diff --git "a/onshape/shard-01129.report.json" "b/onshape/shard-01129.report.json"
--- "a/onshape/shard-01129.report.json"
+++ "b/onshape/shard-01129.report.json"
@@ -222,7 +222,7 @@
         "mjcf_ms": 3.9801369421184063,
         "compile_ms": 10.58376394212246,
         "graph_ms": 149.57211539149284,
-        "render_total_ms": 1708.3773789927363
+        "render_total_ms": 1724.9878225848079
       },
       "mesh_preparation": {
         "status": "complete",
@@ -270,16 +270,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.562097135931253,
-        "render_ms": 1530.7583338581026,
-        "compose_ms": 71.1346729658544,
-        "write_ms": 86.16521023213863,
-        "foreground_fraction": 0.5742
+        "compile_ms": 15.133392065763474,
+        "render_ms": 1528.7275961600244,
+        "compose_ms": 67.33113713562489,
+        "write_ms": 100.53473664447665,
+        "foreground_fraction": 0.5742,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "380d7fc0a5711b07f703c274df99c10d0d0fe43df73b7e3dde4db872e1e0ebc5",
         "meshes.tar": "24b48c5f6412cde00d0a09f71a07114a38af2f34a688ef9bb846bcfcbe5f09ad",
-        "render.png": "159920ff80751b0dbb8e6a0290b7d5dc3fdfe8229dd0aada793ae87ce07224eb",
+        "render.png": "b9332d9083a3d814469e405707aa1c87d5afa77a8c07db7a4565cdb7a94edebc",
         "graph-raw.svg": "d636e0cb3d4d3737a0a43f32357fd6db1e44e9b67aa0c80ae99b6aecf8e93441",
         "graph-robot.svg": "7f2e5814271643b8ac8cec3023863e215a1e843bf81b65deb23a7f138895c7d3"
       },
@@ -321,7 +323,7 @@
         "mjcf_ms": 3.5429508425295353,
         "compile_ms": 4436.512312386185,
         "graph_ms": 239.72837906330824,
-        "render_total_ms": 2565.0416677817702
+        "render_total_ms": 6429.626451805234
       },
       "mesh_preparation": {
         "status": "complete",
@@ -369,16 +371,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 237.9763792268932,
-        "render_ms": 2150.508891325444,
-        "compose_ms": 68.2806121185422,
-        "write_ms": 90.05936328321695,
-        "foreground_fraction": 0.52195
+        "compile_ms": 4344.138239044696,
+        "render_ms": 1900.1275496557355,
+        "compose_ms": 65.2183210477233,
+        "write_ms": 102.51187812536955,
+        "foreground_fraction": 0.52195,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "a4bbfda0ed4a57ea9d47e7b8343bae0e1f4c2216b752376d71f0d04f6d0e8755",
         "meshes.tar": "c16939479132db26fdb5b0e8ecf62b83c30016c7a63a525032f54d769254c75e",
-        "render.png": "47bdfbe089a4f25f0c77067bdfa284f7d82a1f78efd0d4a2daa93d8c1ff44be3",
+        "render.png": "58768c57f419a7a27fd9e133b2f847406d23fb004eccc434b9be117001ab7ff1",
         "graph-raw.svg": "7982bfe6d691f722f150c46cac9ed0eb8a1e17a66f158bfd707e30961fb5a37f",
         "graph-robot.svg": "74cf02a29f65bc9304552804df7f8cbaffc2eead9f49e698539d84b1eb9ab8ba"
       },
@@ -417,7 +421,7 @@
         "mjcf_ms": 2.9875431209802628,
         "compile_ms": 19.10626096650958,
         "graph_ms": 97.13548375293612,
-        "render_total_ms": 1529.9904169514775
+        "render_total_ms": 1462.636647745967
       },
       "mesh_preparation": {
         "status": "complete",
@@ -465,16 +469,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.64738330245018,
-        "render_ms": 1387.273721396923,
-        "compose_ms": 58.58984775841236,
-        "write_ms": 68.0117211304605,
-        "foreground_fraction": 0.51755
+        "compile_ms": 21.67025301605463,
+        "render_ms": 1294.7521922178566,
+        "compose_ms": 62.6062280498445,
+        "write_ms": 71.21518719941378,
+        "foreground_fraction": 0.51755,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "202b9710cac62494be129c40d9cf1a7aa03a3eeed31f81f7c0285da8e8394dcb",
         "meshes.tar": "29f90cb4af9925a94e740e0c6da5c9b9eec778e692d4856c7fad9dcf3cc60a7e",
-        "render.png": "64c46a5cd76ae7f93f469c1e8df2b6f8251dea5b3ee2fce543113733b8d1bf5c",
+        "render.png": "6d4e71a7550a6bc342ea3333bfc7f0d1e846b3640e616236f7afa6edfee9b160",
         "graph-raw.svg": "9d3ca974f5ce22b656a1635e795bee21ff0def655166b897669eb3cd65b2b41d",
         "graph-robot.svg": "5a46cea2e59d5ae4f24faec3c39224c7ebf3cb6d0da12b037aa2bc27a31c50bc"
       },
@@ -506,7 +512,7 @@
         "mjcf_ms": 3.863559104502201,
         "compile_ms": 91.8499012477696,
         "graph_ms": 74.83135303482413,
-        "render_total_ms": 1559.028728865087
+        "render_total_ms": 1688.2723942399025
       },
       "mesh_preparation": {
         "status": "complete",
@@ -567,16 +573,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.637134365737438,
-        "render_ms": 1381.0298661701381,
-        "compose_ms": 61.29964208230376,
-        "write_ms": 86.8971268646419,
-        "foreground_fraction": 0.5478
+        "compile_ms": 90.22168209776282,
+        "render_ms": 1421.877569053322,
+        "compose_ms": 60.57730643078685,
+        "write_ms": 103.70802599936724,
+        "foreground_fraction": 0.5478,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "5c00d63819588b27277a8f47bd4714012b7ef4f44a8996dce834dc6855d3c005",
         "meshes.tar": "2a8f5d1be9cd677a2c5ace8e89fe43caaedd0b257fdb25e43f27a4ab5179426b",
-        "render.png": "a31630be1e4a8448c4bd506fe63815ab80cbc005591e13daf4e01e8e276a54ee",
+        "render.png": "4bba39cd3a5a5e84e7cee433f38d314a783fc58d2c2d8f3564586e15e091a5a1",
         "graph-raw.svg": "84b3c579d3c5a3da579a8e48ccb536d646b386b6d76cc08892e79794b38c1e77",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "674e96736b70a3e53241f750a2bb110fd2f76e90cc9d8c5c16ea97799e480fde"
@@ -638,7 +646,7 @@
         "mjcf_ms": 12.03478965908289,
         "compile_ms": 573.0495788156986,
         "graph_ms": 1430.795304942876,
-        "render_total_ms": 1966.5423450060189
+        "render_total_ms": 2492.5752440467477
       },
       "mesh_preparation": {
         "status": "complete",
@@ -693,16 +701,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 169.87224435433745,
-        "render_ms": 1628.0534756369889,
-        "compose_ms": 62.14555539190769,
-        "write_ms": 92.64976298436522,
-        "foreground_fraction": 0.49115
+        "compile_ms": 677.559508010745,
+        "render_ms": 1650.8341860026121,
+        "compose_ms": 62.36240500584245,
+        "write_ms": 89.1436873935163,
+        "foreground_fraction": 0.49115,
+        "style": "link-palette-v1",
+        "colored_bodies": 67
       },
       "artifacts": {
         "robot.mjcf": "1d2da4470159066f95e0a4e435ceb9356f09077d2085c32a21c9fc45a9097402",
         "meshes.tar": "2f4f494e6183ba8d2dc6927a7f235063a514e1fd117e439cbf9301a169311537",
-        "render.png": "dad9591de37760f7779ed8881cc974aa6f628ec8a5f663bfb609b5dbb134120b",
+        "render.png": "fc17a89c8364a96b181efcb84e69356e752d21ab954cf5db1d9cf70fde75c891",
         "graph-raw.svg": "1ef8c24352847895424848220fad6afb0fd7e18f796f88fa45165584a7f18b86",
         "graph-robot.svg": "bdf99d2a8e7c06ad48d76f68d67eeaab380873cf66d2d59b7618e465b85a5cd2"
       },
@@ -745,7 +755,7 @@
         "mjcf_ms": 3.202559892088175,
         "compile_ms": 265.10587707161903,
         "graph_ms": 131.04055868461728,
-        "render_total_ms": 1666.5391363203526
+        "render_total_ms": 1920.2063200064003
       },
       "mesh_preparation": {
         "status": "complete",
@@ -793,16 +803,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 33.87778997421265,
-        "render_ms": 1471.81851323694,
-        "compose_ms": 53.39907202869654,
-        "write_ms": 90.7729472965002,
-        "foreground_fraction": 0.4224
+        "compile_ms": 296.86653008684516,
+        "render_ms": 1459.762891754508,
+        "compose_ms": 52.94743878766894,
+        "write_ms": 98.27444795519114,
+        "foreground_fraction": 0.4224,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "74e7e783e2cd26675d1639aea4dc6e04b77a11e4527e810f877b852703a34ee0",
         "meshes.tar": "146e7c96ebfd11ec0db8380cf048d2670a5d70741dc6e70306e922a32c0f111e",
-        "render.png": "2a68fb362b6eb5656ced14a20282ba0b650c424b1279ccfd98705cd5f5e7899b",
+        "render.png": "73883e0c6237f0856e7c15e53277adf8c126044eceae63a5ebf250b828a783a7",
         "graph-raw.svg": "59825480a12a9049894c9c4d0d2bdb89268efa91028ace2a526a54c6fa4d3605",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -845,7 +857,7 @@
         "mjcf_ms": 3.462097141891718,
         "compile_ms": 236.74358613789082,
         "graph_ms": 139.8671972565353,
-        "render_total_ms": 1655.8310906402767
+        "render_total_ms": 1865.6623158603907
       },
       "mesh_preparation": {
         "status": "complete",
@@ -893,16 +905,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.16777591779828,
-        "render_ms": 1473.2158109545708,
-        "compose_ms": 54.39503910019994,
-        "write_ms": 95.09772202000022,
-        "foreground_fraction": 0.4444
+        "compile_ms": 223.02197804674506,
+        "render_ms": 1465.277194045484,
+        "compose_ms": 54.345973301678896,
+        "write_ms": 109.29334303364158,
+        "foreground_fraction": 0.4444,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "0e9a916ed6432db73b1afb00b0f6fb07efe594dcb46901f9a9bd746e95ba0bce",
         "meshes.tar": "6f10e1ac52b22bdc13984e53431f815aca126e614174867522d1bb69dcd410df",
-        "render.png": "1d213ae54ee42a6c774a280c7ebeca354557f7e54f6da19daa1f2368f1778aaa",
+        "render.png": "089b8324ba320930bf0215de32ac9bcd1f30c75c7c5864003d39f376bf43fda8",
         "graph-raw.svg": "40771252f46514ac03e213d4eccb7ac2e0db26c8937e7e01d778228d6b4efc6a",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -961,7 +975,7 @@
         "mjcf_ms": 5.129205994307995,
         "compile_ms": 359.97799690812826,
         "graph_ms": 470.6225339323282,
-        "render_total_ms": 2069.7188950143754
+        "render_total_ms": 2313.03148297593
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1166,16 +1180,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 124.44168096408248,
-        "render_ms": 1757.056002970785,
-        "compose_ms": 65.85132330656052,
-        "write_ms": 105.74044240638614,
-        "foreground_fraction": 0.50655
+        "compile_ms": 427.6944100856781,
+        "render_ms": 1703.3467832952738,
+        "compose_ms": 58.704320807009935,
+        "write_ms": 108.07499894872308,
+        "foreground_fraction": 0.50655,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "d1cf123c11615431a9607ff6f82d5dc9e18404d60e3929deccc8cdc4cff17cf8",
         "meshes.tar": "409566563e702ae1d7764ed18b4b13b7bd65d89efcc916fe8111f404ee2eb11d",
-        "render.png": "4e61b235082574c3644afd58fd4861daa5e40951e87f8b2136738e634af3d091",
+        "render.png": "e2ae141d0726a25865058c1c4e3be7695e62abd0f6f4143b36974be5190d6137",
         "graph-raw.svg": "31dbc156e591e53c94560016429aa6dffb21e5c7e635f0cdb2e5331ab79ce413",
         "graph-robot.svg": "24b462de3e9e4ad6304849b176b511895d5d6dfa8e5e895369d012e328cbbf9b"
       },
@@ -1210,7 +1226,7 @@
         "mjcf_ms": 3.86255094781518,
         "compile_ms": 20.441140048205853,
         "graph_ms": 150.58411937206984,
-        "render_total_ms": 1642.7124720066786
+        "render_total_ms": 1538.2902980782092
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1278,16 +1294,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.903185646981001,
-        "render_ms": 1489.3002100288868,
-        "compose_ms": 55.110638961195946,
-        "write_ms": 80.68089233711362,
-        "foreground_fraction": 0.36465
+        "compile_ms": 20.052554085850716,
+        "render_ms": 1367.7603797987103,
+        "compose_ms": 53.2882921397686,
+        "write_ms": 84.56108719110489,
+        "foreground_fraction": 0.36465,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "ff24bf3948266954a82330122ef70eec01a04747e3cab73ce051d7c13a89a611",
         "meshes.tar": "78d5c6838fb0882d5564fe5a333a5cd68a5dcda28d8a65b8103949eda4c3f797",
-        "render.png": "6a3d97f9cf429f109e03f3da20d3d3b42be1c2a51bb9486f1b144a33177fb921",
+        "render.png": "dd96c86e6465dd498711acf713fdcfb6bbef520e8a9fba17268911bbea09c334",
         "graph-raw.svg": "98d10d3a9fd2ffc530ba651602993e13b1bc7162d0a3f532e71fa312dd7c3365",
         "graph-robot.svg": "23f23e4dc4e3940c421b50394a26521c791e78ba9b44b218cfe63d41862749d4",
         "robot.urdf": "99201160f9efad24ae5b4456f49b099a253ddb8f6c757331e5b92b9d3c1dc752"
@@ -1331,7 +1349,7 @@
         "mjcf_ms": 6.069328170269728,
         "compile_ms": 83.90000881627202,
         "graph_ms": 5225.492849946022,
-        "render_total_ms": 1593.2604032568634
+        "render_total_ms": 2643.4033759869635
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5028,16 +5046,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 68.59628204256296,
-        "render_ms": 1382.8755151480436,
-        "compose_ms": 56.98717013001442,
-        "write_ms": 71.772332303226,
-        "foreground_fraction": 0.3971
+        "compile_ms": 85.50199493765831,
+        "render_ms": 1388.9126568101346,
+        "compose_ms": 70.13940019533038,
+        "write_ms": 1086.199042852968,
+        "foreground_fraction": 0.3971,
+        "style": "link-palette-v1",
+        "colored_bodies": 14
       },
       "artifacts": {
         "robot.mjcf": "e3e685186a3522164465805e62af1a9dd079bf115818f122b83e4337030bd409",
         "meshes.tar": "eee1019d6c7f6e0e59ae3f1544f001bb5e10e2e046c103894e13cd040f0c3649",
-        "render.png": "9b4454c194734235ff02d183c501a88d02ac72cdac29a78fd322217737106611",
+        "render.png": "7099f97b3699bf3af1f7a57b766634503fd83efa0d798fd9c24dd4561180312c",
         "graph-raw.svg": "fa939a22a5ba5dabc9c8d7e7a136116c20b2fef4589ba4e9aa896a516b48e54f",
         "graph-robot.svg": "9bd2f23c91b89166510a36e13ca1d0f0f093693ba1bcfc998643675220d6ce1d"
       },
@@ -5075,7 +5095,7 @@
         "mjcf_ms": 2.7735689654946327,
         "compile_ms": 21.7364807613194,
         "graph_ms": 114.40844694152474,
-        "render_total_ms": 1508.978181052953
+        "render_total_ms": 1576.5044558793306
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5160,16 +5180,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.309703923761845,
-        "render_ms": 1353.5318817012012,
-        "compose_ms": 61.16828694939613,
-        "write_ms": 75.1838693395257,
-        "foreground_fraction": 0.51425
+        "compile_ms": 23.737995885312557,
+        "render_ms": 1403.3762449398637,
+        "compose_ms": 59.19245816767216,
+        "write_ms": 78.1266912817955,
+        "foreground_fraction": 0.51425,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "dd4c3b3070529e9bbad41166a2435f45b76967b991661a96352323f42305abe1",
         "meshes.tar": "f02320ce14498e16c5128f0bcab4ef3582b801d9b2023af94ff237766f0030f9",
-        "render.png": "9eeaddbd4b00f4addf02b780add0781b0fb5a3f97d2ce5adbc44632aad083422",
+        "render.png": "e842b86549c10dc17fc8c867aa2b776903fdf9be876573e7896e481d90f90fd2",
         "graph-raw.svg": "5d8ab0bc35fd3ecf0d3b4284fecfe8462385658983b58a15f26ceac4d1252968",
         "graph-robot.svg": "0c96898a04b9b84453ed1cc09330c5aafa5cd9da274becdb2af8b864c71c8c75"
       },
@@ -5207,7 +5229,7 @@
         "mjcf_ms": 2.870596945285797,
         "compile_ms": 2.9261577874422073,
         "graph_ms": 80.61238285154104,
-        "render_total_ms": 1506.9353836588562
+        "render_total_ms": 1491.1678340286016
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5255,16 +5277,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.7857222594320774,
-        "render_ms": 1349.7780673205853,
-        "compose_ms": 70.39417838677764,
-        "write_ms": 70.81638602539897,
-        "foreground_fraction": 0.7579
+        "compile_ms": 4.178074654191732,
+        "render_ms": 1333.6243373341858,
+        "compose_ms": 70.21500589326024,
+        "write_ms": 70.94114413484931,
+        "foreground_fraction": 0.7579,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "57a39a4276a58f4d7a84851a6b9087c2c62b32368171b8f5922efc6a933b8515",
         "meshes.tar": "3de363958380f1e8d6f625ea22f8b1bf964639ddb03278f6a03d65225c813aa5",
-        "render.png": "719767eadf0797ba4c6e8968e881c8478f3e2d3aff80aac38c4c63453787fa62",
+        "render.png": "80145d63c178ced6da95f0607e3066f2830fcf16afbf1240a1b08b981bbdc469",
         "graph-raw.svg": "ea2ddf4ac8b104cd3e9e7003678649503d80ebafd792619e77599e7782533e5a",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -5301,7 +5325,7 @@
         "mjcf_ms": 3.4752599895000458,
         "compile_ms": 3.4410879015922546,
         "graph_ms": 147.27248065173626,
-        "render_total_ms": 1521.0670502856374
+        "render_total_ms": 1548.6940038390458
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5362,16 +5386,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.4901639446616173,
-        "render_ms": 1362.2810449451208,
-        "compose_ms": 65.67011494189501,
-        "write_ms": 76.53261814266443,
