diff --git "a/onshape/shard-01132.report.json" "b/onshape/shard-01132.report.json"
--- "a/onshape/shard-01132.report.json"
+++ "b/onshape/shard-01132.report.json"
@@ -221,7 +221,7 @@
         "mjcf_ms": 6.645740009844303,
         "compile_ms": 430.5865541100502,
         "graph_ms": 209.88377276808023,
-        "render_total_ms": 2004.5393370091915
+        "render_total_ms": 2385.7964472845197
       },
       "mesh_preparation": {
         "status": "complete",
@@ -282,16 +282,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 106.95415921509266,
-        "render_ms": 1661.4744737744331,
-        "compose_ms": 66.60352414473891,
-        "write_ms": 154.2709399946034,
-        "foreground_fraction": 0.7355833333333334
+        "compile_ms": 468.5585591942072,
+        "render_ms": 1637.621691916138,
+        "compose_ms": 67.91630014777184,
+        "write_ms": 196.2488298304379,
+        "foreground_fraction": 0.7355833333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "64f2245bf61f2d1a4d70d8e2350447c0c3b19259d34316e34bce805f0cffdb03",
         "meshes.tar": "77ab2821da5cd522c27ff7eb621ba4fc03a48d6854cb7a37ef379ff5ecde80d2",
-        "render.png": "d56efa2a04f1cd6e5f7876ced363c0545d85a3afaf93e94dc29bae2306971a2a",
+        "render.png": "5d65b7f07d570773d71e6272d24aa6a45c13cc749e0711b7ae0d3c1e09689daf",
         "graph-raw.svg": "6fe93ee1bad2d49a1f6d3490e12e24f811a4c0222593f7bac10be932b7c52790",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "af3826f62e56b445932d59398b28a248bc9ffe216a71b023c12f87dc756e65b7"
@@ -351,7 +353,7 @@
         "mjcf_ms": 7.896574214100838,
         "compile_ms": 3164.845230989158,
         "graph_ms": 820.5720810219646,
-        "render_total_ms": 2182.237977627665
+        "render_total_ms": 5233.858784195036
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1090,16 +1092,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 174.15323574095964,
-        "render_ms": 1823.0394581332803,
-        "compose_ms": 62.22781399264932,
-        "write_ms": 106.94709420204163,
-        "foreground_fraction": 0.539
+        "compile_ms": 3274.7029047459364,
+        "render_ms": 1762.7297672443092,
+        "compose_ms": 61.259192414581776,
+        "write_ms": 118.62513422966003,
+        "foreground_fraction": 0.539,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "f5cbddfd887023c85e3e6e7626bdc9c3891889f7a77bb9ad5c151cd237c534fb",
         "meshes.tar": "a4b819313a716cb2a43d5759ce78b4233d89fac4a4928e1b6b81f0fcebd0da82",
-        "render.png": "7e647d9f2d8323c562f8601833345d0a0c898089b0f69f6ced1253113c78e3d3",
+        "render.png": "ee1b0c6c01d616fdea0841e3d74ad2703d2524b8cecccee258a050c5d4ad7894",
         "graph-raw.svg": "2eecd694921898c485797766a1b990864b4ba48cc06745386b682124280685bd",
         "graph-robot.svg": "78411523b27793bd803aec40cdd12c191a0f4bcd0baa4b19c27545d5ba1715e7"
       },
@@ -1137,7 +1141,7 @@
         "mjcf_ms": 5.759668070822954,
         "compile_ms": 583.315250929445,
         "graph_ms": 627.2965287789702,
-        "render_total_ms": 1670.1271119527519
+        "render_total_ms": 2145.475185941905
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2002,16 +2006,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 19.29953834041953,
-        "render_ms": 1526.9712661392987,
-        "compose_ms": 38.93406083807349,
-        "write_ms": 72.59741518646479,
-        "foreground_fraction": 0.4829
+        "compile_ms": 617.2173339873552,
+        "render_ms": 1401.6767931170762,
+        "compose_ms": 37.47702809050679,
+        "write_ms": 76.01522281765938,
+        "foreground_fraction": 0.4829,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "047f1078c65bfebbc884fc86e23a94b817d9ac57200ea4d6bbe6b11d17076288",
         "meshes.tar": "fba47fe8c3932e502538f1085b698c8630970432550a326e4d5fb717e1de949e",
-        "render.png": "6e9303cd2225e35886a94a85368614ade734c1c993de3263341447f953974f7d",
+        "render.png": "9f9ae7b65f6d20cd541d0bd5b5a026128fc632d89678f419ea129330c078bbf0",
         "graph-raw.svg": "00de9f5689e1987a79fb8e4001a7c6e067707d47c7b16836d99ff7bfee134f94",
         "graph-robot.svg": "0c2e12baa6799f18041b9cbd341b5e5ca720c7b30bb65ba82a51c671b51159e7"
       },
@@ -2053,7 +2059,7 @@
         "mjcf_ms": 6.304335314780474,
         "compile_ms": 41.78744228556752,
         "graph_ms": 310.93541672453284,
-        "render_total_ms": 1588.3170529268682
+        "render_total_ms": 1604.834106285125
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2342,16 +2348,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.302740778774023,
-        "render_ms": 1416.3389527238905,
-        "compose_ms": 68.8520921394229,
-        "write_ms": 79.6128399670124,
-        "foreground_fraction": 0.75735
+        "compile_ms": 48.67209680378437,
+        "render_ms": 1388.6767318472266,
+        "compose_ms": 68.55356507003307,
+        "write_ms": 79.42879013717175,
+        "foreground_fraction": 0.75735,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "42ee14ea9296ee29c2f82b6240f2338f30f8d66db86a8213ef356280da6f9acd",
         "meshes.tar": "e445916ef6822a1c96dd88abdb1bc6e38953c1ea3ef2fcc1d281231c0e370918",
-        "render.png": "d8920d0f9fd64816eecc624e16851d8713a38339838bd367b1ffe171f08fe3a8",
+        "render.png": "afac6dc43786ef0a878af09faf36a7320a02b249a7da99ad672f9b86347d34d5",
         "graph-raw.svg": "eb49c64403c4255f86cde22daa75af9cea08b880c6c362d84e543bdf7c41d8df",
         "graph-robot.svg": "8720488abc734e252a438944c9123e0252552c611d71fbcd3bc41e62ae2fb7a9"
       },
@@ -2391,7 +2399,7 @@
         "mjcf_ms": 4.782077856361866,
         "compile_ms": 33.000485971570015,
         "graph_ms": 94.57577904686332,
-        "render_total_ms": 1588.2932138629258
+        "render_total_ms": 1613.6207138188183
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2446,16 +2454,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.223541736602783,
-        "render_ms": 1417.7133170887828,
-        "compose_ms": 66.5300521068275,
-        "write_ms": 79.22080997377634,
-        "foreground_fraction": 0.6721
+        "compile_ms": 28.104152996093035,
+        "render_ms": 1397.2625508904457,
+        "compose_ms": 94.61206989362836,
+        "write_ms": 80.14748711138964,
+        "foreground_fraction": 0.6721,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "b53bc2190ab9b4ce398d3b8a40493fc6647c0ffad9d54e367e24eca2c84d30e7",
