe9f82015016369f909b9eb9ebfdef1b24ca91aea2807278ef4ac240",
+        "render.png": "e20fd426a359f3c506d41db944f5f6f2171d2464f7cdc4590191e3235b7444e4",
         "graph-raw.svg": "2a32e40cac96b1743580c4ad3a64862b7649a753021cea8ba944c672a911ab08",
         "graph-robot.svg": "a666c27203f4a2b1d25ca0b88b1659cadd9cd16ae514bce8fbe695cfb1940026",
         "robot.urdf": "f67bbe696357a5877bde9add73077b5688685ad71d56339e6948303c12c58b41"
@@ -16507,7 +16699,7 @@
         "mjcf_ms": 2.7283509261906147,
         "compile_ms": 331.64698584005237,
         "graph_ms": 105.41603481397033,
-        "render_total_ms": 1996.3659937493503
+        "render_total_ms": 2204.032795969397
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16568,16 +16760,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 315.24648191407323,
-        "render_ms": 1514.7418910637498,
-        "compose_ms": 65.97402086481452,
-        "write_ms": 82.68158324062824,
-        "foreground_fraction": 0.3784
+        "compile_ms": 516.5625126101077,
+        "render_ms": 1541.9131619855762,
+        "compose_ms": 53.47486073151231,
+        "write_ms": 78.5896722227335,
+        "foreground_fraction": 0.3784,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "efb00fa0f153e897e96c393310b6db2070d0dafdc4c2a89816611b320ba947e1",
         "meshes.tar": "c7e4429edc6c7edc9465d1f37b0490e41bbed9262888432a30bb3d3bf538902f",
-        "render.png": "29f9396980864b63b379202998a4754142a2c77e72571fc8bb319290b8690797",
+        "render.png": "08611972a12de5661592a7aa82a484861e23b8b78536c3b556e604972dc603ba",
         "graph-raw.svg": "511ffdf7b4e758f0a1c202b25f7a044db621e397918fcc868f2507b6efa0eb39",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "31f5740cc50f9723db8a06aba80835b2e0291caa681c5a52e244a2bd494caabd"
@@ -16618,7 +16812,7 @@
         "mjcf_ms": 3.4466730430722237,
         "compile_ms": 452.18792418017983,
         "graph_ms": 1549.7334389947355,
-        "render_total_ms": 2173.564226832241
+        "render_total_ms": 1979.404788929969
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18443,16 +18637,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 315.31287683174014,
-        "render_ms": 1639.953668229282,
-        "compose_ms": 73.87151103466749,
-        "write_ms": 131.95724692195654,
-        "foreground_fraction": 0.70525
+        "compile_ms": 267.6812130957842,
+        "render_ms": 1491.2724499590695,
+        "compose_ms": 69.10758605226874,
+        "write_ms": 137.35754694789648,
+        "foreground_fraction": 0.70525,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "e7a11eccfc55e2d9b9839a672e8e0635ba236ca54048d845b111b3911a37d157",
         "meshes.tar": "56776b6a7628852e71d6ed761759708c4201382f8abb877d17044603bd51b624",
-        "render.png": "894cfbf39a519debc79f2349a170740106af5a784ec10eb2801e695a52e04a55",
+        "render.png": "9f569f19ed704319b9b91b85b47f8b21709783269c9c62eed2407dc592326413",
         "graph-raw.svg": "1f97c648b30d8e1741138d09dab0235a3badf2378c893d95f59a1f7f77dcd36b",
         "graph-robot.svg": "26c7952d69b1437decbe9a4346ae4a7a8f72e0757466cee80f7590c0399a378b"
       },
@@ -18464,12 +18660,89 @@
   ],
   "output": {
     "archive": "shard-01127.tar",
-    "archive_sha256": "f9ecc01efadaa7d0f96a3a535e892fa8535adea15845af77f415344c86e2e47c",
+    "archive_sha256": "37dbab7bb90276b3d329ffa88f45b3f0b8e6938edcfce5cb76337b9cfedfb4b6",
     "packaged_samples": 98
   },
+  "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": "f9ecc01efadaa7d0f96a3a535e892fa8535adea15845af77f415344c86e2e47c",
+      "report_sha256": "acc57884176bda7ce6d02c1ca41cb10f507be9e7afceaa98bb86d3365c569c93"
+    },
+    "scheduler": {
+      "job_id": "60317271",
+      "array_job_id": "60313720",
+      "array_task_id": "1127",
+      "node": "gl3155",
+      "host": "gl3155.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 98,
     "compiled_models": 98,
-    "archive_sha256": "f9ecc01efadaa7d0f96a3a535e892fa8535adea15845af77f415344c86e2e47c"
+    "archive_sha256": "37dbab7bb90276b3d329ffa88f45b3f0b8e6938edcfce5cb76337b9cfedfb4b6"
   }
 }