-        "foreground_fraction": 0.6544416666666667
+        "compile_ms": 4.328099079430103,
+        "render_ms": 1347.4409650079906,
+        "compose_ms": 63.76786716282368,
+        "write_ms": 120.77339878305793,
+        "foreground_fraction": 0.6544416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "bdc2644ba6d08999ba903fe64e2212ccce9d81d4f5e4755c32ef5f0cc548e05b",
         "meshes.tar": "22dd07ee6311ca32abff42f0e8f56a2d8fd493699a2ffa7ab4568ab18a528ca0",
-        "render.png": "f4f8d29ce15df54958d1ae184fee0f91808b79553c80c5c532b947239fa33be3",
+        "render.png": "9d214bf5b79c3acef248dea935336bea3f4ec051c1940e8a49cb431313fc5878",
         "graph-raw.svg": "c09331a2469a544f5a9ce404d997be6de053f11c3e27efec5fc8abc21aa59301",
         "graph-robot.svg": "2167ac910d128764f7f0db5df334fbdd1a7bcaa40fb8cd8edc72a02479810b5d"
       },
@@ -5410,7 +5436,7 @@
         "mjcf_ms": 3.8999770767986774,
         "compile_ms": 17.624747939407825,
         "graph_ms": 166.9190558604896,
-        "render_total_ms": 1509.8712528124452
+        "render_total_ms": 1493.0890640243888
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5471,16 +5497,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.202391047030687,
-        "render_ms": 1392.8317450918257,
-        "compose_ms": 44.71081495285034,
-        "write_ms": 52.406083792448044,
-        "foreground_fraction": 0.18425
+        "compile_ms": 23.90675200149417,
+        "render_ms": 1358.2113278098404,
+        "compose_ms": 44.64282700791955,
+        "write_ms": 54.375166073441505,
+        "foreground_fraction": 0.18425,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "812a862bf5dcfead2162d2d51cd006c1b422b77928309e534aa3e1996ebc206f",
         "meshes.tar": "1f213e699dcc7c83c7dd77b0089104e4e1ebca3e91982690686efc7bb791cbc2",
-        "render.png": "06319ccabe39123d1fdd28c67c84689cdecdb569135cd527ee2e380666a4df62",
+        "render.png": "7624e30c678e5296d10652a66db311639841e73680dc90fc3521937ac16c49dc",
         "graph-raw.svg": "00221cac5d69cc26c64336c7d18d348200ded2eebbb08696d878b89693a79728",
         "graph-robot.svg": "b4dd03b001c8b53e73085b67483107d485e54c405a23157e550179cd124c578a"
       },
@@ -5520,7 +5548,7 @@
         "mjcf_ms": 2.8510186821222305,
         "compile_ms": 94.74280010908842,
         "graph_ms": 110.16994621604681,
-        "render_total_ms": 1673.1583722867072
+        "render_total_ms": 1831.465764902532
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5568,16 +5596,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 90.05085099488497,
-        "render_ms": 1421.722562983632,
-        "compose_ms": 62.991540879011154,
-        "write_ms": 80.81929618492723,
-        "foreground_fraction": 0.319
+        "compile_ms": 299.9849491752684,
+        "render_ms": 1381.8181999959052,
+        "compose_ms": 49.32427825406194,
+        "write_ms": 88.11080595478415,
+        "foreground_fraction": 0.319,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ce4134f5f165aa19b18bb5e305202c757198e18a4989bf50f9aa1ef21fc30cd2",
         "meshes.tar": "c5968feb26dcb29133c88dd3f46b4af28c73268d5f455282e887ddf5d3154f1d",
-        "render.png": "f572878dcfb209048985c702ba4bb67c94bd17232eae3480fe8af6e6600eabdb",
+        "render.png": "c0759d2f743ba1c422f5d7a55cc1b6a8ea8876cfeb009081371b55c4b245e6e8",
         "graph-raw.svg": "cf5363af62e2cf42559f5285dce3a0ccccc1232950ded4017973c227ba4bcded",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -5625,7 +5655,7 @@
         "mjcf_ms": 5.894665606319904,
         "compile_ms": 144.30721197277308,
         "graph_ms": 485.49899086356163,
-        "render_total_ms": 1828.6026371642947
+        "render_total_ms": 1815.6710169278085
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5716,16 +5746,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 96.585423219949,
-        "render_ms": 1540.4287111014128,
-        "compose_ms": 71.64276018738747,
-        "write_ms": 104.6658200211823,
-        "foreground_fraction": 0.74165
+        "compile_ms": 152.41821203380823,
+        "render_ms": 1448.1035261414945,
+        "compose_ms": 62.90939124301076,
+        "write_ms": 139.7970151156187,
+        "foreground_fraction": 0.74165,
+        "style": "link-palette-v1",
+        "colored_bodies": 28
       },
       "artifacts": {
         "robot.mjcf": "62f46995e7af9e26b2603d5047bc4915fefc57bc50883fe98f827c40090f5251",
         "meshes.tar": "dfa7fb81560e413e6a54e77a9c3dc707d9639cd412466da52e2f421adb74e8f4",
-        "render.png": "64602dc925645f249180b23ba3a193001d5ba7fedb0f13e6e4f7172276ee3c13",
+        "render.png": "ac85d65b452baf347e14e1e87fc61f02c830a4fb970dfcb8d1d1f50d475ddf73",
         "graph-raw.svg": "825ec04bbe85de6ce93957170867fbc86edc78c2303407869b3365f5ba9a829a",
         "graph-robot.svg": "cbcc9a1a78e32cd2e9e31167421215cdf844e926c24dc88083c9c658f209b6ed"
       },
@@ -5765,7 +5797,7 @@
         "mjcf_ms": 3.447235096246004,
         "compile_ms": 92.25978795439005,
         "graph_ms": 108.6645470932126,
-        "render_total_ms": 1644.2356701008976
+        "render_total_ms": 1622.604746837169
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5813,16 +5845,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 102.98960795626044,
-        "render_ms": 1394.0025148913264,
-        "compose_ms": 49.7235138900578,
-        "write_ms": 84.50959110632539,
-        "foreground_fraction": 0.3322
+        "compile_ms": 94.13270791992545,
+        "render_ms": 1374.2954349145293,
+        "compose_ms": 49.52302481979132,
+        "write_ms": 92.37587079405785,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "64a01cea05a6cb5cf1b969a5c9f680c060e25f6920550b31f4ead8fc9e3b7979",
         "meshes.tar": "75ba2385a27f011244eab69233f713bab49aa88e5ab2466a19f84b847b05a0ec",
-        "render.png": "2c79dca91f53181504c2516208da6762b5b6f72c8cb91155d5b6b42979defc57",
+        "render.png": "bdbeb81d8fe7984035ccdacf441e4166ec22a73d4f6956b55858badc569bf6e3",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -5860,7 +5894,7 @@
         "mjcf_ms": 2.8060991317033768,
         "compile_ms": 396.0640490986407,
         "graph_ms": 79.30652378126979,
-        "render_total_ms": 2030.472515616566
+        "render_total_ms": 1979.24370970577
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5908,16 +5942,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 386.9892410002649,
-        "render_ms": 1489.059363026172,
-        "compose_ms": 66.79353024810553,
-        "write_ms": 73.85223219171166,
-        "foreground_fraction": 0.4103
+        "compile_ms": 390.26554580777884,
+        "render_ms": 1429.7696608118713,
+        "compose_ms": 66.2257350049913,
+        "write_ms": 76.97116304188967,
+        "foreground_fraction": 0.4103,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ab8b62de6a55e4aa05013016441b01cd2044a51343cf91508b6bbed64da6105c",
         "meshes.tar": "8d9d09172f3046638683061ce13c2a7c1de42950329f06e62d627128c160f215",
-        "render.png": "f490d63e0da57712e5f3a3e3daffdd006c0f0441660d8313cd11ce9df9223d75",
+        "render.png": "654cbf8e966dfb7be21bb5216ce335f2c72121a22a4c1d0878f9748c8a3e6517",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -5949,7 +5985,7 @@
         "mjcf_ms": 3.28294700011611,
         "compile_ms": 195.1215798035264,
         "graph_ms": 104.09927181899548,
-        "render_total_ms": 1819.896535947919
+        "render_total_ms": 1832.0490173064172
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6010,16 +6046,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 181.4546538516879,
-        "render_ms": 1492.911459878087,
-        "compose_ms": 54.81100734323263,
-        "write_ms": 78.16677307710052,
-        "foreground_fraction": 0.3509
+        "compile_ms": 182.8762860968709,
+        "render_ms": 1497.2411738708615,
+        "compose_ms": 55.128681007772684,
+        "write_ms": 84.59344925358891,
+        "foreground_fraction": 0.3509,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "0fd1846689afc97bdacc216671e3190d34e4c83c21a972ef3971667dddc96873",
         "meshes.tar": "adb6ba293fe4390b9f364cab319c0e76360270a52f29df2f3325c8a4630d3a33",
-        "render.png": "6f0aa82e0da6c1944fa4e8e562d18144eb0df226e5b58b3042d0bbf006217d1f",
+        "render.png": "13be9210aeb726f244398d3bf46d5b21152be5adaec7bc1cf680e6674d79887d",
         "graph-raw.svg": "793632e96e8f8bc9f7d9815c2bfd2610ccfcc5e99be0bdfa322e61168b10b237",
         "graph-robot.svg": "14b2f081736c44d3a7d7df8a189655bf27a12aeb94558d6b10ba7618dd1967b1",
         "robot.urdf": "b4384a3b6d7490d7f498010451134df2b561b8fe93abdd3c60025f57dc5bb54d"
@@ -6054,7 +6092,7 @@
         "mjcf_ms": 3.396033775061369,
         "compile_ms": 13.135431800037622,
         "graph_ms": 623.3450509607792,
-        "render_total_ms": 1542.7856990136206
+        "render_total_ms": 1535.6633830815554
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6662,16 +6700,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.92221423238516,
-        "render_ms": 1436.6545383818448,
-        "compose_ms": 34.08552706241608,
-        "write_ms": 41.33341973647475,
-        "foreground_fraction": 0.0352
+        "compile_ms": 25.791342835873365,
+        "render_ms": 1406.1536132358015,
+        "compose_ms": 46.95551097393036,
+        "write_ms": 41.714335326105356,
+        "foreground_fraction": 0.0352,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "78bb4a32020445581526d1e7bdfee828fffb06a67e965256f9dba7b49b79803d",
         "meshes.tar": "d985921637c0667fe27fad5d5b3aee268fbc74af4d9816d92951c9b46eea3446",
-        "render.png": "cd64bdfab0f895df6af1d99de9d1495496c79e4b2155dee6b8e3c5f1e2059a94",
+        "render.png": "7e12508042ec8d91588ab44714b57953dcf6cfb79cc700a1a9521d457e560c77",
         "graph-raw.svg": "8948293ea41cf6ca785ad76a3fcecb622f7c13475d25b9c11f0b37a91b079a5c",
         "graph-robot.svg": "96a38ba6e2e7dad4541f6fa614cf12e791b6110e9d0f70e205087bc5811fc1a1",
         "robot.urdf": "9f6659809217358146d8b5769d7d76f5c4445175656a32d195ae91f93fad70f5"
@@ -6710,7 +6750,7 @@
         "mjcf_ms": 2.608613111078739,
         "compile_ms": 9.939664043486118,
         "graph_ms": 85.39765514433384,
-        "render_total_ms": 1529.0855108760297
+        "render_total_ms": 1509.3838069587946
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6765,16 +6805,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.617566760629416,
-        "render_ms": 1365.2721722610295,
-        "compose_ms": 60.392400715500116,
-        "write_ms": 79.60503781214356,
-        "foreground_fraction": 0.6721
+        "compile_ms": 12.357385363429785,
+        "render_ms": 1340.8857812173665,
+        "compose_ms": 61.77300587296486,
+        "write_ms": 82.28406216949224,
+        "foreground_fraction": 0.6721,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "1aef1d92c0f614e884ecda3d66265c14384fda495ce656ee537fbf1b5853789c",
         "meshes.tar": "7d8338d49af2fd2687cf50f098e7b0635b5e0b6d60437ee246ca69fc6c11246f",
-        "render.png": "ccdb2887a2dd69b58feddfc61bb900ebb79bf6dca81445fcd1bf256ae8d7dc53",
+        "render.png": "b9e561fbad766ba9000bfa90c1e06bbc27063f51f6dee2f0c9f1ded3763f05ef",
         "graph-raw.svg": "1bf1c47775a39e2a866201fef701e511d421f0317b0402c5f46d7e34ad97c848",
         "graph-robot.svg": "3cc22834ff211aa7f6c7cdd631ef7a72cbc4420dfabda7fd5a5694dd51eeda60"
       },
@@ -6809,7 +6851,7 @@
         "mjcf_ms": 3.445560112595558,
         "compile_ms": 16.32990688085556,
         "graph_ms": 289.12161896005273,
-        "render_total_ms": 1555.3990416228771
+        "render_total_ms": 1535.6024862267077
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6870,16 +6912,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.524592112749815,
-        "render_ms": 1377.2094189189374,
-        "compose_ms": 72.48568814247847,
-        "write_ms": 75.15092892572284,
-        "foreground_fraction": 0.66715
+        "compile_ms": 21.37350430712104,
+        "render_ms": 1349.458551965654,
+        "compose_ms": 75.45604696497321,
+        "write_ms": 77.14121602475643,
+        "foreground_fraction": 0.66715,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "f251c223fa65e7e3f7b2c591185455432e31b318f2ff6d3f28204b59fd728da7",
         "meshes.tar": "f4417ea53832946db2035a95ab84970d3cda89ed4cc79ba4f48c6255e39eb293",
-        "render.png": "20321ac788e3a41983add95cb463de1371b353c804f9510af71f088ff068b7b2",
+        "render.png": "094b975e3028f12e1c0e1bc93d0a8f6d563db06c0a4048fad7f36584c47f8e09",
         "graph-raw.svg": "526f9f3c2d620931e49eeceb5c606a0da9ad448731bdf20ec73897911fd860a1",
         "graph-robot.svg": "31465a541cdfb79c670dacb2437e96088a0bc0df047b45dd161462fb0218a664",
         "robot.urdf": "76046865e3b7fc794858e4271c2b6a52ea13a8448ed58ae0b744392114065124"
@@ -6919,7 +6963,7 @@
         "mjcf_ms": 3.268278669565916,
         "compile_ms": 19.43164598196745,
         "graph_ms": 185.38939813151956,
-        "render_total_ms": 1542.922216001898
+        "render_total_ms": 1555.6727889925241
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6974,16 +7018,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.689708974212408,
-        "render_ms": 1361.8113221600652,
-        "compose_ms": 70.4574091359973,
-        "write_ms": 74.70548013225198,
-        "foreground_fraction": 0.7659166666666667
+        "compile_ms": 22.503165062516928,
+        "render_ms": 1375.3301757387817,
+        "compose_ms": 71.0763712413609,
+        "write_ms": 74.47734288871288,
+        "foreground_fraction": 0.7659166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "154068246192b744daf0d31551aaf59af513ba0363fa5e3ef5835e80b24944d3",
         "meshes.tar": "a3daea5e004cc4a5bdf98036ac0b4d6e40ea76ad152f21cb190903d602096b2e",
-        "render.png": "785ab99ae39e50e29ccff5efc021ce1e93cf0c4426ab74c943658db8718e0525",
+        "render.png": "d0a2613fe45bf554ebc62325c6c917bcced274146bc9d5551961e006f4f8cd2f",
         "graph-raw.svg": "e13743d43cafe14b1bb4703c5b50420b4fe5b5e7c9b03fc7259b20d334925914",
         "graph-robot.svg": "b6ede1e392303447ad1f4d53fd0578794f6cc1f57b02521cd9ff3766fb40118b"
       },
@@ -7044,7 +7090,7 @@
         "mjcf_ms": 7.295834831893444,
         "compile_ms": 31.8763661198318,
         "graph_ms": 579.9800897948444,
-        "render_total_ms": 1557.4776390567422
+        "render_total_ms": 1538.5909397155046
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7105,16 +7151,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 37.65478217974305,
-        "render_ms": 1410.4543221183121,
-        "compose_ms": 43.67741383612156,
-        "write_ms": 53.05666895583272,
-        "foreground_fraction": 0.1694
+        "compile_ms": 35.994436126202345,
+        "render_ms": 1383.8187977671623,
+        "compose_ms": 44.0626828931272,
+        "write_ms": 62.56765918806195,
+        "foreground_fraction": 0.1694,
+        "style": "link-palette-v1",
+        "colored_bodies": 27
       },
       "artifacts": {
         "robot.mjcf": "8b5e72a16a322f1cfa07f029f91e7c351d7b8995cc0e5e0971473e8cb1ed6225",
         "meshes.tar": "ce328b6c699f33c252a23494baf25f59e53cab663290da6e7c02c76f0b1efdb8",
-        "render.png": "ee55a41514a15c788739fc5ddb099a4891c0424e278460b80eeb9bcf323b3794",
+        "render.png": "42488fb7e890c748de9c6c469f558bf2e43366891fea93160d560d1b4e0cf4dc",
         "graph-raw.svg": "20bc2e1628818fc82186f705cba8f5e866f2ce81cc842a3e5eded88f9b55aaa0",
         "graph-robot.svg": "d97b5398413f31edd4064d8e34e6cc824774b7931d734938d1b428f91a590efe",
         "robot.urdf": "39398e689e7390f70cf7cb483568841be8bcecb85b401a147f8dc426f66b41d7"
@@ -7161,7 +7209,7 @@
         "mjcf_ms": 3.8046040572226048,
         "compile_ms": 22.720403969287872,
         "graph_ms": 388.33472365513444,
-        "render_total_ms": 1616.6341002099216
+        "render_total_ms": 1555.3619670681655
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7216,16 +7264,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.229559253901243,
-        "render_ms": 1433.478576131165,
-        "compose_ms": 67.53442995250225,
-        "write_ms": 80.70647018030286,
-        "foreground_fraction": 0.69905
+        "compile_ms": 20.326566882431507,
+        "render_ms": 1360.135550610721,
+        "compose_ms": 71.06175180524588,
+        "write_ms": 91.72398503869772,
+        "foreground_fraction": 0.69905,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "da5970882f671bb6cece4441cbc185f95e1173279e27dbf9936371b73c1da7f0",
         "meshes.tar": "3b9577687d0683d84fdba04ffac2e51ba92d0f2d2290ff4684206522d4e029b8",
-        "render.png": "2d7d61e4f09662d4d5a19f27c63f20f9cc58e71f1d5230adf8cc06bddefd35e6",
+        "render.png": "a718392d0d748fff331704b729c3d861245369aa48f023d51bfb54a8626b3679",
         "graph-raw.svg": "fc375113c524a71eb9543640624efa54522824b2437688ef558562797b14604a",