         "meshes.tar": "b58c6def7083e2080827efa208e1ba96fa1e7d6f668424178d49a1bdc417d129",
-        "render.png": "2dfc523b699e6f5e5e511eb1cf39fe67465fb4aec14e2601abc0e129211c8112",
+        "render.png": "821c22dd888e521867de5e9aee0f140bbf4f24736682a8a99231ba13129d69ef",
         "graph-raw.svg": "cbccced1c088372f467183ca32a857af6a7a33702d111fe1cced6a4c516cf3c6",
         "graph-robot.svg": "501d3d4f37e8970adfc3a68f5bb72774af004ef496ef1c5da5e65ee024577b29"
       },
@@ -2494,7 +2504,7 @@
         "mjcf_ms": 6.522473879158497,
         "compile_ms": 36.18221124634147,
         "graph_ms": 142.73753203451633,
-        "render_total_ms": 1537.3172271065414
+        "render_total_ms": 1605.2330280654132
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2575,16 +2585,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.528240792453289,
-        "render_ms": 1372.8678352199495,
-        "compose_ms": 67.49601010233164,
-        "write_ms": 77.09324732422829,
-        "foreground_fraction": 0.68035
+        "compile_ms": 38.80979213863611,
+        "render_ms": 1404.5357662253082,
+        "compose_ms": 67.46542919427156,
+        "write_ms": 79.81325825676322,
+        "foreground_fraction": 0.68035,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "1586a5e8bc302f3a298d1fc948b8e755ad9a7d8cee16b9d2eaa0c9f72b1502fe",
         "meshes.tar": "4c84c8539bcb8539f0b828baec1317150eb9f2bf3f6ccbac6b4a6fa25bc08bbd",
-        "render.png": "59c84610799e0d9e6c2dad8c6e7773c0966ee53ace902522ef494664a0cce39c",
+        "render.png": "354bf11398b3f0b24a643aac7856689c596abdea0fb4414cc96ee1ddb0078e6e",
         "graph-raw.svg": "d43c6ea1788b2ee2bb7f2e68455d5be4cd0117fe350eff11330a1420036ef441",
         "graph-robot.svg": "6157c3cceb0b6426a5684284c0a7c3f0042e9ba1c58e8dce6c4dd8f9771317cc",
         "robot.urdf": "1ca35a54dc191e8beaa48cda65b3e13313141e1442c45b5aee80986e7cb62c27"
@@ -2628,7 +2640,7 @@
         "mjcf_ms": 5.7057407684624195,
         "compile_ms": 130.889724008739,
         "graph_ms": 121.68243015184999,
-        "render_total_ms": 1659.59811815992
+        "render_total_ms": 1766.5436938405037
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2676,16 +2688,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.175770934671164,
-        "render_ms": 1499.0004277788103,
-        "compose_ms": 48.08732541278005,
-        "write_ms": 69.07486775889993,
-        "foreground_fraction": 0.24475
+        "compile_ms": 161.3522288389504,
+        "render_ms": 1474.177978001535,
+        "compose_ms": 47.65537893399596,
+        "write_ms": 70.76668739318848,
+        "foreground_fraction": 0.24475,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "6c446f1da9c5e5832b945c974aa64950715364310a74b1cc054562e8ccc622fc",
         "meshes.tar": "e5936232567adab156614f7b17fb8adcc8b735d6bc1a9444ec289b7371fa1d23",
-        "render.png": "0a2fa20807cc927191d751407f36d472e4eb047a4b892e276eb625e1f3704dec",
+        "render.png": "25287e1bd409a96c3d7f8e5f1d2204e218d23d1ab5b17d57a6b69b414c17aff3",
         "graph-raw.svg": "25021691e450d7741173a68859a32b90586466e416389578e185a444eac8669c",
         "graph-robot.svg": "afe3d0eabf8446105a169bd519ad0fe38c4cb68ed9c9200416971408f6daf87e"
       },
@@ -2729,7 +2743,7 @@
         "mjcf_ms": 5.6961290538311005,
         "compile_ms": 35.41314508765936,
         "graph_ms": 242.2289769165218,
-        "render_total_ms": 1535.8367459848523
+        "render_total_ms": 1522.6852879859507
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2814,16 +2828,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.098662063479424,
-        "render_ms": 1405.882101971656,
-        "compose_ms": 49.788882955908775,
-        "write_ms": 58.52109380066395,
-        "foreground_fraction": 0.41101666666666664
+        "compile_ms": 24.688880890607834,
+        "render_ms": 1374.5651324279606,
+        "compose_ms": 49.86579483374953,
+        "write_ms": 58.80006402730942,
+        "foreground_fraction": 0.41101666666666664,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "22fa5f863606d56933816f3543355f8575c6aaf98985f2330a5168b77d747fc9",
         "meshes.tar": "789edcbe25f8482d3537102135313552a69cead5cdc962ade03c53583b5aa500",
-        "render.png": "59f4b55f04e2a5bcf4a21c07e4a12bf70b70aadfa58264988f00e14b736c3884",
+        "render.png": "90c06ff7582ae26c1799c4870e9005e774894dc852bcafbbc4864b8e76d81ec9",
         "graph-raw.svg": "21b619ca346788c338c74fb1adb4e7d35ec95561cdda513c32a7d49d4375af7e",
         "graph-robot.svg": "cb743468eb6a015d61c153cb0c2a5b99c60ff1bf16cca6c8ad334a6ecf88d436"
       },
@@ -2862,7 +2878,7 @@
         "mjcf_ms": 6.626525893807411,
         "compile_ms": 534.5781110227108,
         "graph_ms": 185.2299990132451,
-        "render_total_ms": 1923.0949990451336
+        "render_total_ms": 2424.8582031577826
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2910,16 +2926,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 85.54813265800476,
-        "render_ms": 1667.1033180318773,
-        "compose_ms": 54.7715499997139,
-        "write_ms": 100.56388145312667,
-        "foreground_fraction": 0.47575
+        "compile_ms": 590.7509918324649,
+        "render_ms": 1656.5146991051733,
+        "compose_ms": 55.87282124906778,
+        "write_ms": 108.68242895230651,
+        "foreground_fraction": 0.47575,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "ba16e771771a4697b551eafd62aa114b3b9824c7e0514c3f7e212328b3272033",
         "meshes.tar": "736c948b52fb4d82f6d497d7909eb02e2a583e7b4573ce3fc8b24d54b5232ad2",
-        "render.png": "30f052c4af19da081de6c18f8cf5b60e1e0d921c729e91d9dc59d9c0b02eb656",
+        "render.png": "c411cfc5c26a107f81deacb502eb01a2b4a3af725ace801cec7c33a4b713b367",
         "graph-raw.svg": "73ccf03ff14118651abdb30910cd3b53bbf2b7a41fe8f93517e422d6c8773113",
         "graph-robot.svg": "1d09a85812b2cf642879518bcb2bb78dc1c6f1e864b3a87c99dadec61bbcbc77"
       },
@@ -2966,7 +2984,7 @@
         "mjcf_ms": 9.05481819063425,
         "compile_ms": 2649.1866977885365,
         "graph_ms": 415.39004910737276,
-        "render_total_ms": 4814.320796635002
+        "render_total_ms": 6464.136485941708
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3014,16 +3032,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2232.8132670372725,
-        "render_ms": 2398.2409611344337,
-        "compose_ms": 71.67936116456985,
-        "write_ms": 84.78066278621554,