         "graph-robot.svg": "804c1d85bdd8de4167a72fce91c4dcb68d7d2220862cbedbcfd80ed23d439e75"
       },
@@ -7255,7 +7305,7 @@
         "mjcf_ms": 3.0227326788008213,
         "compile_ms": 10.468484833836555,
         "graph_ms": 84.91299208253622,
-        "render_total_ms": 1554.1828437708318
+        "render_total_ms": 1630.945733282715
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7316,16 +7366,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.210988111793995,
-        "render_ms": 1391.5839232504368,
-        "compose_ms": 62.77194293215871,
-        "write_ms": 76.50042371824384,
-        "foreground_fraction": 0.721175
+        "compile_ms": 11.652353219687939,
+        "render_ms": 1469.3192392587662,
+        "compose_ms": 62.50460771843791,
+        "write_ms": 75.24476060643792,
+        "foreground_fraction": 0.721175,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b4cf8688644eb0c10c5932b9980ac55e4c509feb3c2b1043a4988623a2a03fe1",
         "meshes.tar": "8b2feb36c49c52c5876009e55cef6a29052be8bd3fd7048753eda54f61d04167",
-        "render.png": "b1e3136e37f965cef0aadbdfb7e9fe4adabc59b542441ee5900919c772afeeb7",
+        "render.png": "98516fc5430d046022a5bde3462b0222f32408f90862f93db05f28108ac879e3",
         "graph-raw.svg": "428a3e355c221f458e28c131abbf094962ed7789a9a7b2e892b30179a0e0f9de",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "daf81dd6d628693d0a35114c23c4dd5df33d83563b8640c24854b3e179c2412b"
@@ -7357,7 +7409,7 @@
         "mjcf_ms": 3.201036248356104,
         "compile_ms": 55.228643119335175,
         "graph_ms": 116.34304700419307,
-        "render_total_ms": 1569.7671030648053
+        "render_total_ms": 1584.4354210421443
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7418,16 +7470,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 55.120042990893126,
-        "render_ms": 1364.883464295417,
-        "compose_ms": 56.771084666252136,
-        "write_ms": 80.07351215928793,
-        "foreground_fraction": 0.6559583333333333
+        "compile_ms": 56.47463398054242,
+        "render_ms": 1364.2000299878418,
+        "compose_ms": 56.84839189052582,
+        "write_ms": 94.61909392848611,
+        "foreground_fraction": 0.6559583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "66c2d551916ac4cc10a251548fe5397f2c7682ac1c7ca0144ee5836cbf10cab2",
         "meshes.tar": "cb5b9ecafe6aacc65bec3c7054376c211fd2ba2ea404531b93c115c23994faf3",
-        "render.png": "9372eeb3e690eaa8dafe9f108c0869d5bdb07701f0a0fd0a89e45be99cc9d796",
+        "render.png": "416d6a331734c20464a6de9c614114162888c6ab7eed920ea68701dc0c13e876",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "0a732e98d6f9875e1bdb47ac452a74bda45c710038e7ce081864898e737ac5d6"
@@ -7471,7 +7525,7 @@
         "mjcf_ms": 3.324846737086773,
         "compile_ms": 225.1896606758237,
         "graph_ms": 135.61114482581615,
-        "render_total_ms": 1852.468827739358
+        "render_total_ms": 2258.7173441424966
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7519,16 +7573,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 254.00814600288868,
-        "render_ms": 1449.7041287831962,
-        "compose_ms": 51.70511966571212,
-        "write_ms": 84.14705470204353,
-        "foreground_fraction": 0.32395
+        "compile_ms": 348.86806597933173,
+        "render_ms": 1440.3202650137246,
+        "compose_ms": 51.9431340508163,
+        "write_ms": 405.3569231182337,
+        "foreground_fraction": 0.32395,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "fdcf6062c02b2cc0caa5413c08f58a047f09310caab4a3174e526618bab1f420",
         "meshes.tar": "ed6fd3c66eb9ab72c8c7eb4fae8995afa77eab77d1f81c9ffd681e90b3419bac",
-        "render.png": "a642463152ca325c8a5e0bd889b9cf41920f39d3cab7c5aba4382f8b51e6cd1d",
+        "render.png": "02e6f784bef41dcf0d01db388a4ceb38c4c09349a47b6775e3d90da2b66d290d",
         "graph-raw.svg": "40771252f46514ac03e213d4eccb7ac2e0db26c8937e7e01d778228d6b4efc6a",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -7560,7 +7616,7 @@
         "mjcf_ms": 7.054320070892572,
         "compile_ms": 87.6577477902174,
         "graph_ms": 390.28825564309955,
-        "render_total_ms": 1692.4407477490604
+        "render_total_ms": 1642.4016137607396
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7621,16 +7677,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 92.42847701534629,
-        "render_ms": 1464.361650403589,
-        "compose_ms": 51.83375906199217,
-        "write_ms": 71.336779743433,
-        "foreground_fraction": 0.2376
+        "compile_ms": 92.22448617219925,
+        "render_ms": 1412.4909457750618,
+        "compose_ms": 51.7471469938755,
+        "write_ms": 73.62296804785728,
+        "foreground_fraction": 0.2376,
+        "style": "link-palette-v1",
+        "colored_bodies": 33
       },
       "artifacts": {
         "robot.mjcf": "cc48061cb33800e4ecec75650f5efdbcfa22117ec878731bdc6ff82ef94f85e3",
         "meshes.tar": "36d9d07b947ac0a7d3ac90bcf01cccaa08771387160d14fa09dc9c62e3f75e0c",
-        "render.png": "eb75d9aa942e3cf771ba2f12c6e962057d97ac0337e8c2d3836def964db41127",
+        "render.png": "9de7f6e329ccb248a5c2675cb40e77de20a258b276c2f72ecffc4b0e512884a8",
         "graph-raw.svg": "3e341fad0a7866e072a06281b9fcf8ca51c42b70623b9adad2d75ffd5383efdd",
         "graph-robot.svg": "bce625cc3cd7f5b870234e547646993492cbb2483f76a3840ad174b80403260b",
         "robot.urdf": "63ee19ef4e47e9dc38e7f4f3e47832176745d411a6747c2c6b35de3656c335b4"
@@ -7672,7 +7730,7 @@
         "mjcf_ms": 4.058158956468105,
         "compile_ms": 50.76038930565119,
         "graph_ms": 158.0106862820685,
-        "render_total_ms": 1654.1455569677055
+        "render_total_ms": 1556.7913870327175
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7720,16 +7778,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 70.03977289423347,
-        "render_ms": 1466.1312638781965,
-        "compose_ms": 40.86944367736578,
-        "write_ms": 64.52002795413136,
-        "foreground_fraction": 0.132
+        "compile_ms": 46.83854430913925,
+        "render_ms": 1380.7669929228723,
+        "compose_ms": 41.228994727134705,
+        "write_ms": 75.34096483141184,
+        "foreground_fraction": 0.132,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "7b3fdb12111fce74f29274faf45e59e77d0b8c2609370e4a0131cdb67ea78df6",
         "meshes.tar": "aa8a163f2fce6a178a7f20207b81c81e20f5b70d01b14cdada39e38e46a2079d",
-        "render.png": "5e324677f020c57b8c763f98dc087427db05a268026f3036ea56fe6a8501c553",
+        "render.png": "b40602a9b4ed930be674e93726c7e2ba2b32b205106ba874804e12f83e4a42f7",
         "graph-raw.svg": "b91bd41098d83ea20c696812ab17ad1ff003ee74aa5fa274ca8759875910ae48",
         "graph-robot.svg": "bccac922d99c8fecb7b3d83f8beba8c165753c3eac01a16ba6a85809c25d6f5b"
       },
@@ -7762,7 +7822,7 @@
         "mjcf_ms": 3.328113816678524,
         "compile_ms": 504.51210606843233,
         "graph_ms": 95.05645697936416,
-        "render_total_ms": 2052.383395843208
+        "render_total_ms": 2043.7547164037824
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7823,16 +7883,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 494.61861001327634,
-        "render_ms": 1434.0724749490619,
-        "compose_ms": 43.48086239770055,
-        "write_ms": 62.37891688942909,
-        "foreground_fraction": 0.17985
+        "compile_ms": 515.7786821946502,
+        "render_ms": 1404.5017282478511,
+        "compose_ms": 43.261206708848476,
+        "write_ms": 65.38045592606068,
+        "foreground_fraction": 0.17985,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "86b89d34e29d0d7e6a2140636977887ba3c1b621703ae2c785ad6fae1531a42c",
         "meshes.tar": "b994e8e1c9096c62d47ab24f62aa8c1d0db61f5c8c58ca1e59ba9f10392ea14b",
-        "render.png": "44dff61d0e55592efa85420093b789d9a173608d4557f7b8c69ea9e92737876f",
+        "render.png": "24e19d9f1d8f5de01e86f35d55da6b7778ec67e01fec733e85369ba72c27f7c5",
         "graph-raw.svg": "eb29d789dbfed392d67c59e756b5169099f0d58aee54055bd7a5bda4c5df8273",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a41d61e0988319ca78ad5531d2dff122813a673070e414c9111b4d646755daba"
@@ -7864,7 +7926,7 @@
         "mjcf_ms": 2.910427749156952,
         "compile_ms": 21.250705234706402,
         "graph_ms": 80.03352815285325,
-        "render_total_ms": 1525.1164371147752
+        "render_total_ms": 1535.1624549366534
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7925,16 +7987,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.50669302418828,
-        "render_ms": 1358.7965429760516,
-        "compose_ms": 52.58482415229082,
-        "write_ms": 83.20491528138518,
-        "foreground_fraction": 0.3916
+        "compile_ms": 18.566794227808714,
+        "render_ms": 1364.0070701949298,
+        "compose_ms": 52.43779206648469,
+        "write_ms": 88.05357292294502,
+        "foreground_fraction": 0.3916,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "5ddc0bd81bcf387fcfae39f756e801b7675ccb561cfd5f167ac99d9b9a0fc9f8",
         "meshes.tar": "eb7fbaf26987a3d0fe820ddc7da07e7b02ca4563b4640a08f983aea6a21ac301",
-        "render.png": "fd04c80adc6e9a71385c04d1bf68e2b3811e249fa9e102c908043cc6218cf1ba",
+        "render.png": "7a98d794e67393203af00d532005947c26807c7f19b6fed64d887f2531b56a42",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "2e300be0fc800655e8232fb0cca199ac0a8f8696509881fdf91bfa774aed5f7a"
@@ -7976,7 +8040,7 @@
         "mjcf_ms": 6.918253377079964,
         "compile_ms": 838.3735292591155,
         "graph_ms": 831.2385599128902,
-        "render_total_ms": 2934.332839678973
+        "render_total_ms": 2897.9509081691504
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8278,16 +8342,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 879.2614699341357,
-        "render_ms": 1892.5019269809127,
-        "compose_ms": 64.98782010748982,
-        "write_ms": 76.55553193762898,
-        "foreground_fraction": 0.3938
+        "compile_ms": 884.324993006885,
+        "render_ms": 1841.1304242908955,
+        "compose_ms": 73.10707913711667,
+        "write_ms": 77.63948570936918,
+        "foreground_fraction": 0.3938,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "83b2916fd18bb67b667e0edc8dc21bf0cc5dea815ad529b1869b6e7fbf86b020",
         "meshes.tar": "91f2e2f100f001aef5a71b82dce06dff336ba5a8f38b011bc173633306b38385",
-        "render.png": "3c8d640b4990e833363f94ce81c96423ae9331af1347f7e1d6670f620cc028c7",
+        "render.png": "b73a0a2587057fe2bb2f7f6dcb41ccb7fd2481cf39af15072d1dcce925218d18",
         "graph-raw.svg": "0080d9673687c502d50574e4bf767a8283054caa4a2b69e4eb12b7ca1b431536",
         "graph-robot.svg": "9cf99831b227450cdc0e6f7459a9c40886baf8d9044d9c04812584b094a49e85",
         "robot.urdf": "311306f82c29a8c2f47fcbf4634bad828130b83b331d9810c08ac3148c7d1e7f"
@@ -8325,7 +8391,7 @@
         "mjcf_ms": 6.227269768714905,
         "compile_ms": 558.0863398499787,
         "graph_ms": 547.4851904436946,
-        "render_total_ms": 2486.7539908736944
+        "render_total_ms": 2511.2434839829803
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8747,16 +8813,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 616.8478326871991,
-        "render_ms": 1695.4266247339547,
-        "compose_ms": 68.39140597730875,
-        "write_ms": 89.13883287459612,
-        "foreground_fraction": 0.4147
+        "compile_ms": 546.7772781848907,
+        "render_ms": 1789.9145120754838,
+        "compose_ms": 69.42542409524322,
+        "write_ms": 89.23462824895978,
+        "foreground_fraction": 0.4147,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "0c7c846272d6c9c05e522201aedc381c3de8fe8451721a8403d99caf8478787f",
         "meshes.tar": "24f81613b77063e35ea4d79498bee9969791a93b2c5713d38eba8de0d2dad906",
-        "render.png": "82ef66aa7853cf35dff8f989fd516636037a1221d695b482b4cc2eebae2e3f3e",
+        "render.png": "1e8394fd48548f552456d84e5a8a82965fae9934a9e4c7d6da233dc7aac19619",
         "graph-raw.svg": "940b862b05c52a374e9debce2f229a93b0623016a856340797e9226a648ac2fd",
         "graph-robot.svg": "d0f52fa480b4575769639b87ddabdcfce9a6bfc07cbb03e0587edf10cbeb947c",
         "robot.urdf": "642600e73f2dd5a3ab8c286964b441d1c7c20b1f5ab7ad3286d92f7752424c0e"
@@ -8800,7 +8868,7 @@
         "mjcf_ms": 3.6558061838150024,
         "compile_ms": 40.5735713429749,
         "graph_ms": 156.71239094808698,
-        "render_total_ms": 1600.7316187024117
+        "render_total_ms": 1642.7071033976972
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8861,16 +8929,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 51.137730944901705,
-        "render_ms": 1384.2629590071738,
-        "compose_ms": 66.3004769012332,
-        "write_ms": 86.2333201803267,
-        "foreground_fraction": 0.6952
+        "compile_ms": 43.33722312003374,
+        "render_ms": 1424.113405868411,
+        "compose_ms": 71.87123596668243,
+        "write_ms": 90.78564494848251,
+        "foreground_fraction": 0.6952,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "c34239bdb08a0e984d0da8c469ee1d576aebf7df9941838c6c7e361133bcc050",
         "meshes.tar": "b7af4b9fb32fc3bf8c0d711b90887deb5f283324565df57cc68b293f70f903b4",
-        "render.png": "d9849b2c48ffdba293227ac0ff04b421228b44ca8f70d84f3dbdd11697b927d1",
+        "render.png": "1550d5764d6803dee8ec85d257bbf8a5d2b521fa4ce92923d5d2ac2adf706d70",
         "graph-raw.svg": "41597248151ae39eb698ecc533db24a75b909f9dcbc2c7eb02f2797553ccce47",
         "graph-robot.svg": "1520bed30bd87dcbcd5c0ff26032775dccb3235af0b36cc426229fd5cf7389af"
       },
@@ -8901,7 +8971,7 @@
         "mjcf_ms": 2.8615943156182766,
         "compile_ms": 98.71275816112757,
         "graph_ms": 79.45284806191921,
-        "render_total_ms": 1797.5402069278061
+        "render_total_ms": 1746.8563308939338
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8962,16 +9032,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 111.01663205772638,
-        "render_ms": 1521.4390037581325,
-        "compose_ms": 60.48218393698335,
-        "write_ms": 91.4527690038085,
-        "foreground_fraction": 0.6696083333333334
+        "compile_ms": 134.90973133593798,
+        "render_ms": 1445.8669950254261,
+        "compose_ms": 60.10752310976386,
+        "write_ms": 93.83052820339799,
+        "foreground_fraction": 0.6696083333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b3c76717d26bb119c0fb84b71b65c9288478c73af6c98a7d1d735ddd667b06c0",
         "meshes.tar": "74a5c82c7dc6926f1dd5add933e4d028034c8212b9debba756e8913ff14f09f4",
-        "render.png": "46ec77076c0c5d2721714451b08299d3029ef3fa993c628ef0e739dd8be76757",
+        "render.png": "6d48f802d1530903218232901576bc03c01542b748d2a790c0aec9ac67af970d",
         "graph-raw.svg": "84b3c579d3c5a3da579a8e48ccb536d646b386b6d76cc08892e79794b38c1e77",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "4e528d81fe0a12e599ecac66483f8472b979960c1bb00a56ca518624d701623f"
@@ -9003,7 +9075,7 @@
         "mjcf_ms": 2.9076957143843174,
         "compile_ms": 10.16637310385704,
         "graph_ms": 74.55735374242067,
-        "render_total_ms": 1600.2621008083224
+        "render_total_ms": 1502.8494549915195
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9064,16 +9136,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.83951722830534,
-        "render_ms": 1394.7552111931145,
-        "compose_ms": 60.44764816761017,
-        "write_ms": 121.44821416586637,
-        "foreground_fraction": 0.6855333333333333
+        "compile_ms": 11.001765262335539,
+        "render_ms": 1332.2868486866355,
+        "compose_ms": 61.05592008680105,
+        "write_ms": 86.26690320670605,
+        "foreground_fraction": 0.6855333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "08e70b2272752a345b2eee2925d85015a635406058d13a8921fabe14f3491f53",
         "meshes.tar": "b10991cd418674a11942380534b246b2f0d582ede9704a24d8236755da41ed95",
-        "render.png": "025da4ec2ecb7294d829c2a0532b7ca5c64261afe14ac99c94282ec6576bbf46",
+        "render.png": "f15e62656f0baaebb0f21c704f9f08bb3466ac099acbb536418031798a964b73",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "565648be9dbf17a5348eb1409d3eb918ff0aa4bedbb99a5a43262c35042cfd3e"
@@ -9114,7 +9188,7 @@
         "mjcf_ms": 2.7611986733973026,
         "compile_ms": 12.462574057281017,
         "graph_ms": 116.39415007084608,
-        "render_total_ms": 1520.9235423244536
+        "render_total_ms": 1562.487571965903
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9187,16 +9261,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.25839900225401,
-        "render_ms": 1353.578901849687,
-        "compose_ms": 61.3994630984962,
-        "write_ms": 76.94626180455089,
-        "foreground_fraction": 0.60335
+        "compile_ms": 16.213402152061462,
+        "render_ms": 1396.2570987641811,
+        "compose_ms": 61.26007530838251,
+        "write_ms": 76.38880610466003,
+        "foreground_fraction": 0.60335,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "1c6d0ad570b038386f5f09c9c78ef719e2fa852faa247c935b5cdbf70d9899bc",
         "meshes.tar": "f4999600516275dba3a53350631930589b9dc38bd01672e924cadb0b56963dca",
-        "render.png": "e2de62ed9415c98379403b7e99a4e645a5a0f6204773d360e06b58e579db13d5",
+        "render.png": "fa0d853c70e046b6893371206d81a1c50ffba7dea7ee7bc78d9c3b08e0a0c6ac",
         "graph-raw.svg": "5e54ab29726fc0737b46a508649c460119b650807d01ec9235e940d2f9d63460",
         "graph-robot.svg": "e125b9dd3730d42d0832cd549e242d60c85521ebb8105f4aec92f160aa216c5b"
       },
@@ -9238,7 +9314,7 @@
         "mjcf_ms": 3.435665275901556,
         "compile_ms": 379.8386459238827,
         "graph_ms": 136.43865659832954,
-        "render_total_ms": 2220.17804114148
+        "render_total_ms": 2124.8061493970454
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9286,16 +9362,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 374.7306107543409,
-        "render_ms": 1694.344034884125,
-        "compose_ms": 64.60565282031894,
-        "write_ms": 73.22529098019004,
-        "foreground_fraction": 0.69025
+        "compile_ms": 407.30623714625835,
+        "render_ms": 1563.42136207968,
+        "compose_ms": 64.38129767775536,
+        "write_ms": 77.24587805569172,
+        "foreground_fraction": 0.69025,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "46075abae432e503aeba1ff771e63205e9424cd5ba47f48107679243446dfc4e",
         "meshes.tar": "6094751e8e3e9b4e69585d035d35d51d0eb881f33dfc44ab768e6e4bbcc0973e",
-        "render.png": "5f8e30d29d52722fcaa0f63a00975260e817ee6f9d67f1e24b4169eaac6e9c35",
+        "render.png": "8f9263ee1fd602dc4e2699b944197753684519e93da2fad344a203d9246da053",
         "graph-raw.svg": "76af7de9951c12e31785359f9fa4a2b267096c0b9802781b67a9528fb6b9959a",
         "graph-robot.svg": "b849514273227cc4446892be7fdab471b40ff9dd8df94baf328422fefebfe13f"
       },
@@ -9335,7 +9413,7 @@
         "mjcf_ms": 3.147943876683712,
         "compile_ms": 122.75247788056731,
         "graph_ms": 121.13474123179913,
-        "render_total_ms": 1787.2712551616132
+        "render_total_ms": 1722.113877069205
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9390,16 +9468,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 120.68862095475197,
-        "render_ms": 1485.123234335333,
-        "compose_ms": 59.965125285089016,
-        "write_ms": 108.31204382702708,
-        "foreground_fraction": 0.6875
+        "compile_ms": 117.75171337649226,
+        "render_ms": 1392.242485191673,
+        "compose_ms": 59.594005811959505,
+        "write_ms": 140.62341675162315,
+        "foreground_fraction": 0.6875,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "e6819e8b9d4605e7f1e71c5e0ef33e5c1c2aeb4fccdd69567f434c67f8328a2a",
         "meshes.tar": "a0a8126fab5ccdc8a15cae5cda63c1858d4a9b7f884cd7206d3fb55df57721bd",
-        "render.png": "6ae84a0d74b7c5fb86449c548f8761ca9bfc704403cf70d52ad838ef79b46eb2",
+        "render.png": "09d34fa01581d3a8285d12a705a32d37821d86d6c2a5626c7a4b703062e5856a",
         "graph-raw.svg": "3e47771b4dde2b55e1f879316e70d15b54d683a6836c13c98718c7497640d7c2",
         "graph-robot.svg": "ad94062a575309c88616548cb6676d353541e0976877e07adf43ec5b07cca476"
       },
@@ -9433,7 +9513,7 @@
         "mjcf_ms": 3.7829047068953514,
         "compile_ms": 29.112636111676693,
         "graph_ms": 161.76063613966107,
-        "render_total_ms": 1531.3304048031569
+        "render_total_ms": 1522.68708916381
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9494,16 +9574,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.809569008648396,
-        "render_ms": 1362.5595569610596,
-        "compose_ms": 61.04752002283931,
-        "write_ms": 65.17986068502069,
-        "foreground_fraction": 0.3817
+        "compile_ms": 32.80929336324334,
+        "render_ms": 1351.9154572859406,
+        "compose_ms": 61.31678819656372,
+        "write_ms": 64.21297695487738,
+        "foreground_fraction": 0.3817,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "2171b4bf2ecc281bfd0f505a5b3b1df9a2ca6313be51d222a3a2bfc7e0231dbb",
         "meshes.tar": "b595d32046ffbd570cf3702a830e65cdaf7c21652af65c0ed782859b342b47e1",
-        "render.png": "955c8b2fd4f973ea36dc17f05a0364edfe4ef7ef8827536146b18fa2bdd20b43",
+        "render.png": "cf9e779e8c7f85ae6bfd6facedacc65f215364a92b76c8e09cea7600f4d3f841",
         "graph-raw.svg": "d0602172d9b90e41aa033c9d300e427b426abe98fc231f4413ba5ef8de45675d",
         "graph-robot.svg": "a2465f26f5584029b7db08e15fbbeddc6738bb3a860f910c6b60a3c271c85617",
         "robot.urdf": "ecc9620dd698b2ea52348edba86345abfbe2e7c1d26ff87fd228cf481d8e9310"
@@ -9535,7 +9617,7 @@
         "mjcf_ms": 3.4889448434114456,
         "compile_ms": 2.8695263899862766,
         "graph_ms": 109.96354604139924,
-        "render_total_ms": 1492.559134028852
+        "render_total_ms": 1641.1113338544965
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9596,16 +9678,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.4522567875683308,
-        "render_ms": 1366.2764970213175,
-        "compose_ms": 62.63995310291648,
-        "write_ms": 47.1031297929585,
-        "foreground_fraction": 0.5544
+        "compile_ms": 3.707494121044874,
+        "render_ms": 1383.9921648614109,
+        "compose_ms": 62.07002839073539,
+        "write_ms": 179.12920797243714,
+        "foreground_fraction": 0.5544,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "05c139f2b51cc76529982ca72933d066fd413fa720920582e05b33edea51cf6f",
         "meshes.tar": "9b3438a53766f425ba2d56e2540a512c8eda9c6e5b5e4c492d2c5c888d173b78",
-        "render.png": "ec8f30d58c8d78af2bda5475b2461410690e105bf5f01bbc95ac37ddeeaf32bc",
+        "render.png": "fa96f59ded9554c7a5adad5e354ce77b8b230be8b23f4542d8312e6c1c526b4b",
         "graph-raw.svg": "e23121dfb83e5f4ddac85487f853ba634685c775591d253ecf50eedb928f6efe",
         "graph-robot.svg": "4300690f8603413e1534f08ef822364288c0b5e5af6f974d4ce30a9bf9a43a10",
         "robot.urdf": "69028c867aed0d4e492322b67e5f9c4be0e4afda65ce2b910f0eb6e22d9c6070"
@@ -9646,7 +9730,7 @@
         "mjcf_ms": 3.328547812998295,
         "compile_ms": 78.30673921853304,
         "graph_ms": 99.19457603245974,
-        "render_total_ms": 1627.8612343594432
+        "render_total_ms": 1634.9521540105343
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9694,16 +9778,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 79.62685078382492,
-        "render_ms": 1396.856565028429,
-        "compose_ms": 47.67137812450528,
-        "write_ms": 90.65718203783035,
-        "foreground_fraction": 0.3223
+        "compile_ms": 107.06004267558455,
+        "render_ms": 1366.831922903657,
+        "compose_ms": 47.700016759335995,
+        "write_ms": 100.93328822404146,
+        "foreground_fraction": 0.3223,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "e99b7e588d31cc874205e2c94125c3d0a0f94b0b3fb7f494067fe037d3335c28",
         "meshes.tar": "fc93c408770fdfd04bcf3169c618fb91a4693b3149b8d60a1eec49beefc85022",
-        "render.png": "65f083c216223405d6b3af584cba6c160bd5f40f623b9430d913878e70a5f8bc",
+        "render.png": "fee7511e8459f3885791d88ace82c99c7037089688d5d47c1860584a9802141f",
         "graph-raw.svg": "eaea9651323f92d51b2a5cefba9998c1f2b2ebd2f290897558f87a7e0da38842",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -9741,7 +9827,7 @@
         "mjcf_ms": 3.1646140851080418,
         "compile_ms": 6.633801851421595,
         "graph_ms": 93.63102074712515,
-        "render_total_ms": 1547.2606178373098
+        "render_total_ms": 1636.3645298406482
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9796,16 +9882,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.838690955191851,
-        "render_ms": 1398.0653849430382,
-        "compose_ms": 59.15156006813049,
-        "write_ms": 70.22241223603487,
-        "foreground_fraction": 0.7242083333333333
+        "compile_ms": 9.371363092213869,
+        "render_ms": 1370.7024860195816,
+        "compose_ms": 59.56617929041386,
+        "write_ms": 184.8397459834814,
+        "foreground_fraction": 0.7242083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "3e61ee6abfb473eb64819be7391a8bab31a429cd37a0ab1ba115a33950cef547",
         "meshes.tar": "a9f8649941838b2da62b38c59453067360cc0eea6033dd3067acf3536ceaa862",
-        "render.png": "e6cd056bc043a5f4db91fc92304be86ff31c76c27d1f9422f85ca69ecf7309fd",
+        "render.png": "dceec65482c9ca08b4b6f90e678319c6c14c6a7f93f0e10c631db62c5386c36e",
         "graph-raw.svg": "dd0c9570740be320589884e7871e8fb9776eeeb6ffeb212bf94757a9e059f8ce",
         "graph-robot.svg": "cf4cb5b93f7fdcf40d8c90a59ed9599c92ed71fe4736c90b83c17cc0a0340b5b"
       },
@@ -9843,7 +9931,7 @@
         "mjcf_ms": 2.8530177660286427,
         "compile_ms": 24.215742014348507,
         "graph_ms": 79.56799399107695,
-        "render_total_ms": 1525.5409949459136
+        "render_total_ms": 1522.2558029927313
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9898,16 +9986,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.752259720116854,
-        "render_ms": 1355.581663083285,
-        "compose_ms": 50.54857907816768,
-        "write_ms": 81.82809362187982,
-        "foreground_fraction": 0.3597
+        "compile_ms": 24.666042998433113,
+        "render_ms": 1345.2072590589523,
+        "compose_ms": 50.47379620373249,
+        "write_ms": 89.71503982320428,
+        "foreground_fraction": 0.3597,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "cd135ba63be84a15b980534f319a677d185a33d0dfcfea10c87fe7b846eeb7c5",
         "meshes.tar": "8d6d17a89f7f5fa276314d4c225d3fe6c679466ffd304848c55ebbc4e56ec49d",
-        "render.png": "5e4cb1717b9552ad141b51e549d3abfc160b24873537bf3a596e8ab7386fdc19",
+        "render.png": "d18e5091b276f5bbc2da9a74fc8559e0e4e62a2ce6f5c58bbca483208ee5f271",
         "graph-raw.svg": "7d73a13c5c558e42f8dc2bd8dabc4f58ba90ec9f0956dcc0d240b257a7de2fc9",
         "graph-robot.svg": "dbb8aca7caa2607d4407120bbcd9cf76bcde070f827ccce7cb7fab0e22f5bbcc"
       },
@@ -9945,7 +10035,7 @@
         "mjcf_ms": 2.9362384229898453,
         "compile_ms": 75.1207647845149,
         "graph_ms": 94.0915122628212,
-        "render_total_ms": 1674.123153090477
+        "render_total_ms": 1695.4900068230927
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10006,16 +10096,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 89.33734707534313,
-        "render_ms": 1405.8125643059611,
-        "compose_ms": 70.44627098366618,
-        "write_ms": 95.47737892717123,
-        "foreground_fraction": 0.74745
+        "compile_ms": 72.47986411675811,
+        "render_ms": 1400.7012881338596,
+        "compose_ms": 69.1478387452662,
+        "write_ms": 141.0034392029047,
+        "foreground_fraction": 0.74745,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "560e4de768aa69a8fa580a8715ab09161f4935725d8b12e7a8b01b57b77673b4",
         "meshes.tar": "d8bfa8d818fce7763dd26f97370d0d807130b5ffe78b9a75e9f5993b087d6731",
-        "render.png": "2b21a1bfbcc4cf7b8c2ee25ef842faceebe52eed457f8da135c92c32ef4293e0",
+        "render.png": "08e2b6f5b3c168388dbeb274acfdb49751c5f96f7af541626f4f8548822921db",
         "graph-raw.svg": "7efb3485d47e49a9008bb6a043e1ca53314e7c56508d877500acabfa517aabf9",
         "graph-robot.svg": "ed5e2f91fc71284a4df072d93c5b5bb8ccc9db4e784f32ab2c965db53ce881a5"
       },
@@ -10053,7 +10145,7 @@
         "mjcf_ms": 2.9951720498502254,
         "compile_ms": 39.08505802974105,
         "graph_ms": 96.19549894705415,
-        "render_total_ms": 1589.8174080066383
+        "render_total_ms": 1589.2878286540508
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10101,16 +10193,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 45.9702187217772,
-        "render_ms": 1372.7241642773151,
-        "compose_ms": 67.43893632665277,
-        "write_ms": 90.76268970966339,
-        "foreground_fraction": 0.6842
+        "compile_ms": 39.803847670555115,
+        "render_ms": 1366.757326759398,
+        "compose_ms": 67.54773575812578,
+        "write_ms": 103.17866783589125,
+        "foreground_fraction": 0.6842,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "3779a504a041a3b69dc834b736a1c1b792f57d9eda91c0f4285e59f1404796fa",
         "meshes.tar": "295e857cca6e14ff539b3fcdbc8a6093e8fd0cd4bbcf2b93b067771198c3dd11",
-        "render.png": "5296d3cdcd6d65a5ba631fbf0de71575bd40ff79885fc8217eed9c1e9816db97",
+        "render.png": "5eee26e4bc87d459ffed59a12d5cd4897cf4022166bac54a96874d4824990c63",
         "graph-raw.svg": "2a70da303274259e8f31e2310a83c90333ad371014ea23eb1a288689200e51cf",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d"
       },
@@ -10141,7 +10235,7 @@
         "mjcf_ms": 3.1242198310792446,
         "compile_ms": 22.412292193621397,
         "graph_ms": 81.92603383213282,
-        "render_total_ms": 1579.7281758859754
+        "render_total_ms": 1535.6421028263867
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10202,16 +10296,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.432855796068907,
-        "render_ms": 1395.239575766027,
-        "compose_ms": 62.78672814369202,
-        "write_ms": 86.56241605058312,
-        "foreground_fraction": 0.784875
+        "compile_ms": 16.52264315634966,
+        "render_ms": 1352.5376040488482,
+        "compose_ms": 62.77248589321971,
+        "write_ms": 91.56396798789501,
+        "foreground_fraction": 0.784875,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "e7c0c65b305cb4176fa047047963cf86d8cd91523837c693f9887c1512960405",
         "meshes.tar": "dbff9c9e902d9f87ffda2fc77b451c541b1cce1609b06f061f14788c5cdac425",
-        "render.png": "77f5b9370bd74189d875d5a42676d74c82234766cc7fc5571292387c50f7b680",
+        "render.png": "343b74a60bae75d64d81d36d28afb07e386d28c34ab542ffe84834823d6f71a1",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "3c8e12e8f091cb3a6c35cab06fea44dabbe3ada671969132b6452ccba6c5a545"
@@ -10244,7 +10340,7 @@
         "mjcf_ms": 3.400499001145363,
         "compile_ms": 5.749247968196869,
         "graph_ms": 129.69981785863638,
-        "render_total_ms": 1496.0655122995377
+        "render_total_ms": 1507.2914152406156
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10305,16 +10401,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.128555957227945,
-        "render_ms": 1340.2997301891446,
-        "compose_ms": 63.307005912065506,
-        "write_ms": 71.24990783631802,
-        "foreground_fraction": 0.48125
+        "compile_ms": 6.793365813791752,
+        "render_ms": 1356.053126975894,
+        "compose_ms": 62.21110513433814,
+        "write_ms": 70.06350811570883,
+        "foreground_fraction": 0.48125,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "3cc85cf903f8f1bcbf051fcaac3d5999259b3f4ca26aa07567ac6a49573192c1",
         "meshes.tar": "4c38e962673bbaa86802f32a809fbe5476561d6909c32363239dacf5b065f849",
-        "render.png": "125b8ad5797a73a01362b54582a9304a0359953d67d04bccdabf69c064b3d0d7",
+        "render.png": "02288823a3b2cb472507f32ba776be6c60968fb17b238b4860288add4eddd69a",
         "graph-raw.svg": "e8e53f9e3295a28cee91c2fdafcb8635d2d77f7c993384d97d000cbd8389b395",
         "graph-robot.svg": "e59c9a759fc700ebaa1ad74a2ba1687cfae13abf2dd3f60e97260022c9f7c8b4",
         "robot.urdf": "7ea625e0ff8488f44deb06116833d5b616b79d08080b37daf701625dd1e6b8c4"
@@ -10352,7 +10450,7 @@
         "mjcf_ms": 4.219701047986746,
         "compile_ms": 20.570130087435246,
         "graph_ms": 207.62689178809524,
-        "render_total_ms": 1604.244476184249
+        "render_total_ms": 1503.5159792751074
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10413,16 +10511,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.21984399855137,
-        "render_ms": 1436.4078040234745,
-        "compose_ms": 68.28057207167149,
-        "write_ms": 65.48412004485726,
-        "foreground_fraction": 0.49995
+        "compile_ms": 21.24658925458789,
+        "render_ms": 1338.2745371200144,
+        "compose_ms": 67.2195078805089,
+        "write_ms": 64.78391820564866,
+        "foreground_fraction": 0.49995,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "08e8ac0287913a1842a330b62af654eb23921701e6e8b86724c29e0d3ea193f2",
         "meshes.tar": "89502df1658bd05a63ad488a7cd662cd461d5928f452738ab1ee14e2e305e0ab",
-        "render.png": "ad07d6e6a31ac7135ce95a858521c3cf2ae36b7393c9faf9ba38953099e9df17",
+        "render.png": "ef34651bf184f621ddae1d30c59a0ee442fe067c7f6b64fc1e51e9632ba4e17e",
         "graph-raw.svg": "07e83d85692b3e119f8652ab68a7fcb012f15f980177e2cb2cb6fd639b7c3ffd",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "8f95d6a8a04cd04274c9f57b03459a620d34270c4f467ee8fe2a8c60fb961ec2"
@@ -10454,7 +10554,7 @@
         "mjcf_ms": 3.5031139850616455,