-        "foreground_fraction": 0.743925
+        "compile_ms": 2858.722852077335,
+        "render_ms": 2455.005935393274,
+        "compose_ms": 71.75757316872478,
+        "write_ms": 1052.1609159186482,
+        "foreground_fraction": 0.743925,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "a788dd3fcc522c4efa167f445601eeccbb619a96fab583d6ab6851dc4def85a1",
         "meshes.tar": "a7fe138da686dfa96623a037cdf03698d40de35d6802eb0cb0eba9960c256b32",
-        "render.png": "d7bbb2bd530b74a1f25dd6efb0cca868de428161708e204641e431d58c0ffcff",
+        "render.png": "c67a32545a33ffc1f53efc711301aef344dfa12d6e1c576f188ed48c6d5436ee",
         "graph-raw.svg": "db6b0be94e5d46cc471ae818469611a8e5ae3407a77a889d5e568bd9a5d63390",
         "graph-robot.svg": "c6c04cde33b5fc94a75cb98d45d395f653a356b76a7d387d95a2918adacc1384"
       },
@@ -3061,7 +3081,7 @@
         "mjcf_ms": 3.5050841979682446,
         "compile_ms": 52.47138440608978,
         "graph_ms": 106.35770903900266,
-        "render_total_ms": 1547.051776200533
+        "render_total_ms": 1433.7158133275807
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3109,16 +3129,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.6932409964501858,
-        "render_ms": 1408.6807621642947,
-        "compose_ms": 59.8974097520113,
-        "write_ms": 63.30882525071502,
-        "foreground_fraction": 0.60995
+        "compile_ms": 37.9726099781692,
+        "render_ms": 1237.6768440008163,
+        "compose_ms": 62.3080157674849,
+        "write_ms": 79.07584682106972,
+        "foreground_fraction": 0.60995,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "c036101290facfc0254bd9810915c7e05d2aa0446bcad7a9c8ae063ec448605c",
         "meshes.tar": "036b7246b026ccbe52e792fb9975b31a6e26ac3fce5cd388875ffce0ea228383",
-        "render.png": "684438b58a90d441e47efa8dd99e740b65a5f2b59a255ff6a55a0d914e3044d5",
+        "render.png": "bfe660f156cbc2ee75cc51f60a204f598c498a3efe85607703c76fc02c1d67aa",
         "graph-raw.svg": "b35733b990fcde737d4c774500e159f7dc38ef9d2a522da2c296eeb828195c0b",
         "graph-robot.svg": "75f5ff71556afccda7b73d38f39743e41144c15b51aaca6d011a16881942eb74"
       },
@@ -3158,7 +3180,7 @@
         "mjcf_ms": 5.009850952774286,
         "compile_ms": 83.38350988924503,
         "graph_ms": 100.18893564119935,
-        "render_total_ms": 1625.675386749208
+        "render_total_ms": 1575.97901718691
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3206,16 +3228,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.449847672134638,
-        "render_ms": 1466.5714730508626,
-        "compose_ms": 51.75763973966241,
-        "write_ms": 84.22705112025142,
-        "foreground_fraction": 0.3927
+        "compile_ms": 105.91035429388285,
+        "render_ms": 1308.3896460011601,
+        "compose_ms": 51.995732355862856,
+        "write_ms": 96.60667786374688,
+        "foreground_fraction": 0.3927,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "c379e1360a4b94bccc7bb4884a55ebf2cc12b624bcd73dedd6e193d56d048dff",
         "meshes.tar": "b9b4dbb00ada852505ee3efd9c1517d992e6137a94226d4420c5e5ed698426db",
-        "render.png": "7c32395b73a50717d24900ff9503d3ed0e3acbaaf1f77a64567e893a423f0e33",
+        "render.png": "cafb3adbc62fb589c2e38cad89284036fd5da466e3ebe9dc7a8c16e4ee017967",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -3254,7 +3278,7 @@
         "mjcf_ms": 5.774051882326603,
         "compile_ms": 65.55378017947078,
         "graph_ms": 476.39096388593316,
-        "render_total_ms": 1573.1198131106794
+        "render_total_ms": 1654.8301461152732
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3885,16 +3909,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.951513942331076,
-        "render_ms": 1403.7965242750943,
-        "compose_ms": 63.421931117773056,
-        "write_ms": 76.21165597811341,
-        "foreground_fraction": 0.5478
+        "compile_ms": 46.921839006245136,
+        "render_ms": 1303.4801352769136,
+        "compose_ms": 64.85699117183685,
+        "write_ms": 226.65484808385372,
+        "foreground_fraction": 0.5478,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "60700e12f11c65938d5979bed252f103d23a220e703f321dc1c21de223aa6497",
         "meshes.tar": "1f0c5bb23e6e940a01e5ed2645e37f32d60502f5ed2371c2b4f9762b4f2042b4",
-        "render.png": "89d6e653ce5bc7b2e6c1dc1a284147bf3317c9153071e13f339ec07b2a1b9931",
+        "render.png": "29c64116aea83682787507d1e9f55fb4a23813ecfd746d1af72127e89011b9b8",
         "graph-raw.svg": "ab4c210bfd1ef1515f286c2e6e4c91812def40ad5a4897ca1f57160e3324591c",
         "graph-robot.svg": "8903be3a0cebc04e64ce4ca677cde0b4cac81f0f383192cbb47f0a5de3b31c8d"
       },
@@ -3934,7 +3960,7 @@
         "mjcf_ms": 3.9032241329550743,
         "compile_ms": 66.43518200144172,
         "graph_ms": 142.6332090049982,
-        "render_total_ms": 1667.2339430078864
+        "render_total_ms": 1647.7881846949458
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3982,16 +4008,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 58.92755789682269,
-        "render_ms": 1461.5800310857594,
-        "compose_ms": 51.08356103301048,
-        "write_ms": 83.10274593532085,
-        "foreground_fraction": 0.374
+        "compile_ms": 84.407904651016,
+        "render_ms": 1403.5170851275325,
+        "compose_ms": 53.26754879206419,
+        "write_ms": 93.46184972673655,
+        "foreground_fraction": 0.374,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "6ebd32a2cf5dec1e4e421322404ef78398e56975d6c75494f1b58dd5990827b7",
         "meshes.tar": "58b4c048100d3592c39cc6949feee1b2c5aebd4169ae020171d34519d79b849b",
-        "render.png": "674f0a328ea1addf58c3baa94f3bee4e9871097c725488c1a1457ef3c7af9d30",
+        "render.png": "0ba4ad459c40cea8533e41d8b3485bc1cc6414715c211c019e9be4f6927373e8",
         "graph-raw.svg": "54a04ca30f9b9cd8468c07fbec1b43154c802439caf306cc05953504b5944c58",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -4031,7 +4059,7 @@
         "mjcf_ms": 4.817598033696413,
         "compile_ms": 97.77896804735065,
         "graph_ms": 100.91853979974985,
-        "render_total_ms": 1698.3298533596098
+        "render_total_ms": 1626.34601816535
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4079,16 +4107,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 128.0589527450502,
-        "render_ms": 1424.2810071446002,