         "compile_ms": 4.820536822080612,
         "graph_ms": 95.32994171604514,
-        "render_total_ms": 1568.3253169991076
+        "render_total_ms": 1517.1691719442606
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10515,16 +10615,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.501636303961277,
-        "render_ms": 1402.9987989924848,
-        "compose_ms": 66.94311695173383,
-        "write_ms": 80.10009722784162,
-        "foreground_fraction": 0.77275
+        "compile_ms": 5.413761828094721,
+        "render_ms": 1341.150467749685,
+        "compose_ms": 66.71715062111616,
+        "write_ms": 92.10268827155232,
+        "foreground_fraction": 0.77275,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "40c67723475c8f0f67a9d296e3c7e3f1193a351250e37d748c6924b5f2a8d823",
         "meshes.tar": "e8f8c015c47906537c238f5ea395232c25de3149b403f218cadc37454af0528e",
-        "render.png": "a1f19bcf373106efa2ec1f7ea0d0a48e6a9a825756debce141665f95d655a374",
+        "render.png": "bb96bcb62864b0190fe5232798b3e33520ab44c00dbc893386ff585ccdc6bec1",
         "graph-raw.svg": "3db23c0e8246d40d2158df7c03cf7fc1f2554780bbc14c1a41b51d15bfe6f813",
         "graph-robot.svg": "f3e6348b906f1b73c46dfb1e6573189fc73fd5b53cecb42f585acfbe28968530",
         "robot.urdf": "beb7dbb848c3ee8f18ab077ca14db499d0207da0ccfc2ff4c5458563b541c32a"
@@ -10566,7 +10668,7 @@
         "mjcf_ms": 2.8310501947999,
         "compile_ms": 18.44493392854929,
         "graph_ms": 93.94494164735079,
-        "render_total_ms": 1585.5737011879683
+        "render_total_ms": 1564.4738310948014
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10614,16 +10716,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 31.466790940612555,
-        "render_ms": 1386.1380834132433,
-        "compose_ms": 62.6015062443912,
-        "write_ms": 92.18174871057272,
-        "foreground_fraction": 0.7458
+        "compile_ms": 30.43157374486327,
+        "render_ms": 1365.2212410233915,
+        "compose_ms": 62.09099432453513,
+        "write_ms": 94.63922400027514,
+        "foreground_fraction": 0.7458,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "483ed223ab32474a81c597b4a2b2a04c2eb838f3b5bf2b76e48119fc81131f12",
         "meshes.tar": "9634db546b28b9f7a3c93245b819c4fd55d6be464cc33afb0f359e8e73bcbea4",
-        "render.png": "350f1998c9e1de249aadb75228e07250cf899dec0c1b510172f9e73c00c63a49",
+        "render.png": "9daa4924ab19f0b9d014cb479d7f5ae4e8423fad7525690ca5ae04cc46aa2cd0",
         "graph-raw.svg": "36aaff45a463cdb62446078af441fcb1b6925fc3e1dd46028c8b91962602f8cd",
         "graph-robot.svg": "35fe21aa3e12aa45aecde495fcbab53af3d50be6eb7e3c4792d180478d071fb0"
       },
@@ -10663,7 +10767,7 @@
         "mjcf_ms": 2.760389819741249,
         "compile_ms": 42.85523993894458,
         "graph_ms": 93.79560733214021,
-        "render_total_ms": 1576.1470911093056
+        "render_total_ms": 1563.111447263509
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10711,16 +10815,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 45.89008819311857,
-        "render_ms": 1373.2419270090759,
-        "compose_ms": 66.53184676542878,
-        "write_ms": 77.63807009905577,
-        "foreground_fraction": 0.7583333333333333
+        "compile_ms": 41.86754859983921,
+        "render_ms": 1363.7153361923993,
+        "compose_ms": 66.69723801314831,
+        "write_ms": 78.80945783108473,
+        "foreground_fraction": 0.7583333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "2ce66f434665efa3ab1134d40978e2de7d6356e42ab085c68dde9d1f254ac528",
         "meshes.tar": "94f00d40124120c42b4625972f0d5c82e0ed79e9723bdb007301b65a4535cef1",
-        "render.png": "6037c99bb2937b70ab70ffeee181e562ab4ae229388a09cfb8ccca53b42b8056",
+        "render.png": "b61e92efe3b529b4059bd299e6329611043e7e7100a72f5490fc5f9e3475176b",
         "graph-raw.svg": "17b8be257d14d2a2f9dc13cf55679db199d7fc0699113c35aee4da071e6ad0cf",
         "graph-robot.svg": "c1a703fdcd2ab03df74359d679e9748461eff845423d9112f323dd29af6fec3c"
       },
@@ -10751,7 +10857,7 @@
         "mjcf_ms": 3.2281652092933655,
         "compile_ms": 21.956561133265495,
         "graph_ms": 101.90882999449968,
-        "render_total_ms": 1531.0096610337496
+        "render_total_ms": 1593.3764739893377
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10812,16 +10918,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.71594339981675,
-        "render_ms": 1346.5100601315498,
-        "compose_ms": 66.57137209549546,
-        "write_ms": 82.34207006171346,
-        "foreground_fraction": 0.734825
+        "compile_ms": 23.119902703911066,
+        "render_ms": 1397.0246999524534,
+        "compose_ms": 66.23373087495565,
+        "write_ms": 94.68352934345603,
+        "foreground_fraction": 0.734825,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "91ca2e6a00e5830514dc1002813b92584a8e137833c2ba761db879894379b4f2",
         "meshes.tar": "dbe651b59588c68353f3d6903225f0eea5b9734b178dc1ca8dace258e5c537ae",
-        "render.png": "ae492efe838e7370f7db53e03a2140a19801c9ba8078e41b526921a715c62df1",
+        "render.png": "c34af2fa7d80cca32d896879590b86237235fc36965038c17f502fad35a1dc2e",
         "graph-raw.svg": "714e87fab3f2c86a17233fec2fa2c571ff19684786bc49ba7bda85fcca02b92d",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "22f6a22c9e3c02dbc38b9724143fb066d745dc50f067c2a6c1d7b117fd1863f1"
@@ -10860,7 +10968,7 @@
         "mjcf_ms": 2.8800317086279392,
         "compile_ms": 38.23918290436268,
         "graph_ms": 79.56011965870857,
-        "render_total_ms": 1609.9880426190794
+        "render_total_ms": 1586.0732542350888
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10908,16 +11016,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 37.76576975360513,
-        "render_ms": 1413.0377480760217,
-        "compose_ms": 49.5769027620554,
-        "write_ms": 92.38784993067384,
-        "foreground_fraction": 0.33825
+        "compile_ms": 37.277617026120424,
+        "render_ms": 1371.6683122329414,
+        "compose_ms": 48.56722196564078,
+        "write_ms": 116.46341998130083,
+        "foreground_fraction": 0.33825,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "af2ca4d9a3b6bbedf1990abf6c2a7d7ced57eba25f4dc7d151c82f4773df5637",
         "meshes.tar": "6e252ed8cd209872297a0bcadec6219ea933e30ea4bd7edb80ad34c149fb3d91",
-        "render.png": "e343fb0b3591d44024ff38ccb7f9201d78b2ab39a2439524e82f49bb79b915a3",
+        "render.png": "0323d34b028844b13c191b12184ccb959cd5252f80958e240e06fc24c6acc8f1",
         "graph-raw.svg": "f551d0a1271ec951e2b91557b444fd52200a3ad4b1d0e36ee92807e08a79495f",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -10956,7 +11066,7 @@
         "mjcf_ms": 26.295168325304985,
         "compile_ms": 700.2737238071859,
         "graph_ms": 23053.936078678817,
-        "render_total_ms": 2267.5390979275107
+        "render_total_ms": 2167.5807372666895
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26929,16 +27039,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 706.436526030302,
-        "render_ms": 1420.8655408583581,
-        "compose_ms": 64.10289090126753,
-        "write_ms": 60.55558240041137,
-        "foreground_fraction": 0.31955
+        "compile_ms": 708.111166022718,
+        "render_ms": 1328.7770519964397,
+        "compose_ms": 56.418845895677805,
+        "write_ms": 61.20028719305992,
+        "foreground_fraction": 0.31955,
+        "style": "link-palette-v1",
+        "colored_bodies": 154
       },
       "artifacts": {
         "robot.mjcf": "753e514c7ed138d7769549830b84b8f8580ad20a166996f658bcc4bf06645bf1",
         "meshes.tar": "d714e48fef6114637083af7af9ef6100a0d63d02cbea110d291ddf536cfe7a19",
-        "render.png": "d573bbaa410917ae8d3cbec3f2878b2c7dd3ac1407be5500cc2a7ca3f33d918a",
+        "render.png": "eea809f7e56e1e990cef8d79463a3158284723ad644283d70eaea810baeaf034",
         "graph-raw.svg": "d9f8e5db5509c8823fe9481fcf68a5daf245d4b4acb3c0c53a0027858fe3928f",
         "graph-robot.svg": "2c6a8379f24362e7e448c5164a129af4dad884d135818d610f55a013146aa979"
       },
@@ -26977,7 +27089,7 @@
         "mjcf_ms": 114.42834697663784,
         "compile_ms": 121.82633299380541,
         "graph_ms": 7570.094664115459,
-        "render_total_ms": 1644.4163667038083
+        "render_total_ms": 1669.7029010392725
       },
       "mesh_preparation": {
         "status": "complete",
@@ -33302,16 +33414,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 124.14094991981983,
-        "render_ms": 1389.7918150760233,
-        "compose_ms": 56.67482875287533,
-        "write_ms": 61.12538930028677,
-        "foreground_fraction": 0.31955
+        "compile_ms": 122.74051597341895,
+        "render_ms": 1415.824166033417,
+        "compose_ms": 56.54022376984358,
+        "write_ms": 62.26102216169238,
+        "foreground_fraction": 0.31955,
+        "style": "link-palette-v1",
+        "colored_bodies": 58
       },
       "artifacts": {
         "robot.mjcf": "decd2e5be2f6902d0ba0aac01cb9f4bd02f17289574af96e86c42f24825fa1eb",
         "meshes.tar": "f2f821e09639ba3ebddccc4acdf8f60a05c5a9fc7d60634dfb0b8c6ae7de5d66",
-        "render.png": "6bd33ebbd4e9d152ae9ac9323d2bf04ee763ee325bf3a821f2e125de7f14902f",
+        "render.png": "d3c7b0d30511f38573f708ad818828981c1cca5d7de05244252939b600896bc1",
         "graph-raw.svg": "681af9c758baab3b3844e00fd69e012ad8f86520de7da04fd530c38797183e70",
         "graph-robot.svg": "c0d4cb7f2e648254e0d7727cbae6a84947e981a9a0f2ba364694cf8ad6e2207b"
       },
@@ -33350,7 +33464,7 @@
         "mjcf_ms": 25.98368003964424,
         "compile_ms": 698.9361331798136,
         "graph_ms": 22503.41509981081,
-        "render_total_ms": 2261.1608733423054
+        "render_total_ms": 2152.7836569584906
       },
       "mesh_preparation": {
         "status": "complete",
@@ -49323,16 +49437,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 709.6685888245702,
-        "render_ms": 1419.143624138087,
-        "compose_ms": 53.27211506664753,
-        "write_ms": 63.83930612355471,
-        "foreground_fraction": 0.25025
+        "compile_ms": 709.6166289411485,
+        "render_ms": 1316.9664819724858,
+        "compose_ms": 50.11897627264261,
+        "write_ms": 63.13735106959939,
+        "foreground_fraction": 0.25025,
+        "style": "link-palette-v1",
+        "colored_bodies": 154
       },
       "artifacts": {
         "robot.mjcf": "42c7747a493cdf66f9abf70969e2000f656d1c6f8b8ec3c2778fe9d06ea8f396",
         "meshes.tar": "d6dc6db851996acf8f309c33acf7fb2758e49c7369e4e5b85cda3d3f89d1908b",
-        "render.png": "200e70b558fc92f5348173ff3599c19b79cc1fd0d14a322e8c88bb0a1e536220",
+        "render.png": "7aca7dbef297d91e9bbf477a0a65a312d7735a38decd6262c80863e464b82d2d",
         "graph-raw.svg": "2f088db09190ede20dff1ff21fcf2d69686470bc24869f06489ab28010bc2906",
         "graph-robot.svg": "8f8eaf8a7de5d70104b2a7820176f069e209f11f5fa27cb7ff95615fe6424d47"
       },
@@ -49371,7 +49487,7 @@
         "mjcf_ms": 26.295678224414587,
         "compile_ms": 699.6060269884765,
         "graph_ms": 21728.884164709598,
-        "render_total_ms": 2275.2259210683405
+        "render_total_ms": 2288.023992907256
       },
       "mesh_preparation": {
         "status": "complete",
@@ -65338,16 +65454,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 739.3969669938087,
-        "render_ms": 1383.970064111054,
-        "compose_ms": 60.717490036040545,
-        "write_ms": 77.8287397697568,
-        "foreground_fraction": 0.6479
+        "compile_ms": 734.0251719579101,
+        "render_ms": 1402.7979047968984,
+        "compose_ms": 60.91960007324815,
+        "write_ms": 76.5349818393588,
+        "foreground_fraction": 0.6479,
+        "style": "link-palette-v1",
+        "colored_bodies": 154
       },
       "artifacts": {
         "robot.mjcf": "90b1e5e8bfcbcd0ae39230063d8563c835aeca386ff89eb3a964f2c01a7c0665",
         "meshes.tar": "62eeb9d1f5b83d9251d0a4f1b0dd751299ddfa5751387c609c773b712967c119",
-        "render.png": "2ee68f761da734dd8ebc22de16cc85f7dfa8669583a02b120c4c8aaa82c4a8de",
+        "render.png": "b5c286d21d07617fc4df2db0dd94eea70503bcdab2a5c38efe0e9c48d5a2ec98",
         "graph-raw.svg": "c13588dc3df0c958009801463dd6863e01501ae057ace3f8a24174f0e69f76e6",
         "graph-robot.svg": "b943f537087bce2b398bad7a736ddc0ddcb06170a0918601abc4f05c45a61878"
       },
@@ -65386,7 +65504,7 @@
         "mjcf_ms": 123.33112303167582,
         "compile_ms": 700.7039622403681,
         "graph_ms": 21888.477113097906,
-        "render_total_ms": 2302.3957540281117
+        "render_total_ms": 2602.290161885321
       },
       "mesh_preparation": {
         "status": "complete",
@@ -81359,16 +81477,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 725.4835292696953,
-        "render_ms": 1422.3845531232655,
-        "compose_ms": 62.84608319401741,
-        "write_ms": 76.40069397166371,
-        "foreground_fraction": 0.6479
+        "compile_ms": 723.8938338123262,
+        "render_ms": 1334.7696578130126,
+        "compose_ms": 60.816749930381775,
+        "write_ms": 469.3746929988265,
+        "foreground_fraction": 0.6479,
+        "style": "link-palette-v1",
+        "colored_bodies": 154
       },
       "artifacts": {
         "robot.mjcf": "00adaea24c07c4926d8a34173129f91d00319b80112eeab6bbc6619c5a3fef49",
         "meshes.tar": "a4b83d4a984c71a0df77a97fdcb19189533b273142e60589fdaefe10d5d8cc89",
-        "render.png": "d93d0fb902d6472a8d237c5c1becba1118aa3947b0780e176a697ef616f13f79",
+        "render.png": "20803b353aa7838f4815162e347c93d5a789490bf9253e15f27bac523e77e0a5",
         "graph-raw.svg": "cc14e4739f5ebe11ce3ae748c4371b15c58cd245ac94a928a3efecbf5f6b87d0",
         "graph-robot.svg": "4b4d367f0fdd767db7e79cc3e793f78d00aed6d8ef2fd13d85180f628976da10"
       },
@@ -81414,7 +81534,7 @@
         "mjcf_ms": 4.975856281816959,
         "compile_ms": 624.5505423285067,
         "graph_ms": 476.4220900833607,
-        "render_total_ms": 2418.932958971709
+        "render_total_ms": 2533.932779915631
       },
       "mesh_preparation": {
         "status": "complete",
@@ -81721,16 +81841,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 546.8770200386643,
-        "render_ms": 1713.376501109451,
-        "compose_ms": 61.46954884752631,
-        "write_ms": 79.69331741333008,
-        "foreground_fraction": 0.44605
+        "compile_ms": 613.7757399119437,
+        "render_ms": 1730.7403502054513,
+        "compose_ms": 69.7862789966166,
+        "write_ms": 104.69023184850812,
+        "foreground_fraction": 0.44605,
+        "style": "link-palette-v1",
+        "colored_bodies": 13
       },
       "artifacts": {
         "robot.mjcf": "3411ec7e037e1406f1e4b943cf16d7cb496c5746ffbfa6b5c3b2f01a3269feb8",
         "meshes.tar": "bdf598240ee82d28b3b6e9196c2fd85f198c414b379fc3b49b2d181b274617ce",
-        "render.png": "c3f761a59e0bf764a39286dc76260559ce58821739411cc35a8f645c02e797c2",
+        "render.png": "0110bec58febe3ed980e7380cae84b70d22a80fdc9363ea27e5655f6bb00867c",
         "graph-raw.svg": "dba22bd222b019fbf5ec70738a6e67b3f39643e54f157a40c244cc22f8827744",
         "graph-robot.svg": "8b3c0eea7f981049fc54d0b25bb46b8a35a7ca136757c3bddc2e93d56b00816d"
       },
@@ -81768,7 +81890,7 @@
         "mjcf_ms": 2.938964869827032,
         "compile_ms": 436.3523260690272,
         "graph_ms": 83.76216422766447,
-        "render_total_ms": 2342.761821113527
+        "render_total_ms": 2524.589197244495
       },
       "mesh_preparation": {
         "status": "complete",
@@ -81823,16 +81945,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 469.1562200896442,
-        "render_ms": 1665.8682408742607,
-        "compose_ms": 63.95486323162913,
-        "write_ms": 130.3938878700137,
-        "foreground_fraction": 0.61215
+        "compile_ms": 654.9700140021741,
+        "render_ms": 1624.949814286083,
+        "compose_ms": 72.56064377725124,
+        "write_ms": 159.59578705951571,
+        "foreground_fraction": 0.61215,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "5f10f41f61cd7571fbab72f0eeeb514709b68f91185e10a2d38d52ddd2a527e9",
         "meshes.tar": "08690a5c1ab67e8fb4a0428e0771a3f6e8367381c2485c44e98c94f9c7f77535",
-        "render.png": "7f80297f91f88bbb9c0d441fe8d8d83f474ba20fb368d623c1d3245d5bae074e",
+        "render.png": "7374d95f4799faa1929618ce6cd09dd8ed86f96def1facbb22b1fcd53299f729",
         "graph-raw.svg": "e356da25bd20026f913e4ecbe9a27a1774e80585b4e6069d547676f0943f3b51",
         "graph-robot.svg": "3cc22834ff211aa7f6c7cdd631ef7a72cbc4420dfabda7fd5a5694dd51eeda60"
       },
@@ -81869,7 +81993,7 @@
         "mjcf_ms": 3.0964119359850883,
         "compile_ms": 23.0845152400434,
         "graph_ms": 93.7076210975647,
-        "render_total_ms": 1493.6327328905463
+        "render_total_ms": 1545.650138054043
       },
       "mesh_preparation": {
         "status": "complete",
@@ -81917,16 +82041,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.041573215276003,
-        "render_ms": 1355.8303313329816,
-        "compose_ms": 41.97470797225833,
-        "write_ms": 57.28838313370943,
-        "foreground_fraction": 0.13195
+        "compile_ms": 19.897617865353823,
+        "render_ms": 1415.0002337992191,
+        "compose_ms": 41.30059294402599,
+        "write_ms": 57.639786042273045,
+        "foreground_fraction": 0.13195,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "905d679e2c92c66229b3a892f6ad4d4f1871dc45e6cc637cc825da7ccd3f809a",
         "meshes.tar": "e6267ff72b4d56649a417c59a2a93ed830394ef37bd69355889a8ca60f889d0f",
-        "render.png": "5e4d0d9abf65f5735c39e130db33548ab259bae07a1b6a95e5619b9589f039de",
+        "render.png": "9afbb3c4a1a7c8a8ec340f4d5bf5eb5d741ef6b72ff5776e741a365cec31d74c",
         "graph-raw.svg": "f551d0a1271ec951e2b91557b444fd52200a3ad4b1d0e36ee92807e08a79495f",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -81974,7 +82100,7 @@
         "mjcf_ms": 3.991320263594389,
         "compile_ms": 34.12338485941291,
         "graph_ms": 528.2201999798417,
-        "render_total_ms": 1617.6061369478703
+        "render_total_ms": 1611.0828230157495
       },
       "mesh_preparation": {
         "status": "complete",
@@ -82022,16 +82148,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 54.15072804316878,
-        "render_ms": 1392.3383597284555,
-        "compose_ms": 60.21355977281928,
-        "write_ms": 97.60217741131783,
-        "foreground_fraction": 0.5456
+        "compile_ms": 37.277009803801775,
+        "render_ms": 1382.2538740932941,
+        "compose_ms": 64.4967770203948,
+        "write_ms": 114.55010017380118,
+        "foreground_fraction": 0.5456,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "9a499c171dc755afbdad7e3ae7ac8e9a8eee4545ff8b1b5cb52fd11277ea1f5f",
         "meshes.tar": "fee46e9be5dc2f864511cc73295fa07b592dca311a918d0a300d0e9fc82f426b",
-        "render.png": "44f97ca16e2aa20b6c555e3dd2155e72aa915899fb4f71b53e36cbc4fc357efb",
+        "render.png": "f7caa76d8348274615eaefc546c34ed194f07f5d5c03c7f85e51a1ef730bcbaa",
         "graph-raw.svg": "966a4809505cad8637d3f91f3b37b6769337f30d7cf7691d665344c674adb9ff",
         "graph-robot.svg": "36401916f41f62c5ebac348302b8261d6b4b306efb03c21190a4a60d76a16b30"
       },
@@ -82069,7 +82197,7 @@
         "mjcf_ms": 2.6128157041966915,
         "compile_ms": 12.862772680819035,
         "graph_ms": 127.85090180113912,
-        "render_total_ms": 1517.2570906579494
+        "render_total_ms": 1498.209513258189
       },
       "mesh_preparation": {
         "status": "complete",
@@ -82184,16 +82312,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.342746067792177,
-        "render_ms": 1353.859441820532,
-        "compose_ms": 59.067980851978064,
-        "write_ms": 77.01914990320802,
-        "foreground_fraction": 0.4961
+        "compile_ms": 13.528296258300543,
+        "render_ms": 1332.103005144745,
+        "compose_ms": 58.91882302239537,
+        "write_ms": 81.58083679154515,
+        "foreground_fraction": 0.4961,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "25b6fd63cfeb83a73a1fd2178923f56421155c8fdc8e51dcfb15c98fe7b3fe14",
         "meshes.tar": "8162eb9f462681d9854fb5ee52467bbc92c5253088bf62d979b60a603b8af1bf",
-        "render.png": "79a3e56e9b9d5efa58dd09a0cc7954f6af32e4764401a6f63ca71e36599af22e",
+        "render.png": "52d579320e55a8ccc168fe2a8ab3d5a81acbd07d25fd59490876c07e7ba63999",
         "graph-raw.svg": "49f825cdc9df2f9246a10a5d257ae1c1d345e9043d9db96b5d8b02763b0dafb8",
         "graph-robot.svg": "72cddc343bdd6f3780f45822f02ec16b91f589eee86924d05a93f4fdbb8fade3"
       },
@@ -82224,7 +82354,7 @@
         "mjcf_ms": 3.0364268459379673,
         "compile_ms": 21.281476132571697,
         "graph_ms": 110.49713985994458,
-        "render_total_ms": 1597.7151920087636
+        "render_total_ms": 1531.9012179970741
       },
       "mesh_preparation": {
         "status": "complete",
@@ -82285,16 +82415,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.10641000419855,
-        "render_ms": 1420.9431121125817,
-        "compose_ms": 63.24626738205552,
-        "write_ms": 78.5126774571836,
-        "foreground_fraction": 0.6919
+        "compile_ms": 32.39979408681393,
+        "render_ms": 1346.611512824893,
+        "compose_ms": 62.51448020339012,
+        "write_ms": 78.23111722245812,
+        "foreground_fraction": 0.6919,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "5bac94a4914214a6fb478de54e4596841e12ad96430eaf552749a24bba76ed90",
         "meshes.tar": "0b6fee3b149064519d6f87453e0fdc84dfc4811d4f91d8dbaa0616132b23ba9f",
-        "render.png": "6b282cfbb26774a07bae2565b34c0d2c00502162cda594291dd5e1b1adb3997b",
+        "render.png": "60d22d46b770007f8a1a136bed721d97c10655f593abed6b65bdd5e95534b91c",
         "graph-raw.svg": "e23121dfb83e5f4ddac85487f853ba634685c775591d253ecf50eedb928f6efe",
         "graph-robot.svg": "4300690f8603413e1534f08ef822364288c0b5e5af6f974d4ce30a9bf9a43a10",
         "robot.urdf": "05bd564c85e7fab45e69725d434c7f3048a432efe72254573acc69094a04cc45"
@@ -82338,7 +82470,7 @@
         "mjcf_ms": 4.212718922644854,
         "compile_ms": 20.883959252387285,
         "graph_ms": 202.92858593165874,
-        "render_total_ms": 1536.5811749361455
+        "render_total_ms": 1515.9658412449062
       },
       "mesh_preparation": {
         "status": "complete",
@@ -82393,16 +82525,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.390909656882286,
-        "render_ms": 1370.6437172368169,
-        "compose_ms": 57.1524016559124,
-        "write_ms": 72.60139007121325,
-        "foreground_fraction": 0.50765
+        "compile_ms": 26.344182901084423,
+        "render_ms": 1347.5398579612374,
+        "compose_ms": 57.41387605667114,
+        "write_ms": 72.36458407714963,
+        "foreground_fraction": 0.50765,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "4f6daecbb7e664b6c2869ea543519b1111389f83feccc4f0601d1d1b82d388f7",
         "meshes.tar": "8fa0f0afafdb4593060fb7675a5ed99303031fa476c70129f2529b636738eb73",
-        "render.png": "9a941d26b0d2d2722afe64fcf1cb09e059d319cc82604f39f78d2dcc90d88479",
+        "render.png": "e03c3359bdcece9f66369a0c27414597267b01263d65774d6d3e9c6cb781d542",
         "graph-raw.svg": "6c17eda2d2a12b14df72aa6b3ad6450439298a8161207a8d592e29c0562b11a8",
         "graph-robot.svg": "e2f8104531ba3bc50ac0b457c66b24151ee5d0039375a984638cd85331e79982"
       },
@@ -82435,7 +82569,7 @@
         "mjcf_ms": 3.473185934126377,
         "compile_ms": 12.980842031538486,
         "graph_ms": 100.9949091821909,
-        "render_total_ms": 1563.9510750770569
+        "render_total_ms": 1524.755872786045
       },
       "mesh_preparation": {
         "status": "complete",
@@ -82496,16 +82630,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.02316915988922,
-        "render_ms": 1378.24169639498,
-        "compose_ms": 60.496184043586254,
-        "write_ms": 91.1114257760346,
-        "foreground_fraction": 0.56925
+        "compile_ms": 13.074470218271017,
+        "render_ms": 1342.0622958801687,
+        "compose_ms": 59.412116184830666,
+        "write_ms": 97.93421206995845,
+        "foreground_fraction": 0.56925,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "82ba40edce485aba848121addddff96f2601be2f6e4eb3794af446a69c49c62b",
         "meshes.tar": "360dc8b11bc643fafbec3266982d0eed1838839a37f24e695132a514656fe426",
-        "render.png": "551f797d2685ebb0af16adc96d80d905323c1eb1c452d643bfbd9f081671b85c",
+        "render.png": "1bf744abc257068fcc00f3005b688cb5957fbe5fdea42d0407d9ebf8f829baaf",
         "graph-raw.svg": "8ae47df202f18ad5146481a2afff930c86408b953b2d7348d7acafe328abd52f",
         "graph-robot.svg": "e168ef507ac3998260c586518f2e9ad5c423dd474a07d625676decb4b4632e11",
         "robot.urdf": "1324398634b373b78f3ede4cf0e067d87115696ba057c0cedcf670d389806069"
@@ -82556,7 +82692,7 @@
         "mjcf_ms": 5.124385003000498,
         "compile_ms": 40.61479074880481,
         "graph_ms": 298.91285486519337,
-        "render_total_ms": 1552.022300194949
+        "render_total_ms": 1551.2255849316716
       },
       "mesh_preparation": {
         "status": "complete",
@@ -82647,16 +82783,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 40.89357377961278,
-        "render_ms": 1363.3540701121092,
-        "compose_ms": 58.63616522401571,
-        "write_ms": 76.53480023145676,
-        "foreground_fraction": 0.58905
+        "compile_ms": 45.17118586227298,
+        "render_ms": 1358.8619171641767,
+        "compose_ms": 59.001519810408354,
+        "write_ms": 76.05329900979996,
+        "foreground_fraction": 0.58905,
+        "style": "link-palette-v1",
+        "colored_bodies": 14
       },
       "artifacts": {
         "robot.mjcf": "f6aeb4ab1480b805b3d948e32e89bfba6166093f43601c16d30daf0a0fed617a",
         "meshes.tar": "ff8c8dc703a88524b8c8eb06f6a1aadaf951ba9c37e56ecf9e406844675be05f",
-        "render.png": "fbdd1209ae7add28df061b028bdf894f27841a63f4eed6890f9acd285c5008fa",
+        "render.png": "5ed64a96a0bb2272ee1bdd328acb91b16af82f18b14e11499c0d500259db6fc4",
         "graph-raw.svg": "0e7d6384dcd6686aa0d97537b8f9c84b815f1c84d46e332f90e2ea72e5272826",
         "graph-robot.svg": "3be19ab535f4d7018e930eae72ffd1f2ede5b1dfa78751707324201759400c9b"
       },
@@ -82694,7 +82832,7 @@
         "mjcf_ms": 2.5131581351161003,
         "compile_ms": 3.0192197300493717,
         "graph_ms": 118.2460212148726,
-        "render_total_ms": 1506.5882890485227
+        "render_total_ms": 1444.9593871831894
       },
       "mesh_preparation": {
         "status": "complete",
@@ -82742,16 +82880,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.178610932081938,
-        "render_ms": 1400.516394060105,
-        "compose_ms": 39.61736289784312,
-        "write_ms": 50.030482932925224,
-        "foreground_fraction": 0.07755
+        "compile_ms": 3.709502052515745,
+        "render_ms": 1338.8624307699502,
+        "compose_ms": 39.42144615575671,
+        "write_ms": 50.82757165655494,
+        "foreground_fraction": 0.07755,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "61ae43903555082d1142805331841dcc675581b8573063fe27df1ccffb4eac54",
         "meshes.tar": "a9c6a754218be6f75cee88d10b1995c3930d693e6ac1dd64952c369fea390db4",
-        "render.png": "b9ac5e0fb2c41ac0bb0a51d178198fd35d06853569543984a1abc87efc9bda6b",
+        "render.png": "ae7bf87aef8aa74d031977e23a98c1213958d460b19b0888f2bf538ead203d34",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -82782,7 +82922,7 @@
         "mjcf_ms": 2.8646690770983696,
         "compile_ms": 9.10641299560666,
         "graph_ms": 68.01074789837003,
-        "render_total_ms": 1599.5353744365275
+        "render_total_ms": 1529.6790297143161
       },
       "mesh_preparation": {
         "status": "complete",
@@ -82843,16 +82983,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.572904091328382,
-        "render_ms": 1425.6886802613735,
-        "compose_ms": 67.05492595210671,
-        "write_ms": 83.5064216516912,
-        "foreground_fraction": 0.59235
+        "compile_ms": 9.179613087326288,
+        "render_ms": 1347.9814967140555,
+        "compose_ms": 67.1645407564938,
+        "write_ms": 92.96213276684284,
+        "foreground_fraction": 0.59235,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "4424c860e6d69c48f451496af0198bc4edf9cedcc3de66044bc39fe1f320f8a2",
         "meshes.tar": "1938f7382b5459620056571eba633d366e15637011649569b804f1ca2b7da7aa",
-        "render.png": "bd1b85f1380a241ec0c9bce7f4c18eee059b768ec855005ae86b23769b2b710b",
+        "render.png": "556a7a66d1d1fba4339c4eb00a3a02ebeda24040dc36cfc93873292ed9afc543",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "64c088b5093978277b8ebc8307a27df255aeb13cb6d393b43ea30784ece65ea6"
@@ -82898,7 +83040,7 @@
         "mjcf_ms": 7.968638092279434,
         "compile_ms": 103.38460095226765,
         "graph_ms": 420.5103782005608,
-        "render_total_ms": 1784.1095221228898
+        "render_total_ms": 1762.3238358646631
       },
       "mesh_preparation": {
         "status": "complete",
@@ -82971,16 +83113,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 100.42148362845182,
-        "render_ms": 1527.1277837455273,
-        "compose_ms": 63.49183106794953,
-        "write_ms": 80.10131912305951,
-        "foreground_fraction": 0.4367
+        "compile_ms": 108.2967291586101,
+        "render_ms": 1482.892139814794,
+        "compose_ms": 63.08294599875808,
+        "write_ms": 95.94390029087663,
+        "foreground_fraction": 0.4367,
+        "style": "link-palette-v1",
+        "colored_bodies": 31
       },
       "artifacts": {
         "robot.mjcf": "b3e2670ab0e00989f9b5d7cfb1972aec1e1f2bec290b9ade5baa3ef4d0d125fe",
         "meshes.tar": "4da9dc6e48bfb74869976636e15955ca32a19d8a523bab2f3c52faff3645da26",
-        "render.png": "3483193cef7c63c4417cafef5990f0acaca27f1727b906cdc4b446d6a3981263",
+        "render.png": "44fdb43cd855e82a0fb62deb57fceabf619ee6b92e80391a327d344b8569850a",
         "graph-raw.svg": "01eb9dccc63438940d743c2032902cda9d5ffe8c1f46124148fb66c3dd841b38",
         "graph-robot.svg": "ee30500bfdca6ad0c1dae72fdde730c17b574631689a0292a05637a14e5f61b1"
       },
@@ -83015,7 +83159,7 @@
         "mjcf_ms": 6.462190765887499,
         "compile_ms": 105.5244286544621,
         "graph_ms": 423.49383095279336,
-        "render_total_ms": 1691.4693261496723
+        "render_total_ms": 1698.507902212441
       },
       "mesh_preparation": {
         "status": "complete",
@@ -83076,16 +83220,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 99.63881224393845,
-        "render_ms": 1444.7369566187263,
-        "compose_ms": 50.22464785724878,
-        "write_ms": 83.89466907829046,
-        "foreground_fraction": 0.4268
+        "compile_ms": 119.06903563067317,
+        "render_ms": 1421.5960260480642,
+        "compose_ms": 50.259239971637726,
+        "write_ms": 95.57906817644835,
+        "foreground_fraction": 0.4268,
+        "style": "link-palette-v1",
+        "colored_bodies": 14
       },
       "artifacts": {
         "robot.mjcf": "96c23f7baab81dbff079a678d1cde32094626613dd6c05cfdc4018e2257e5ba4",
         "meshes.tar": "4393edde318a6fe1a6754885af9d5e308ec5975b6eeac5f0f82e3bcc6f087560",
-        "render.png": "170404e876f872a7ad4b112d234cd159e401c10583e254c350cbb2ce4e0b62ad",
+        "render.png": "68de876afaa3f0bde405057c86d39c6524ed1c45fad9a544d6fa7d2aaec8e83b",
         "graph-raw.svg": "6e111909f2ffa901808cbc7a5915ced5a331cc45ac0ef5c8946087d4f97ef8e6",
         "graph-robot.svg": "b06ee333b0aa76883b19eaef73e549f35c2cdec34c594c0476cbc268dcb7342d",
         "robot.urdf": "61fd09504e7eec7939ac1ca532c915424a966d739cd3ace190de84da2b51797c"
@@ -83131,7 +83277,7 @@
         "mjcf_ms": 6.017396226525307,
         "compile_ms": 31.50148270651698,
         "graph_ms": 368.006095290184,
-        "render_total_ms": 1550.758936908096
+        "render_total_ms": 1529.1868899948895
       },
       "mesh_preparation": {
         "status": "complete",
@@ -83204,16 +83350,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.686179012060165,
-        "render_ms": 1379.1679171845317,
-        "compose_ms": 64.8858929052949,
-        "write_ms": 64.25647903233767,
-        "foreground_fraction": 0.6559583333333333
+        "compile_ms": 28.34384422749281,
+        "render_ms": 1358.788657002151,
+        "compose_ms": 64.66737575829029,
+        "write_ms": 65.27625722810626,
+        "foreground_fraction": 0.6559583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "fdc2e4be98443741103cf0285832d29f7708ae3a0a8b3507e7a0721992bfadc6",
         "meshes.tar": "139b9b548a77e4341f09d4edbd41649e5af4d1fa37ab1d0b00a9df4bc0ef5ae8",
-        "render.png": "58fd48f09a56ad26289648bb0f417a7069749fba1dfd91b60e13ec62344d4334",
+        "render.png": "1271c5d9efea75a8fa91ee0ff437a69f56589389856e4729b1fc28282048438f",
         "graph-raw.svg": "f81fd914c24fb24f98c5d316c350549d7f6add62789c1fb2627cda52e1613da6",
         "graph-robot.svg": "534e67e9547eec756e13d1a0164200fe70588aaa468d78ead84bdd78a3529077"
       },
@@ -83264,7 +83412,7 @@
         "mjcf_ms": 6.703158840537071,
         "compile_ms": 310.5574520304799,
         "graph_ms": 5014.878457877785,
-        "render_total_ms": 2576.705473009497
+        "render_total_ms": 2035.608152858913
       },
       "mesh_preparation": {
         "status": "complete",
@@ -83481,16 +83629,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 927.5020239874721,
-        "render_ms": 1506.8572890013456,
-        "compose_ms": 65.24856109172106,
-        "write_ms": 64.19597007334232,
-        "foreground_fraction": 0.6643
+        "compile_ms": 380.079785361886,