-        "compose_ms": 49.315016716718674,
-        "write_ms": 83.79998337477446,
-        "foreground_fraction": 0.3322
+        "compile_ms": 93.99770526215434,
+        "render_ms": 1378.426678944379,
+        "compose_ms": 49.327592831104994,
+        "write_ms": 91.6279861703515,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "9d5a265a232c654c9f2de9981e59e427ef4a3261106123b2a167661bd579f857",
         "meshes.tar": "75ba2385a27f011244eab69233f713bab49aa88e5ab2466a19f84b847b05a0ec",
-        "render.png": "2c79dca91f53181504c2516208da6762b5b6f72c8cb91155d5b6b42979defc57",
+        "render.png": "afa5d71b7f696f6cccc55760b727d0bd86824fbcab79c27fadbcb9d9ae991ee0",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -4124,7 +4154,7 @@
         "mjcf_ms": 5.725477356463671,
         "compile_ms": 3.2255337573587894,
         "graph_ms": 182.35067697241902,
-        "render_total_ms": 1508.3174002356827
+        "render_total_ms": 1515.4438451863825
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4185,16 +4215,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.875340800732374,
-        "render_ms": 1366.9309518299997,
-        "compose_ms": 54.63650217279792,
-        "write_ms": 69.97289601713419,
-        "foreground_fraction": 0.5302
+        "compile_ms": 4.406351130455732,
+        "render_ms": 1376.7217127606273,
+        "compose_ms": 53.74995991587639,
+        "write_ms": 67.8789671510458,
+        "foreground_fraction": 0.5302,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "6e4212d9f7059498647f5cf63f44dc3e5854a3c01f077863c0771bca88118b75",
         "meshes.tar": "66e53f89552ee2e985210a7f528baac43ecbcbd2a3412ab282507d67a27d7e75",
-        "render.png": "d6cbcec49837c64a50c60eecde019d0937c062ae345f34a27de24c956b87b081",
+        "render.png": "e830933ec5703b3fd7b955699e5d7f39408632e91b86e3a30e56a3f618061d87",
         "graph-raw.svg": "3dc129947282ec36630e2a72c7de36ab831a24e3d598f89e49e9f6024b313e7f",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "79b60092e2f66b48fbdb5eba8ce633c27692c06baca8339a68c847c8adbaa161"
@@ -4233,7 +4265,7 @@
         "mjcf_ms": 4.102114588022232,
         "compile_ms": 27.018147986382246,
         "graph_ms": 79.7563442029059,
-        "render_total_ms": 1547.4522658623755
+        "render_total_ms": 1522.7880249731243
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4288,16 +4320,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.517745029181242,
-        "render_ms": 1383.4134130738676,
-        "compose_ms": 71.30634691566229,
-        "write_ms": 62.28040857240558,
-        "foreground_fraction": 0.68475
+        "compile_ms": 15.188073739409447,
+        "render_ms": 1361.957224085927,
+        "compose_ms": 71.52679702267051,
+        "write_ms": 61.517567839473486,
+        "foreground_fraction": 0.68475,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a3ce216880cedb443a722451a7a5569b7942c66753c861d0f415c3839b50a617",
         "meshes.tar": "c2c69fc5cb95c43debaff4848452a89437b63dd0253d35d364af05be1d3788a7",
-        "render.png": "d047132fc4fe4ec57a39198d046d924af17bc361e7df54ef5a1b0f336bbf0f22",
+        "render.png": "2ab3c2c7a2d860394916ae58b11905ade47e4b2d76f6d22f236d6c1e54101485",
         "graph-raw.svg": "7d73a13c5c558e42f8dc2bd8dabc4f58ba90ec9f0956dcc0d240b257a7de2fc9",
         "graph-robot.svg": "dbb8aca7caa2607d4407120bbcd9cf76bcde070f827ccce7cb7fab0e22f5bbcc"
       },
@@ -4335,7 +4369,7 @@
         "mjcf_ms": 3.461949061602354,
         "compile_ms": 12.899333145469427,
         "graph_ms": 80.14530083164573,
-        "render_total_ms": 1553.0411689542234
+        "render_total_ms": 1553.3094611018896
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4383,16 +4417,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.5736773386597633,
-        "render_ms": 1396.2546922266483,
-        "compose_ms": 59.992133639752865,
-        "write_ms": 81.70751808211207,
-        "foreground_fraction": 0.63305
+        "compile_ms": 8.840643800795078,
+        "render_ms": 1392.2574408352375,
+        "compose_ms": 58.104940224438906,
+        "write_ms": 81.73359418287873,
+        "foreground_fraction": 0.63305,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "9768a31d3fb320ae2cd9cefd7055592f7a542b0b0b8bc81bcc892cb7999be878",
         "meshes.tar": "cd4d24f0c8cd2dd4f9ead1701a99e2fec0c7762db8fd29e7577615b4a586f583",
-        "render.png": "4d608120dea18e4c743a00cb83f9bd2285593a38d5dd36fd3550f466492030ee",
+        "render.png": "32bd0d3778326deb13d4f68059bf507bbd8668da9ceb329a61e90bee0f278695",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -4424,7 +4460,7 @@
         "mjcf_ms": 3.8946671411395073,
         "compile_ms": 52.77953715994954,
         "graph_ms": 78.90087319537997,
-        "render_total_ms": 1627.9635457322001
+        "render_total_ms": 1574.02999792248
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4485,16 +4521,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 48.058012034744024,
-        "render_ms": 1421.0812030360103,
-        "compose_ms": 64.07236214727163,
-        "write_ms": 81.77687833085656,
-        "foreground_fraction": 0.71115
+        "compile_ms": 45.09978415444493,
+        "render_ms": 1369.534905999899,
+        "compose_ms": 63.35460301488638,
+        "write_ms": 83.48172483965755,
+        "foreground_fraction": 0.71115,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "4b353f1596d75bb21a7e6fa376d4f84d218d91d022b1d11f506f4ed5a64a1403",
         "meshes.tar": "b429a0b19f31fc20489741d72687cafab888af0e613705907bb2bcb4ffb5189d",
-        "render.png": "c762d8228e2810429548ce5275d87d92a9deaa8505631f0c69566c50d742b062",
+        "render.png": "42af6b9a42fbe6b1177bf5faf7913639d69d85f6ef0e6862d755f1a7f0cce5c6",
         "graph-raw.svg": "aee321fd40423ac7128b39335eafa6345dced954e890358fcffe907d0ce0a7bb",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f16e172e6bbccacb962ae9acc3debb2766ab7ae29fe59fffc8c902a144cea203"
@@ -4526,7 +4564,7 @@
         "mjcf_ms": 4.154590889811516,
         "compile_ms": 60.26034243404865,
         "graph_ms": 86.07710106298327,
-        "render_total_ms": 1713.4099290706217
+        "render_total_ms": 1606.245445087552
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4587,16 +4625,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 50.91184098273516,
-        "render_ms": 1497.842020355165,
-        "compose_ms": 64.50721668079495,
-        "write_ms": 87.0950729586184,