+        "render_ms": 1514.9837522767484,
+        "compose_ms": 65.55866124108434,
+        "write_ms": 62.78177024796605,
+        "foreground_fraction": 0.6643,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "7434417dbe0e38b0958a2d740eacbe895c27746bcdf328b600007b0aab173fff",
         "meshes.tar": "a1005118d1824f7b2b5dc102df3744d070a07538ee717b82aff8d5515ed93605",
-        "render.png": "63384f26a3a9db126d3c99e5f5bea745023cabfbc53c86f48d4ecedd2eb4d872",
+        "render.png": "631b5c480097c46057476901fc1d9ac1d372bf9258eccae4bf8da75cd7c1d189",
         "graph-raw.svg": "8c064a3783b68b5b3cfeb54e2673400592c106320a66514ff32aa66704a6dfd7",
         "graph-robot.svg": "6f9c982285110a516861c9bfe68dddd877ca84f91cc95b66b18ff812fc451d04"
       },
@@ -83528,7 +83678,7 @@
         "mjcf_ms": 2.966080792248249,
         "compile_ms": 16.461468301713467,
         "graph_ms": 95.92318488284945,
-        "render_total_ms": 1528.5708047449589
+        "render_total_ms": 1484.8825200460851
       },
       "mesh_preparation": {
         "status": "complete",
@@ -83583,16 +83733,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.355050649493933,
-        "render_ms": 1384.4432490877807,
-        "compose_ms": 58.78577893599868,
-        "write_ms": 64.86837333068252,
-        "foreground_fraction": 0.44715
+        "compile_ms": 8.009619079530239,
+        "render_ms": 1341.699288226664,
+        "compose_ms": 58.691366109997034,
+        "write_ms": 64.46881825104356,
+        "foreground_fraction": 0.44715,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "70c2b84978175725308a5fb09c1769b4f690ed6ddaf01e063efe550a02c550b6",
         "meshes.tar": "d553f3404b43e776c4c0a21721f8591a75c25da4d687f45cbace7cf312d369f5",
-        "render.png": "4f96d1f1ad0d370d1edd966bbac1ff118fa9e38fb0b1966827f3e8b7e2f5fec1",
+        "render.png": "fbf918d7b4a498bf9fdc031613ef41f1d3f3afaebc053fe37cff14d02288be16",
         "graph-raw.svg": "1bf1c47775a39e2a866201fef701e511d421f0317b0402c5f46d7e34ad97c848",
         "graph-robot.svg": "3cc22834ff211aa7f6c7cdd631ef7a72cbc4420dfabda7fd5a5694dd51eeda60"
       },
@@ -83647,7 +83799,7 @@
         "mjcf_ms": 5.798490718007088,
         "compile_ms": 2931.1132370494306,
         "graph_ms": 382.77655793353915,
-        "render_total_ms": 5432.19808023423
+        "render_total_ms": 5002.297459170222
       },
       "mesh_preparation": {
         "status": "complete",
@@ -83702,16 +83854,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2978.00932591781,
-        "render_ms": 2242.8671433590353,
-        "compose_ms": 62.886479776352644,
-        "write_ms": 126.31106982007623,
-        "foreground_fraction": 0.4752
+        "compile_ms": 2678.391849156469,
+        "render_ms": 2115.6654939986765,
+        "compose_ms": 56.607941165566444,
+        "write_ms": 131.4187259413302,
+        "foreground_fraction": 0.4752,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "647803ea08f0c3f3a9051decb493270e633eba1b3da845ac7c5603f8b39eb63c",
         "meshes.tar": "15e2766f3b0393cd5abf23046b7d69368a0dd57a74880a8688f30ca96c6f824b",
-        "render.png": "896f9fb683c1f95e1f3142e0a30beb72fe58bbdf885658df13aa178a1eb31ea6",
+        "render.png": "e10be95451a2331e398294142b96c2ed348ecc9df903ebfbf0d4842d08d6fad6",
         "graph-raw.svg": "a64265e649d2ffa30ac591a8b44a6365a03647b509879a4a67028843b8dfb11f",
         "graph-robot.svg": "e4ac6074b05be64e7b0579932aecb2f93f75125604d64204a4dec2ff236617b4"
       },
@@ -83742,7 +83896,7 @@
         "mjcf_ms": 3.0293515883386135,
         "compile_ms": 49.48250390589237,
         "graph_ms": 72.03171215951443,
-        "render_total_ms": 1550.7721393369138
+        "render_total_ms": 1437.1627820655704
       },
       "mesh_preparation": {
         "status": "complete",
@@ -83803,16 +83957,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.036838706582785,
-        "render_ms": 1428.969717118889,
-        "compose_ms": 46.894748229533434,
-        "write_ms": 51.93871259689331,
-        "foreground_fraction": 0.209
+        "compile_ms": 31.447946093976498,
+        "render_ms": 1294.9193301610649,
+        "compose_ms": 46.53930617496371,
+        "write_ms": 52.059540059417486,
+        "foreground_fraction": 0.209,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "adee230c37988374ead0eff4f6a299d9d3126af830e2641ed4cddb316a7119a2",
         "meshes.tar": "0667eca0c118ce7809082724e292b548e134a89d4ff6bbcea7a563762cffe7d0",
-        "render.png": "4676da714a44aa22e05ccae31aa4141fbd0e33e2ce42fa69f4b938c0e2977710",
+        "render.png": "70fbad3a6468642981f688466981e6b8b61f6ac75ef5950eac0329072d2c20d9",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "a06de978608830564544067c3e7b4cecc5944ba6f7acaeee940b542a70c9233e"
@@ -83857,7 +84013,7 @@
         "mjcf_ms": 3.395957872271538,
         "compile_ms": 8.73376103118062,
         "graph_ms": 236.81525513529778,
-        "render_total_ms": 1500.0042039901018
+        "render_total_ms": 1491.161169949919
       },
       "mesh_preparation": {
         "status": "complete",
@@ -83990,16 +84146,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.497513994574547,
-        "render_ms": 1354.6890011057258,
-        "compose_ms": 56.267965119332075,
-        "write_ms": 66.7354092001915,
-        "foreground_fraction": 0.6127
+        "compile_ms": 16.35582698509097,
+        "render_ms": 1340.759317856282,
+        "compose_ms": 55.358463898301125,
+        "write_ms": 66.29040604457259,
+        "foreground_fraction": 0.6127,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "cf2862f3354bb5c96ef728bf88ffd529ae44ae906eaf6502aea2601b46d1fcee",
         "meshes.tar": "763d85ea5902472ea84bbaf736fba194a88cc8c59eba1fd0807d7de540cef04e",
-        "render.png": "9225d26d3353e57ff2f7f42fc996661119d0b2ffb40b585e463e42441dbdfced",
+        "render.png": "02e63c220a23340dcec6070115de69c5a9c8f754396d9836e5f7d9a8573d673d",
         "graph-raw.svg": "d98286f782f2e6a84ab7b23fcb6938f567c98933c0a0bf61f327223c82fda54e",
         "graph-robot.svg": "ffc238bb1f2419ba9332ed475ff353e4ea32a975d9e9e9e5622726d4876fcfd9"
       },
@@ -84045,7 +84203,7 @@
         "mjcf_ms": 9.338294621556997,
         "compile_ms": 289.33630883693695,
         "graph_ms": 679.1244596242905,
-        "render_total_ms": 2080.9764829464257
+        "render_total_ms": 2047.4627241492271
       },
       "mesh_preparation": {
         "status": "complete",
@@ -84160,16 +84318,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 323.47208401188254,
-        "render_ms": 1629.3484950438142,
-        "compose_ms": 62.07680469378829,
-        "write_ms": 53.55375399813056,
-        "foreground_fraction": 0.77165
+        "compile_ms": 337.28978503495455,
+        "render_ms": 1583.8942802511156,
+        "compose_ms": 61.96932727470994,
+        "write_ms": 51.99722200632095,
+        "foreground_fraction": 0.77165,
+        "style": "link-palette-v1",
+        "colored_bodies": 17
       },
       "artifacts": {
         "robot.mjcf": "a5a960369df12298eb4d91c67c5c48c28f80c68eb2fd9578aaeb5a4cf96935d8",
         "meshes.tar": "880b0ba21bb75cdc57887a350817ea11b0a3da8aba1c3d56f6b2cf1835fe3bae",
-        "render.png": "efc5ba0c614ed5d880e01fab8b6852040b171cce4fa5cf1f8e8309a17a4ecddd",
+        "render.png": "1564dc2f237dd360afe62bf8c034e5664342db6db6884406628be1754e7a1d72",
         "graph-raw.svg": "04b6445caebe4d71c30c3cbaf6b96a59c41992a154ff0e47d1c483eac87690e8",
         "graph-robot.svg": "7bb99dff0ba4a6abaf054f7d65e8004d2ffb3a613078863e751244e336aa224f"
       },
@@ -84212,7 +84372,7 @@
         "mjcf_ms": 5.542431026697159,
         "compile_ms": 5.759805906563997,
         "graph_ms": 619.0603990107775,
-        "render_total_ms": 1517.8212011232972
+        "render_total_ms": 1490.679041016847
       },
       "mesh_preparation": {
         "status": "complete",
@@ -84694,16 +84854,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.696558393537998,
-        "render_ms": 1359.3959901481867,
-        "compose_ms": 67.60730175301433,
-        "write_ms": 72.43624608963728,
-        "foreground_fraction": 0.7037333333333333
+        "compile_ms": 6.526310928165913,
+        "render_ms": 1330.804974772036,
+        "compose_ms": 67.84292589873075,
+        "write_ms": 73.18873284384608,
+        "foreground_fraction": 0.7037333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 13
       },
       "artifacts": {
         "robot.mjcf": "7ef63e1baab0c0ef1b8656badfd0ce00150d660a2126caf0c3cb0877df907069",
         "meshes.tar": "55ab5c5c9cf47438d19e074a28d6479c5ac2fda56aaa8b056a87fee546dda693",
-        "render.png": "ba14eb2f040081d8c1186be9156885e90ea3ab4cc45229b765d4b4e637b50c84",
+        "render.png": "f0b932019b82a2dbae36c8b62214d0a7b6bf146f4b71fe4d72cdf2608d00dd02",
         "graph-raw.svg": "cf77834707c870364635fb63074381ef8b246dfada949db2267a312828c66451",
         "graph-robot.svg": "b57e6678f1fa0f1bc6cd58ce6166dd151ea4a948358b0b52f4eef1dc870fb317",
         "robot.urdf": "6bdd9cb108759f504fc5796c04c81e500231473e483ecfeefdf5a4d2bcb44328"
@@ -84766,7 +84928,7 @@
         "mjcf_ms": 7.283772341907024,
         "compile_ms": 5.174476187676191,
         "graph_ms": 632.5378008186817,
-        "render_total_ms": 1513.3974100463092
+        "render_total_ms": 1457.2658510878682
       },
       "mesh_preparation": {
         "status": "complete",
@@ -84814,16 +84976,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.7827988639473915,
-        "render_ms": 1366.733412258327,
-        "compose_ms": 59.82186226174235,
-        "write_ms": 67.93737597763538,
-        "foreground_fraction": 0.6897
+        "compile_ms": 5.5682421661913395,
+        "render_ms": 1313.926903065294,
+        "compose_ms": 59.55920601263642,
+        "write_ms": 66.07912806794047,
+        "foreground_fraction": 0.6897,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "886a3432888b162813da3581553badd58598daec76cce1914d3f10177bbfde1a",
         "meshes.tar": "927615372ccc2897579e30d727cab0010685c5322494588c26f5903e055825c1",
-        "render.png": "6ac77a7f782b2a59f4b6cc1404660f75db1527b58e03a8fe36a076c2c004183e",
+        "render.png": "84b28170185a0156b84fb4b457607bfd04e7a8415af987a84ab081030db8b0b0",
         "graph-raw.svg": "fb55ddb663a1601a0bc415bd2c73cbac3d61d978348f9cd10ce5f2c13f407361",
         "graph-robot.svg": "391389e1db12e06fad9b8256e13a7ac31020c90aa1d7d920a51ac30db4b4d3bf"
       },
@@ -84861,7 +85025,7 @@
         "mjcf_ms": 2.824096940457821,
         "compile_ms": 4.149375017732382,
         "graph_ms": 90.0421068072319,
-        "render_total_ms": 1509.3732583336532
+        "render_total_ms": 1528.2197473570704
       },
       "mesh_preparation": {
         "status": "complete",
@@ -84916,16 +85080,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.945534911006689,
-        "render_ms": 1351.2908169068396,
-        "compose_ms": 68.70846077799797,
-        "write_ms": 70.254135876894,
-        "foreground_fraction": 0.7545416666666667
+        "compile_ms": 6.133562885224819,
+        "render_ms": 1368.0753577500582,
+        "compose_ms": 68.02908098325133,
+        "write_ms": 73.65127513185143,
+        "foreground_fraction": 0.7545416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "441a24bbecbe763dacb8eae027405cb1c1d14db7b135d2730700b368b220fdcd",
         "meshes.tar": "83aa11711bbac541ffd8da79dd380d23339115f9b7a6909d0bf85903f92823ce",
-        "render.png": "e648db5c9f99c24e4e45009de6dbd4ba45e58949d6259dd2594958046f79effa",
+        "render.png": "96dd4afb417bd609a8b54d44b28d54365e3fb91c2aa6acca01bf7f91d78d4ed0",
         "graph-raw.svg": "67e5f66f3f740010c38d28a32cd3661d400108622bd9472f6f76b836f345a7bb",
         "graph-robot.svg": "3cc22834ff211aa7f6c7cdd631ef7a72cbc4420dfabda7fd5a5694dd51eeda60"
       },
@@ -84956,7 +85122,7 @@
         "mjcf_ms": 3.179986961185932,
         "compile_ms": 2.357739955186844,
         "graph_ms": 246.72277085483074,
-        "render_total_ms": 1538.556711282581
+        "render_total_ms": 1502.940269652754
       },
       "mesh_preparation": {
         "status": "complete",
@@ -85017,16 +85183,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.0128220096230507,
-        "render_ms": 1392.327819019556,
-        "compose_ms": 64.5004571415484,
-        "write_ms": 65.48462901264429,
-        "foreground_fraction": 0.6696083333333334
+        "compile_ms": 8.248822763562202,
+        "render_ms": 1351.9870578311384,
+        "compose_ms": 64.61568269878626,
+        "write_ms": 65.75491279363632,
+        "foreground_fraction": 0.6696083333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "a0d047d3f7d1751a5bf713e71a0b35b6a378a5d455a85f7e611c5530d8aa2a5f",
         "meshes.tar": "c35213230c290f487a77bed88fd78aa689f5e4f0b5f81e0026ba86c2bf332c72",
-        "render.png": "81fac9706d18cc8c31e669d27e7c55a4e3b64218fdb170dc8b5b9c6eb8517747",
+        "render.png": "4b63d5d9bdc6b865870edc8eb563069ff215c1b43fd2beadc3305cded39c421d",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "045e87a1f252be8e36f671573ee817daf78b8553a950d582c70b7fd018fb0dcc"
@@ -85064,7 +85232,7 @@
         "mjcf_ms": 3.2445969991385937,
         "compile_ms": 2.659378107637167,
         "graph_ms": 117.50237504020333,
-        "render_total_ms": 1526.6981138847768
+        "render_total_ms": 1493.2098733261228
       },
       "mesh_preparation": {
         "status": "complete",
@@ -85155,16 +85323,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.9521590806543827,
-        "render_ms": 1348.3264190144837,
-        "compose_ms": 92.62908110395074,
-        "write_ms": 68.5112806968391,
-        "foreground_fraction": 0.721175
+        "compile_ms": 3.3150603994727135,
+        "render_ms": 1318.6418800614774,
+        "compose_ms": 92.62462519109249,
+        "write_ms": 66.40597805380821,
+        "foreground_fraction": 0.721175,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "b486a66e3efe302fdd60d5432f4d1a3ffda25f7f141951203a5e8809b5930d89",
         "meshes.tar": "b46c2ed6b4ac006f368e29dd43b8f727a6890e2ebc54ed8dc0f308929fd97ab2",
-        "render.png": "3dbf16d73750775199e99f57b849a9f15617bbddd54c7463611782cdb3922a72",
+        "render.png": "5df885872123d290ba238f1c0b6a7e191172ecf026af0a99475991470fd041be",
         "graph-raw.svg": "f9b7c7cc8edf6cfa5a9d3e97da71b9c95af2a7f0265fbb1597f79767f5c428cd",
         "graph-robot.svg": "495e016ca87d94b2808050606efa6bfaedfd93885ce27771afb7fc36a084fa0f"
       },
@@ -85207,7 +85377,7 @@
         "mjcf_ms": 3.4684641286730766,
         "compile_ms": 241.36165296658874,
         "graph_ms": 126.78443593904376,
-        "render_total_ms": 1841.8771433643997
+        "render_total_ms": 1808.3420130424201
       },
       "mesh_preparation": {
         "status": "complete",
@@ -85255,16 +85425,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 236.48026771843433,
-        "render_ms": 1449.2944087833166,
-        "compose_ms": 53.26276924461126,
-        "write_ms": 89.13356671109796,
-        "foreground_fraction": 0.3608
+        "compile_ms": 214.0404381789267,
+        "render_ms": 1430.4648758843541,
+        "compose_ms": 52.61230701580644,
+        "write_ms": 96.43070306628942,
+        "foreground_fraction": 0.3608,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "e4693aa3cc7fe615ee0966e8b323f91bb41c6ccc24447632bf1a41d11ede6b4c",
         "meshes.tar": "a1e0e34dc318eed5c88c86af2bab6afaf54970e70aeb39b1ef19aa9aaeb704f1",
-        "render.png": "fe7e3d8894565bee0a9d757b2eacc0dc5ff83637541f4cb3fb17ee69b82910d7",
+        "render.png": "fed617e0949c7ead2f45e78925cc7f96553c5e2963968db2f02646671d81f4e2",
         "graph-raw.svg": "4a5cf57efb6ff9667964f3bd13187b07b3a070dbda883e1d1f98ebf4137aa9a1",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -85307,7 +85479,7 @@
         "mjcf_ms": 3.194113727658987,
         "compile_ms": 217.27721765637398,
         "graph_ms": 134.1714020818472,
-        "render_total_ms": 2140.6050720252097
+        "render_total_ms": 1822.7276378311217
       },
       "mesh_preparation": {
         "status": "complete",
@@ -85355,16 +85527,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 214.93819309398532,
-        "render_ms": 1493.8913388177752,
-        "compose_ms": 54.988810792565346,
-        "write_ms": 363.4887901134789,
-        "foreground_fraction": 0.4444
+        "compile_ms": 231.24006995931268,
+        "render_ms": 1421.717484947294,
+        "compose_ms": 54.53924695029855,
+        "write_ms": 103.07980002835393,
+        "foreground_fraction": 0.4444,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "aea7d094b14472925f1ea2ea514c7adca0104c9b0424f1c17ca8136d5c84d2e4",
         "meshes.tar": "6f10e1ac52b22bdc13984e53431f815aca126e614174867522d1bb69dcd410df",
-        "render.png": "1d213ae54ee42a6c774a280c7ebeca354557f7e54f6da19daa1f2368f1778aaa",