-        "foreground_fraction": 0.76945
+        "compile_ms": 50.788499880582094,
+        "render_ms": 1391.1917167715728,
+        "compose_ms": 64.81407769024372,
+        "write_ms": 86.90688386559486,
+        "foreground_fraction": 0.76945,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e21b971d95b2873ba31f823d3f53ba892fe5179d50b79ef208aec9bbd829437f",
         "meshes.tar": "3b1b6e3280232817e136532cd5f7a60b1563e05ac6e3877136bd8a4660fce60f",
-        "render.png": "359714ae486390e975e918e153c7583670032d452a7802735f3b08833ad136a6",
+        "render.png": "f1581b7c841f6c740cea705be56af9e9603793c0b33bc99071deaa4385849e80",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "d850c958bf50e496022ea6c0b4a307f80024b183b8d42c1a9a517c9ee754192f"
@@ -4649,7 +4689,7 @@
         "mjcf_ms": 10.305633768439293,
         "compile_ms": 2367.3576079308987,
         "graph_ms": 875.8967467583716,
-        "render_total_ms": 4426.707539241761
+        "render_total_ms": 4479.8745308071375
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4704,16 +4744,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1940.6198831275105,
-        "render_ms": 2323.059093672782,
-        "compose_ms": 57.5586399063468,
-        "write_ms": 81.22798288241029,
-        "foreground_fraction": 0.4983
+        "compile_ms": 1984.946509823203,
+        "render_ms": 2319.287114776671,
+        "compose_ms": 57.26348189637065,
+        "write_ms": 96.10234713181853,
+        "foreground_fraction": 0.4983,
+        "style": "link-palette-v1",
+        "colored_bodies": 38
       },
       "artifacts": {
         "robot.mjcf": "6ada3821f15ce8679dc418779e15fd353a976754749b4ea824b59a8cf94bebd3",
         "meshes.tar": "93b14c4ebb5273515f54ebf68cfdf401ff1606a4710509a57f263836eac1a694",
-        "render.png": "675d7477717c85ac2dc5320da2d9bce503cea74a7f4d0cd65ca7023cc1858b50",
+        "render.png": "8eb77f527881719fd88ca33df970e340a8530f47d94f5b8e7e2bf0368a85799f",
         "graph-raw.svg": "3ac5e11ccfd590e28a1a3247ee5462b2a421fc2bbcd42aadd57d12e35145eb59",
         "graph-robot.svg": "f19a1106119e8e7bc73df01fcca5c02e75c8ed05b2052f87fbe1761836ccc5eb"
       },
@@ -4747,7 +4789,7 @@
         "mjcf_ms": 7.219647988677025,
         "compile_ms": 1941.973335109651,
         "graph_ms": 174.0143788047135,
-        "render_total_ms": 4100.870136171579
+        "render_total_ms": 4164.222388993949
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4808,16 +4850,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1902.051653712988,
-        "render_ms": 2035.6928389519453,
-        "compose_ms": 60.20553596317768,
-        "write_ms": 83.0930513329804,
-        "foreground_fraction": 0.5027
+        "compile_ms": 2061.001230031252,
+        "render_ms": 1941.3580889813602,
+        "compose_ms": 59.37654199078679,
+        "write_ms": 83.7845760397613,
+        "foreground_fraction": 0.5027,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "89d9aa7fe8ed8d22d5067d2eb6dd6b1c1da097f58da3d88660112f9c1e093011",
         "meshes.tar": "d2e8e8cc0919a794c3960d05e9350f48670b61db570dd7da98b01a25d4a9b413",
-        "render.png": "d508d266435f7c200f13009c99b8f41ee2ecfa2e1e64a4876994518359e6a3bf",
+        "render.png": "8bb9e24eaa86240867aa483cfae3225813e2501d185c39b037e7fd427bb0bfd4",
         "graph-raw.svg": "d150f5f1c1dcd0299392ad2d6f28fd8d17490a66800732438a70dd6664590993",
         "graph-robot.svg": "62c1a492d6252772ecd1bedfae8d092f7668c0520134ed8e4ae754c870c503ce",
         "robot.urdf": "1e0134ea7506136343eaaffbf692d28e6f959852f42efd929983725707e548ca"
@@ -4859,7 +4903,7 @@
         "mjcf_ms": 6.595866288989782,
         "compile_ms": 1822.085715830326,
         "graph_ms": 211.76843205466866,
-        "render_total_ms": 4310.77354028821
+        "render_total_ms": 4196.5084774419665
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4914,16 +4958,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2170.3192717395723,
-        "render_ms": 1973.9374020136893,
-        "compose_ms": 64.68430999666452,
-        "write_ms": 82.63707812875509,
-        "foreground_fraction": 0.5027
+        "compile_ms": 2050.2965697087348,
+        "render_ms": 1965.0063100270927,
+        "compose_ms": 71.25861523672938,
+        "write_ms": 84.62239010259509,
+        "foreground_fraction": 0.5027,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "a3f44f8d962e3660d27254f0fa6cb8b090c9fc1e9ac744924c1d668bf7fc5314",
         "meshes.tar": "d2e8e8cc0919a794c3960d05e9350f48670b61db570dd7da98b01a25d4a9b413",
-        "render.png": "d508d266435f7c200f13009c99b8f41ee2ecfa2e1e64a4876994518359e6a3bf",
+        "render.png": "edf1dc7afa6fc9beb12d7d46f78c2c79a7057bc04041f0869c58d04af48ed3c8",
         "graph-raw.svg": "23b67b7a33117d62b2732e6f8a43cdc04c891d3b31039443ce11eed39b795bfc",
         "graph-robot.svg": "bc85c7c332e5a648653e6c78fa7fc740bbb2e3745f7feba0244857af581fb6ed"
       },
@@ -4964,7 +5010,7 @@
         "mjcf_ms": 6.478445138782263,
         "compile_ms": 1422.457060776651,
         "graph_ms": 170.91691587120295,
-        "render_total_ms": 3701.805332209915
+        "render_total_ms": 3496.577366720885
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5019,16 +5065,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1621.4778018184006,
-        "render_ms": 1924.441710114479,
-        "compose_ms": 59.28728496655822,
-        "write_ms": 77.40871980786324,
-        "foreground_fraction": 0.4961
+        "compile_ms": 1428.1991990283132,
+        "render_ms": 1908.713721204549,
+        "compose_ms": 63.95264668390155,
+        "write_ms": 77.72106071934104,
+        "foreground_fraction": 0.4961,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "68b6d0716be3120553dd543f0b22bc63a3d47aa38c9ab8a5098901b35d834d44",
         "meshes.tar": "82f026e20ecf871f69624590aaa45bbbb02a753e67aa884d1ee0b270b16fea1b",
-        "render.png": "f8030662f9845972ddc3558c55fa016a89f190898aefe7165e6c8c9c9b368861",
+        "render.png": "1f98c7a005686f66636bf291b9ff80eca33366827db53b0b4c692e3d36faad6f",
         "graph-raw.svg": "23b67b7a33117d62b2732e6f8a43cdc04c891d3b31039443ce11eed39b795bfc",
         "graph-robot.svg": "bc85c7c332e5a648653e6c78fa7fc740bbb2e3745f7feba0244857af581fb6ed"
       },
@@ -5069,7 +5117,7 @@
         "mjcf_ms": 6.55124569311738,
         "compile_ms": 1973.3581678010523,
         "graph_ms": 161.9648989289999,
-        "render_total_ms": 3926.1409896425903
+        "render_total_ms": 3890.4467169195414
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5117,16 +5165,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1847.5723997689784,
-        "render_ms": 1913.6572880670428,
-        "compose_ms": 61.09254900366068,
-        "write_ms": 84.25305970013142,
-        "foreground_fraction": 0.5632
+        "compile_ms": 1794.9120537377894,
+        "render_ms": 1931.5305287018418,
+        "compose_ms": 61.63076590746641,
+        "write_ms": 84.6688998863101,
+        "foreground_fraction": 0.5632,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "e61a2bf96ea050dcf172e910529dd73bf6e41aa91ffcde5fb7c2b3221071401c",
         "meshes.tar": "e7a219d6f498338dbfe636ed3bfb623573561e4c8145db943b3f97c1b5944d7b",
-        "render.png": "77e409243954a95d773b53dd2eddaf5632965535b09b6a0c865eef57bf51fcb7",
+        "render.png": "1af41ccef7ed24c60fb728d0e65e4a6d561e06edaa811b566b53c0e62c75963b",
         "graph-raw.svg": "3099810c3133dc931ed466c4bbf9d51e9e49091a6729817506da6a9d3e225009",
         "graph-robot.svg": "ee7cc844bbd4a01ae4f126952f1c302ffbbd8ad292d46d7797145ae98a2b6ac7"
       },
@@ -5167,7 +5217,7 @@
         "mjcf_ms": 6.620847154408693,
         "compile_ms": 23.116180673241615,
         "graph_ms": 289.0739948488772,
-        "render_total_ms": 1574.22068528831
+        "render_total_ms": 1562.688386067748
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5246,16 +5296,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.832587368786335,
-        "render_ms": 1422.4722860381007,
-        "compose_ms": 70.15314418822527,
-        "write_ms": 60.85243821144104,
-        "foreground_fraction": 0.50325
+        "compile_ms": 34.56906694918871,
+        "render_ms": 1374.839365016669,
+        "compose_ms": 70.31686697155237,
+        "write_ms": 70.6220488063991,
+        "foreground_fraction": 0.50325,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "f416f4b489c467a30d522b8cba2056210a18c0d9373739bb5e7630d3e391ae6f",
         "meshes.tar": "a74bbe4fb4c4a85db3e23695ecbc548084508b1c9c88e14e3d437e0f13d2c075",
-        "render.png": "be6f2efcd85348de59cf7ba86b293ebb08e93bc6ad8d353f14d95f3c0d6134cc",
+        "render.png": "bc8587e13925f7888fd5f2f1d590b588c17da333e97eda9cf8c0042605d4a714",
         "graph-raw.svg": "285a1a78445e92474a914da11df9b6b07ac7930994a99df96f0331fda4211dd2",
         "graph-robot.svg": "3afb8b5a8601b855a33571a3a7dad3ed633125445f5ff3954a5a4b0201c5b59b"
       },
@@ -5295,7 +5347,7 @@
         "mjcf_ms": 5.891107022762299,
         "compile_ms": 7.648947183042765,
         "graph_ms": 221.6321239247918,
-        "render_total_ms": 1562.592455651611
+        "render_total_ms": 1490.797505248338
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5380,16 +5432,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.642138119786978,
-        "render_ms": 1410.704428795725,
-        "compose_ms": 70.22375101223588,
-        "write_ms": 62.32779286801815,
-        "foreground_fraction": 0.627
+        "compile_ms": 6.409968715161085,
+        "render_ms": 1340.0026937015355,
+        "compose_ms": 69.90568898618221,
+        "write_ms": 61.61799281835556,
+        "foreground_fraction": 0.627,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "daca0f6b8cf9bc4509e36e19f1732a3d467a19909f41ca1c75ccdc5bd7fba3e4",
         "meshes.tar": "2febe727b924747922eaedca98b3bddc0d4cd8a28ed73bafc061943429a6f8e2",
-        "render.png": "d38199ffdae7c65a23576634fd7200129edffcdc4f18d36dc944c05a4826f603",
+        "render.png": "993c90dacb2c01537ec5916ea04a49e9c1997dc95832bc34869aaa69a1377924",
         "graph-raw.svg": "4f3ace4a46fa6281d431140518c610aa5ddbc16d7f1e0fb566be566389ddd62b",
         "graph-robot.svg": "63f09abd8cd490e45ab1f9323553d3c68cf5adc3a5ccd215f2f89414a8981549"
       },
@@ -5431,7 +5485,7 @@
         "mjcf_ms": 8.63433163613081,
         "compile_ms": 49.110086634755135,
         "graph_ms": 485.70309206843376,
-        "render_total_ms": 1677.451386116445
+        "render_total_ms": 1605.0428519956768
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5479,16 +5533,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 48.65587595850229,
-        "render_ms": 1450.9621262550354,
-        "compose_ms": 65.80087216570973,
-        "write_ms": 91.93916385993361,
-        "foreground_fraction": 0.6259
+        "compile_ms": 54.430879186838865,
+        "render_ms": 1389.1511736437678,
+        "compose_ms": 60.22655684500933,
+        "write_ms": 88.10609392821789,
+        "foreground_fraction": 0.6259,
+        "style": "link-palette-v1",
+        "colored_bodies": 22
       },
       "artifacts": {
         "robot.mjcf": "39acbc1e21c810c2eb248eae6216b321d993ab0423935a73c64b96f01c4dc96b",
         "meshes.tar": "1284764a66ad8e1d22f03258ca28ec3de5e9cabe152fd9f52529eb1810448653",
-        "render.png": "0ac4dd6921f7738cdc78608c9d050067d0493c6ebfabe03509ef15644dbfb2fb",
+        "render.png": "6905044f5745d0ede04ef9c07981f72b381ca1fbb9b8eb348f1661873c6a5e03",
         "graph-raw.svg": "40c9a90069383bd52b6d53d0c5e2bebc80cf92d1b98529c56d5459c53dda9537",
         "graph-robot.svg": "feef1ddce7e7b57a43cf437d333113bdf63bd7918f63ecdb93f7bd5c376933f1"
       },
@@ -5529,7 +5585,7 @@
         "mjcf_ms": 8.228298742324114,
         "compile_ms": 39.24423875287175,
         "graph_ms": 361.20701022446156,
-        "render_total_ms": 1620.3873986378312
+        "render_total_ms": 1565.803756006062
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5577,16 +5633,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 39.47653481736779,
-        "render_ms": 1422.7422163821757,
-        "compose_ms": 62.08677217364311,
-        "write_ms": 83.31796806305647,
-        "foreground_fraction": 0.60885
+        "compile_ms": 34.652805887162685,
+        "render_ms": 1362.1324100531638,
+        "compose_ms": 60.79168524593115,
+        "write_ms": 95.46320419758558,
+        "foreground_fraction": 0.60885,
+        "style": "link-palette-v1",
+        "colored_bodies": 25
       },
       "artifacts": {
         "robot.mjcf": "6a0cc581cd3994bda1a4e173a2b824184a53be187afa021f6785b03077dc4eed",
         "meshes.tar": "487d06df21e46ebc1eae248ce4a7fe17050f0b5136f6e794220d397cd3bbbb26",
-        "render.png": "f6fdfad58c4aaf2e4b8bdf77e20b39374b8b44e1110bf312b70fa43fe01b76f2",
+        "render.png": "15f28116f04447cc7c9850b997f87cd8b357d398903ffaa7337e82d3060b0dba",