+        "render.png": "c37632b8c389593c4503d2313e26cf65c0aa2971cc0c568a45388e66c0a226e1",
         "graph-raw.svg": "40771252f46514ac03e213d4eccb7ac2e0db26c8937e7e01d778228d6b4efc6a",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -85410,7 +85584,7 @@
         "mjcf_ms": 4.552778322249651,
         "compile_ms": 84.81628680601716,
         "graph_ms": 199.84288094565272,
-        "render_total_ms": 1594.507166184485
+        "render_total_ms": 1608.5884552448988
       },
       "mesh_preparation": {
         "status": "complete",
@@ -85471,16 +85645,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 59.50728291645646,
-        "render_ms": 1371.27721356228,
-        "compose_ms": 55.15732802450657,
-        "write_ms": 95.63588118180633,
-        "foreground_fraction": 0.4499
+        "compile_ms": 81.65338030084968,
+        "render_ms": 1354.1733282618225,
+        "compose_ms": 55.36750424653292,
+        "write_ms": 105.38094118237495,
+        "foreground_fraction": 0.4499,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "6a164c48fed5012c6ff150b44285c9ddbfc1377c2d33fbdfe6fba96a99b079d8",
         "meshes.tar": "217a95aef842d25a60d4c8f92fa734d7b0615d1bc38899bed09d37f633947b0c",
-        "render.png": "06c8051c3b5300b4239ed6e823202361b8661d15ffa125921fc7db5dab19ea1a",
+        "render.png": "47792b6913cf5ae1eec64eaf20b17e1f0fa89713dcb6a5ba354815f1e93fbd30",
         "graph-raw.svg": "bfbeb44875b2e9cb3901d8ebd218d71147730ae7f72170e053d95514d0948013",
         "graph-robot.svg": "f8f1e3cc7d923a2c60b7525de7e623c6240d5ae278d63d5255681f0a3b54f77a",
         "robot.urdf": "6435823fa2daabb461a65485abfcba69e7a620b0e91b322f376d52cb68987946"
@@ -85512,7 +85688,7 @@
         "mjcf_ms": 3.0365721322596073,
         "compile_ms": 2.9047708958387375,
         "graph_ms": 69.28755715489388,
-        "render_total_ms": 1500.847619958222
+        "render_total_ms": 1495.7562908530235
       },
       "mesh_preparation": {
         "status": "complete",
@@ -85573,16 +85749,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.94851278886199,
-        "render_ms": 1345.0482110492885,
-        "compose_ms": 61.41249416396022,
-        "write_ms": 77.54819607362151,
-        "foreground_fraction": 0.6969083333333334
+        "compile_ms": 3.4818421117961407,
+        "render_ms": 1338.341876398772,
+        "compose_ms": 60.979912988841534,
+        "write_ms": 80.82671975716949,
+        "foreground_fraction": 0.6969083333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ffbb3282da8c03284d9b5b85856bad53aa24abd12fe1816fa62110368a8c0b55",
         "meshes.tar": "30264c5a6cfaaa864bbbe82b34399346382295dac9a8bf835a485ad451b79624",
-        "render.png": "902e68bbc64ac5849bab1d17203c2f4e89a59b57b28a13375eebec50e383fe97",
+        "render.png": "03808ad96640a3615b0f87b76d249a032156bdf7d9c98fee8e427efeb5bcfb52",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "5b14392eecb7078963c917788a73a6b6002595f04435a1b6ca6bf68fd74e0e4e"
@@ -85619,7 +85797,7 @@
         "mjcf_ms": 3.377423156052828,
         "compile_ms": 521.979751996696,
         "graph_ms": 243.6697785742581,
-        "render_total_ms": 2188.2279119454324
+        "render_total_ms": 2460.4623848572373
       },
       "mesh_preparation": {
         "status": "complete",
@@ -85680,16 +85858,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 490.5151869170368,
-        "render_ms": 1528.9639118127525,
-        "compose_ms": 62.6834649592638,
-        "write_ms": 93.18161895498633,
-        "foreground_fraction": 0.7583333333333333
+        "compile_ms": 811.37017859146,
+        "render_ms": 1470.8552821539342,
+        "compose_ms": 62.806244008243084,
+        "write_ms": 103.67715917527676,
+        "foreground_fraction": 0.7583333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2a39b6dcb1342a88209e2487b12bc3433a4b04dfc007e8b456423c487614b098",
         "meshes.tar": "f860f5ce792eb450e32367637acf56ea72bb4af3883944bcc8619859abed7ec7",
-        "render.png": "5233706485e576a6e5ef33a882ac32343ab7728bafe7b49d01b1d621d147d539",
+        "render.png": "2b93dad5279fe0241d69e6e0fc7c3f62d6dc676a4c24fe6544d605869d1672b5",
         "graph-raw.svg": "5475c887acc5eba4b87a91c41e1d63b96ef6196dbc1601dc2135007b09542734",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "8f0582480ff4cff722864f28f9a81cd7911cda2e920b664ab6c669200c3c83c1"
@@ -85733,7 +85913,7 @@
         "mjcf_ms": 2.8088740073144436,
         "compile_ms": 10.144948959350586,
         "graph_ms": 221.05914307758212,
-        "render_total_ms": 1626.4305599033833
+        "render_total_ms": 1613.632267806679
       },
       "mesh_preparation": {
         "status": "complete",
@@ -85806,11 +85986,13 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.1446500904858112,
-        "render_ms": 1423.6928848549724,
-        "compose_ms": 148.65078311413527,
-        "write_ms": 39.02163915336132,
-        "foreground_fraction": 0.0
+        "compile_ms": 7.940624840557575,
+        "render_ms": 1389.9435331113636,
+        "compose_ms": 163.3773148059845,
+        "write_ms": 37.88657719269395,
+        "foreground_fraction": 0.0,
+        "style": "link-palette-v1",
+        "colored_bodies": 0
       },
       "artifacts": {
         "robot.mjcf": "c18daac7e12b617d241733d9e8a8cddec75e9c8f934c8358a724f05501891191",
@@ -85863,7 +86045,7 @@
         "mjcf_ms": 4.464755766093731,
         "compile_ms": 901.4387452043593,
         "graph_ms": 649.0542320534587,
-        "render_total_ms": 2905.4480912163854
+        "render_total_ms": 2889.8106128908694
       },
       "mesh_preparation": {
         "status": "complete",
@@ -86488,16 +86670,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 877.2182110697031,
-        "render_ms": 1853.2943618483841,
-        "compose_ms": 82.50142307952046,
-        "write_ms": 72.73759413510561,
-        "foreground_fraction": 0.6931166666666667
+        "compile_ms": 887.1375420130789,
+        "render_ms": 1825.6365517154336,
+        "compose_ms": 82.25485170260072,
+        "write_ms": 77.40605296567082,
+        "foreground_fraction": 0.6931166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "de529c6faf960c121826f8174504c54a7e685fd8514493384b4d404d9c3b734a",
         "meshes.tar": "ac3d755e708f465248fbb06610026c4a1bf7175eaae99769c0a9bc826fd57f78",
-        "render.png": "831b9a3fa468556e7a91ef3f215b4650887429d07b3474392e71921478721abb",
+        "render.png": "b79bf777d193c0d346cf16abf1f5c85bc686dd3d8191aec696f6017f3d2ffecf",
         "graph-raw.svg": "4bf8040ba136056b21863fbfd128c25af48056c04684c307097cb3fd3bdac77a",
         "graph-robot.svg": "d9e786edf33d59472786227fcd06fb54927b0697b60cf1c19008dfb3f0c618ad"
       },
@@ -86533,7 +86717,7 @@
         "mjcf_ms": 2.517887856811285,
         "compile_ms": 26.140789035707712,
         "graph_ms": 246.39264587312937,
-        "render_total_ms": 1629.4163670390844
+        "render_total_ms": 1567.634983919561
       },
       "mesh_preparation": {
         "status": "complete",
@@ -86619,11 +86803,13 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.0365570671856403,
-        "render_ms": 1426.8262130208313,
-        "compose_ms": 148.64196395501494,
-        "write_ms": 39.049641229212284,
-        "foreground_fraction": 0.0
+        "compile_ms": 10.111449752002954,
+        "render_ms": 1358.8709249161184,
+        "compose_ms": 148.76533532515168,
+        "write_ms": 37.591921631246805,
+        "foreground_fraction": 0.0,
+        "style": "link-palette-v1",
+        "colored_bodies": 0
       },
       "artifacts": {
         "robot.mjcf": "9e08fe982e0fcb7fae420f4d0ec506be9666b62d28a4a4e4e3ecf8232d42a7c2",
@@ -86665,7 +86851,7 @@
         "mjcf_ms": 3.223526757210493,
         "compile_ms": 78.96906603127718,
         "graph_ms": 268.73406674712896,
-        "render_total_ms": 1650.9546940214932
+        "render_total_ms": 1662.480168044567
       },
       "mesh_preparation": {
         "status": "complete",
@@ -86726,16 +86912,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 87.04042993485928,
-        "render_ms": 1414.9130270816386,
-        "compose_ms": 64.67867642641068,
-        "write_ms": 71.4354426600039,
-        "foreground_fraction": 0.7932166666666667
+        "compile_ms": 126.6002431511879,
+        "render_ms": 1371.177941095084,
+        "compose_ms": 64.7984491661191,
+        "write_ms": 88.13143381848931,
+        "foreground_fraction": 0.7932166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "3b02646f11bfe4cf815f37c0c83abd8bd50b71594dd768667764687be9329cbe",
         "meshes.tar": "e07fd2eabf22126b993e2d35aa84077c0cbcebc8e08921b14c94420f8dbadea0",
-        "render.png": "480e87dea25abbba43dbf6d3d9cc3b7824581caaf0a4363ed3f0cd199107e7a4",
+        "render.png": "5ee6e5696ba9d53d8b667165cff089d16fd647fac248f7e228a914eaf24491fb",
         "graph-raw.svg": "5475c887acc5eba4b87a91c41e1d63b96ef6196dbc1601dc2135007b09542734",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "95d8520e348758246f7425c91db1cb0f44984965f391920326d84c7af2b8ae1f"
@@ -86779,7 +86967,7 @@
         "mjcf_ms": 2.648470923304558,
         "compile_ms": 670.0618108734488,
         "graph_ms": 229.63535087183118,
-        "render_total_ms": 3110.7088169083
+        "render_total_ms": 2614.237721078098
       },
       "mesh_preparation": {
         "status": "complete",
@@ -86827,16 +87015,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1017.0228388160467,
-        "render_ms": 1895.8166600205004,
-        "compose_ms": 93.87001395225525,
-        "write_ms": 85.05439991131425,
-        "foreground_fraction": 0.7924583333333334
+        "compile_ms": 696.5072560124099,
+        "render_ms": 1715.4767103493214,
+        "compose_ms": 85.81132674589753,
+        "write_ms": 100.81481700763106,
+        "foreground_fraction": 0.7924583333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "44cce45a8d9a922178eb2151acf1a2ee9814ba7d5cfee802b51687c327bd9eb1",
         "meshes.tar": "f6d3fa46595903eb431cc740b5d9d088a42561769eb1f35a3f14efba9aebeddb",
-        "render.png": "f38af20733b40b170eb07df12715fd74c7299980356729c36c9d10109ed10c83",
+        "render.png": "b74fee3a4a68be9c7088d0b644cdf6b49e6a44f517a9f1862fffe1537e38a544",
         "graph-raw.svg": "47b7be2dc54ea64a8ac397c55fd7b729cd20b194599508fa52e1c925b917e5bf",
         "graph-robot.svg": "0031feba0541eff49a012d8c7c4062858c0f649fb7fb6e72bbad386b6de014e1"
       },
@@ -86879,7 +87069,7 @@
         "mjcf_ms": 3.4768739715218544,
         "compile_ms": 718.6755989678204,
         "graph_ms": 230.90043384581804,
-        "render_total_ms": 3525.6920559331775
+        "render_total_ms": 2814.979731105268
       },
       "mesh_preparation": {
         "status": "complete",
@@ -86927,16 +87117,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1597.061522770673,
-        "render_ms": 1723.143395036459,
-        "compose_ms": 98.74353464692831,
-        "write_ms": 89.35100911185145,
-        "foreground_fraction": 0.7590916666666667
+        "compile_ms": 895.8134311251342,
+        "render_ms": 1699.138949625194,
+        "compose_ms": 98.61963894218206,
+        "write_ms": 105.46994209289551,
+        "foreground_fraction": 0.7590916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "d252a171021a15fd8b11eb698bd977fc33b19273cb6cab689265c317a6eb45d2",
         "meshes.tar": "f586b362c10a7561add084f960e2226dceed6d96524418288a0cd20a40fdb76b",
-        "render.png": "6553106fd769008b3919ed4fceaa72364f96154cd11e087b04cbfed103445f01",
+        "render.png": "0e5e43b0b0d13a8156d17ae282ef3bf260b16075c6b863e10bf2ccad8d1653e8",
         "graph-raw.svg": "47b7be2dc54ea64a8ac397c55fd7b729cd20b194599508fa52e1c925b917e5bf",
         "graph-robot.svg": "0031feba0541eff49a012d8c7c4062858c0f649fb7fb6e72bbad386b6de014e1"
       },
@@ -87091,7 +87283,7 @@
         "mjcf_ms": 3.528749104589224,
         "compile_ms": 88.45831174403429,
         "graph_ms": 112.05859296023846,
-        "render_total_ms": 1689.2618350684643
+        "render_total_ms": 1675.9027279913425
       },
       "mesh_preparation": {
         "status": "complete",
@@ -87139,16 +87331,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 96.95635782554746,
-        "render_ms": 1408.5973021574318,
-        "compose_ms": 62.54234816879034,
-        "write_ms": 107.7185831964016,
-        "foreground_fraction": 0.7117
+        "compile_ms": 90.53522674366832,
+        "render_ms": 1383.0015775747597,
+        "compose_ms": 60.575442388653755,
+        "write_ms": 129.59114694967866,
+        "foreground_fraction": 0.7117,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "efdd8901797a2b9a36d1ca2588b105c6d5b4bd06bc2997dbe50ea3ed8e6de918",
         "meshes.tar": "8e210207e95df789f21cb8cd35c190367c062917fd5cdde3b7b79067ed41beb1",
-        "render.png": "95d1e3276103ca17b63ba029fb6dd7784a7866099d0aaafd329754b1ae2635c0",
+        "render.png": "69d0d3494f3a82b7dfa0e377ba393d2d63de935c19cc7b362403e2a5177dcc13",
         "graph-raw.svg": "a2b87d9a1394b039628b3a95f959e02b5168f6753865f46e67646fa72ef900b5",
         "graph-robot.svg": "3babd635b1dd168e67cda966e8f92004b18a316c2c86806bf8301caebc3bf461"
       },
@@ -87186,7 +87380,7 @@
         "mjcf_ms": 225.17194412648678,
         "compile_ms": 1061.2031542696059,
         "graph_ms": 22717.10197906941,
-        "render_total_ms": 3642.036695033312
+        "render_total_ms": 2859.4625033438206
       },
       "mesh_preparation": {
         "status": "complete",
@@ -98023,16 +98217,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1815.150585025549,
-        "render_ms": 1623.6630701459944,
-        "compose_ms": 63.21642966940999,
-        "write_ms": 123.92024789005518,
-        "foreground_fraction": 0.73255
+        "compile_ms": 1067.3051411285996,
+        "render_ms": 1564.9993573315442,
+        "compose_ms": 62.314804177731276,
+        "write_ms": 152.41501200944185,
+        "foreground_fraction": 0.73255,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "e8dec7475cf768e97c9d48f1f68ff24281318ac75f860cff3475035bf8ca9e2d",
         "meshes.tar": "871bdfc4b403f365be79a280a96dbfcdd8ebb0c661361470be7535fcacd65edc",
-        "render.png": "1426ccac27a0487c37552a3b87ffc184b1798678531daca7b521521c134c68af",
+        "render.png": "9c7f0005bc34bac525d718f56a02daff0111a04fe767d5abfc20342552a179cd",
         "graph-raw.svg": "18b09da489c2b621d8989a6a4c93cbded3ca1bed2726978c8f4909a44fcc1f2f",
         "graph-robot.svg": "42aba0953e0e4c77d1dce2d0a3e628ccb927de6b0f8d861f610d337117de4170"
       },
@@ -98067,7 +98263,7 @@
         "mjcf_ms": 3.688660915941,
         "compile_ms": 72.6349470205605,
         "graph_ms": 116.18461506441236,
-        "render_total_ms": 1677.41094622761
+        "render_total_ms": 1810.517414007336
       },
       "mesh_preparation": {
         "status": "complete",
@@ -98128,16 +98324,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 64.89943573251367,
-        "render_ms": 1437.5428538769484,
-        "compose_ms": 59.86225605010986,
-        "write_ms": 101.31027502939105,
-        "foreground_fraction": 0.64515
+        "compile_ms": 97.88764407858253,
+        "render_ms": 1479.08605216071,
+        "compose_ms": 58.51904675364494,
+        "write_ms": 163.17836521193385,
+        "foreground_fraction": 0.64515,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "aa2d7e027a566afe26b68e90f90edf56cc48b1a75986b0a505e3e5fe9cdeafe1",
         "meshes.tar": "7b95c2978ab61f376a9b50bee2984763d95743153e5f69bf661659952ccdb8ff",
-        "render.png": "964eb1443d9387eee5e23c9dac6b927c7251aca463c0a47ac3c3d34aab7a20f5",
+        "render.png": "0c8f62600b891ae609ba3d022e38f2e118a60fdeacdc33d7ef118038302c6121",
         "graph-raw.svg": "2918663a1d73d5d95f57917a22d497c205a99db54ce79b46ec9ea31303fdc24a",
         "graph-robot.svg": "17070b6cf2fc405f0a959a04f47695d22431ca33bddb59cae45a4a5069cf8ec4",
         "robot.urdf": "09fd71faa830f719b0de9653e8e02c15c41ec02fa118c591f4be1423bc36d419"
@@ -98150,12 +98348,89 @@
   ],
   "output": {
     "archive": "shard-01129.tar",
-    "archive_sha256": "ff76ebbe25298063f1021bba594393c98857c869cdba7769ab445e763f1eb8dc",
+    "archive_sha256": "bbd6adcd1f5d1d013b7375c0f9d5223faf4a4d5343147ae6a31e061188792a80",
     "packaged_samples": 99
   },
+  "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": "ff76ebbe25298063f1021bba594393c98857c869cdba7769ab445e763f1eb8dc",
+      "report_sha256": "375d9eccfeea1e86fe17204cda067356be887791e6d063313d2ae952a640b724"
+    },
+    "scheduler": {
+      "job_id": "60317273",
+      "array_job_id": "60313720",
+      "array_task_id": "1129",
+      "node": "gl3169",
+      "host": "gl3169.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 99,
     "compiled_models": 99,
-    "archive_sha256": "ff76ebbe25298063f1021bba594393c98857c869cdba7769ab445e763f1eb8dc"
+    "archive_sha256": "bbd6adcd1f5d1d013b7375c0f9d5223faf4a4d5343147ae6a31e061188792a80"
   }
 }