         "graph-raw.svg": "a8d11b1c26a2fd9083829222d35c785ed2ece1c9ef500aac3269fb22d53019e8",
         "graph-robot.svg": "8fb47ccc32af3ab8b1baf924ced7c7e25602ff47ee0272fb51da0d772897de62"
       },
@@ -5618,7 +5676,7 @@
         "mjcf_ms": 4.429441876709461,
         "compile_ms": 24.574696086347103,
         "graph_ms": 125.19258819520473,
-        "render_total_ms": 1699.6988207101822
+        "render_total_ms": 1533.7246740236878
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5679,16 +5737,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 28.699197340756655,
-        "render_ms": 1366.5446592494845,
-        "compose_ms": 68.8925520516932,
-        "write_ms": 222.85996889695525,
-        "foreground_fraction": 0.4906
+        "compile_ms": 16.450450755655766,
+        "render_ms": 1359.0337946079671,
+        "compose_ms": 67.83673213794827,
+        "write_ms": 77.65718596056104,
+        "foreground_fraction": 0.4906,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "428201263d41cb2faf3d36adea490134d910f2a1c0027707290ec96f1e4d9346",
         "meshes.tar": "c5f04412e5157226875f07228a84c60817341d24d74ff4947ee40d56534ea04f",
-        "render.png": "8f304daa93a5623041e1628187c3384552228f24f9ef743705f95a1d3121d3f0",
+        "render.png": "c73f6f72ab9af55e16a0dc7bf31c2154207522655b0d333ca5ba8d1ab13ca18c",
         "graph-raw.svg": "9d10b349745bd9951e5ee134e1e203443db34115ced8e7cba0f942d02c63b7a0",
         "graph-robot.svg": "f04c967f333fe320539c4b29ef608daf9c2d0ab50a67ea0241f5b02dfcd30b60",
         "robot.urdf": "c9cd95005c45dc81bfaeb8713dab8f7ddd4be9edc731922b90072523bfea6370"
@@ -5727,7 +5787,7 @@
         "mjcf_ms": 4.528828896582127,
         "compile_ms": 59.94550418108702,
         "graph_ms": 79.06278595328331,
-        "render_total_ms": 1954.5833868905902
+        "render_total_ms": 1663.3714460767806
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5782,16 +5842,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 63.45426291227341,
-        "render_ms": 1383.1568411551416,
-        "compose_ms": 60.75572595000267,
-        "write_ms": 434.5545209944248,
-        "foreground_fraction": 0.76895
+        "compile_ms": 79.43127630278468,
+        "render_ms": 1366.0485218279064,
+        "compose_ms": 59.88124804571271,
+        "write_ms": 145.83876868709922,
+        "foreground_fraction": 0.76895,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "49e30bf98bc0a530f94b574ec6b3be2e5dcec23a779a998868950abd1cfb4b8e",
         "meshes.tar": "6ef08088d1796be6fe318e59f6961317d41618bf9125e97d418be77ea18db898",
-        "render.png": "3481bdbe70f3662cb8db7ab0cceb029a7eb272e452f5936894d9078fb34ba864",
+        "render.png": "b5e66a7b262e1eb7049a2c233fa61ca91db7b67fc210bb548d6c3b6d2f1857dc",
         "graph-raw.svg": "f551d0a1271ec951e2b91557b444fd52200a3ad4b1d0e36ee92807e08a79495f",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -5900,7 +5962,7 @@
         "mjcf_ms": 4.037350881844759,
         "compile_ms": 8.855201303958893,
         "graph_ms": 133.0042011104524,
-        "render_total_ms": 1541.8796357698739
+        "render_total_ms": 1506.8550878204405
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5948,16 +6010,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.230655945837498,
-        "render_ms": 1367.3471147194505,
-        "compose_ms": 76.29553694278002,
-        "write_ms": 73.63119767978787,
-        "foreground_fraction": 0.5643
+        "compile_ms": 8.78532836213708,
+        "render_ms": 1344.8852910660207,
+        "compose_ms": 65.38787204772234,
+        "write_ms": 75.86266472935677,
+        "foreground_fraction": 0.5643,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d52b6193ff810c034aab1be2e16a8c9cbb8b4649bfa8ec51719c912d8155b69a",
         "meshes.tar": "7ec301da8d37ebfe28b165354f3a69c124f8522923ba143d63b892600a683d83",
-        "render.png": "98b6aefbf2aefe2dcb87f40a60ba06cc7c484fa9d96555b4253943499026a55a",
+        "render.png": "7861d867713b74894445dda9ebd41d71cca5e4b5de0ce3456406a926a9d077b4",
         "graph-raw.svg": "3054ece385bb95dbf5ceb90a3830d53b07a81039e438e7324f1ff5121b0cf88f",
         "graph-robot.svg": "8417cb830a8e6535cc2566bd1db58ca00b54f510e25c04295c1131bb0598187e"
       },
@@ -6009,7 +6073,7 @@
         "mjcf_ms": 8.249001577496529,
         "compile_ms": 187.78426107019186,
         "graph_ms": 373.12702601775527,
-        "render_total_ms": 1872.992075048387
+        "render_total_ms": 1845.9728513844311
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6094,16 +6158,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 199.82273504137993,
-        "render_ms": 1509.634547866881,
-        "compose_ms": 65.37352129817009,
-        "write_ms": 85.6718379072845,
-        "foreground_fraction": 0.693875
+        "compile_ms": 209.5237011089921,
+        "render_ms": 1478.6612465977669,
+        "compose_ms": 60.54611410945654,
+        "write_ms": 84.64789995923638,
+        "foreground_fraction": 0.693875,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "dad92d71e8b31b03e9ba16904380d7e898180cce553d2f1d9e23e8eeaeddd7f5",
         "meshes.tar": "febbf060d97cff19e261baad405f876d7ee7ad014ef35e18d7cdea05b8dfe265",
-        "render.png": "b61b846246ab1acbbe6c6618c159d05dac5128c20cfcec4b1de87e5073cf28d8",
+        "render.png": "2ab93cd71271d52e21e74b564391adb424d83139a7489b2d7dc300469117c07d",
         "graph-raw.svg": "f5357b7913fd60cb0ffdb4a18f54fb4b781877a36da49000259916aab5c8694f",
         "graph-robot.svg": "c15eb6ffb5d640e3c625899f22595a134d4f89e4957b997e4f11abc6cafd9296"
       },
@@ -6134,7 +6200,7 @@
         "mjcf_ms": 4.565784242004156,
         "compile_ms": 99.33393774554133,
         "graph_ms": 193.12098575755954,
-        "render_total_ms": 1646.5101018548012
+        "render_total_ms": 1688.6701537296176
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6195,16 +6261,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 96.25818906351924,
-        "render_ms": 1355.084657203406,
-        "compose_ms": 62.46688775718212,
-        "write_ms": 119.81375515460968,
-        "foreground_fraction": 0.7454416666666667
+        "compile_ms": 107.52026410773396,
+        "render_ms": 1350.7285378873348,
+        "compose_ms": 62.509275041520596,
+        "write_ms": 155.79283703118563,
+        "foreground_fraction": 0.7454416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "e3d0e1d3f5956fbb9d28566d6aeda48edab67ec237ce22f89a2b3b4bf6d24589",
         "meshes.tar": "3e93bb16bbd3f661fbe30c0b436e44ddd230022d0875870884746aa16b6ffb37",
-        "render.png": "3977ef6e02207defede16f7b3b382112a94de8016feed450934ac116367f995b",
+        "render.png": "d208c5a6b0671a3bfae3d83050793be969488027e2d490fe6915527b8c65f286",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "84d5bce9c2777c85d4c89aece151121e09bb3c28fe9fb743d3cb7a4fed361128"
@@ -6259,7 +6327,7 @@
         "mjcf_ms": 7.770458701997995,
         "compile_ms": 248.29494999721646,
         "graph_ms": 546.140446793288,
-        "render_total_ms": 2083.267101086676
+        "render_total_ms": 1997.4110801704228
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6698,16 +6766,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 246.62960367277265,
-        "render_ms": 1657.304679043591,
-        "compose_ms": 63.297773245722055,
-        "write_ms": 103.42848673462868,
-        "foreground_fraction": 0.6666
+        "compile_ms": 254.41746413707733,
+        "render_ms": 1542.8107040934265,
+        "compose_ms": 63.455197028815746,
+        "write_ms": 124.49867371469736,
+        "foreground_fraction": 0.6666,
+        "style": "link-palette-v1",
+        "colored_bodies": 20
       },
       "artifacts": {
         "robot.mjcf": "1a1375d16d0f1b655d1fc2547448d9bd642a878f519fe0fb590f6463abc5de4d",
         "meshes.tar": "69e3b56b2233ca3f991abed5368955b54ed9a191a63c8eb921f3053f114905a1",
-        "render.png": "de95c5fa151a22ca5e49a6b6528482bf1415157712af6a9e523b3edfd1c5ed31",
+        "render.png": "7801721a4991dc2d1ee9c0bd7c11a57e76d730672d85120b00e496c24a605ac3",
         "graph-raw.svg": "e7dfc51ac97febb710d2955ce185c4fdeb74ae93e88ac8d2f79210a67238d7b3",
         "graph-robot.svg": "0ddf9f2e3a0a2b0f0d74462b366ce61a720f6539aa5f557f9bf1206649859847"
       },
@@ -6740,7 +6810,7 @@
         "mjcf_ms": 5.852026864886284,
         "compile_ms": 39.672419894486666,
         "graph_ms": 85.96035419031978,
-        "render_total_ms": 1558.9708210900426
+        "render_total_ms": 1574.077031109482
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6801,16 +6871,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.596655905246735,
-        "render_ms": 1396.8864381313324,
-        "compose_ms": 57.295745238661766,
-        "write_ms": 66.42614305019379,
-        "foreground_fraction": 0.6468583333333333
+        "compile_ms": 33.32017594948411,
+        "render_ms": 1404.7521091997623,
+        "compose_ms": 56.95960111916065,
+        "write_ms": 66.56068190932274,
+        "foreground_fraction": 0.6468583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "1e522e2ef1b62891d4ca30d43b25ebb0ed4030f4474ee3a059eeed2c03f10610",
         "meshes.tar": "6b2f5d559d99899dc7536f6ac6afe54d8361001a056bc7bf82e3a43e1911da2f",
-        "render.png": "555d290b69846e440115aa9611d3d2557f270c1425519a30b01096744e4b9f54",
+        "render.png": "d630407d288670be0079a3b3dfc0588748c528ea45522da3e9d71faf830d5442",
         "graph-raw.svg": "6ebb90784d65364cd8faa1b6017db4c96e71fd83fcee5ee74afcf30ff3295db4",
         "graph-robot.svg": "9322c00d0d59e3d47ce3c2271df22af3053431e2b36a0972732098137e2f2df8",
         "robot.urdf": "c49f2ae30277414b3b6d5c70f27a537ca2a59d7a8aad27dfa6463c050ea0a2bb"
@@ -6874,7 +6946,7 @@
         "mjcf_ms": 7.258923724293709,
         "compile_ms": 335.3498028591275,
         "graph_ms": 339.0194410458207,
-        "render_total_ms": 1974.4755690917373
+        "render_total_ms": 2072.60979199782
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6983,16 +7055,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 319.8059871792793,
-        "render_ms": 1493.843246717006,
-        "compose_ms": 56.88469763845205,
-        "write_ms": 91.44363505765796,
-        "foreground_fraction": 0.6545
+        "compile_ms": 346.53906896710396,
+        "render_ms": 1548.0084898881614,
+        "compose_ms": 57.083343621343374,
+        "write_ms": 108.10794029384851,
+        "foreground_fraction": 0.6545,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "98a6ea946bfa15ef222d03ae485a602306fee857be2d6aebe189a8ae8fdd4c5d",
         "meshes.tar": "d56557b91ced8247780f4e3532398b12ec2b60d02ba2bd3f63d67723bf575169",
-        "render.png": "a037826a4acc64b8d77bae93e1c6d708ccea29077d7411a3bd42ab7aa67711ee",
+        "render.png": "78c6149ba5eaaea31da4eea3ffd2ea99436a1118a4e00fb98336fa2afd11d254",
         "graph-raw.svg": "9a7b224d77bf2fc6fb85d32b3220663ea1f86ae4cc698a83c3aef2c4d495b54e",
         "graph-robot.svg": "1ad6616086698945af2b5824dc937d4673ff67775512797e0fd94a59d97d31be"
       },
@@ -7023,7 +7097,7 @@
         "mjcf_ms": 4.409773275256157,
         "compile_ms": 22.63739425688982,
         "graph_ms": 75.2832442522049,
-        "render_total_ms": 1479.8104749061167
+        "render_total_ms": 1515.6061239540577
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7084,16 +7158,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.498271651566029,
-        "render_ms": 1329.881270416081,
-        "compose_ms": 52.16269614174962,
-        "write_ms": 72.01363984495401,
-        "foreground_fraction": 0.3927
+        "compile_ms": 9.720549918711185,
+        "render_ms": 1359.6946238540113,
+        "compose_ms": 52.07125609740615,
+        "write_ms": 81.50323014706373,
+        "foreground_fraction": 0.3927,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "9ac443892e362267db6823fa748879830377ab89ce248ce4cba9bf2a0093d4d0",
         "meshes.tar": "f832ffe36b9ae8b2e71657341432f1efb89e5b42e8acb614ee3f478c6fd206ae",
-        "render.png": "8b47206b2b19e1919c1ccbf34772bb1193f6e4d4ebf4f0558d024984e7408da3",
+        "render.png": "07ecd87c342c600be2d9adbb525cdf289288d00a60e6bfc5de58c136fed9e59f",
         "graph-raw.svg": "adefa5b664f8a4f8db42e3aec5b2a06c55ce15459f07771dccba572cb9d61ed3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "571b8e06e3eb0e5d63d4f423097b34efcbbe8c29515bdc0060068f9a032ad7d3"
@@ -7135,7 +7211,7 @@
         "mjcf_ms": 7.240447215735912,
         "compile_ms": 13.879458885639906,
         "graph_ms": 145.46887017786503,
-        "render_total_ms": 1584.8052250221372
+        "render_total_ms": 1573.3759719878435
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7183,16 +7259,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.377396933734417,
-        "render_ms": 1412.0086492039263,
-        "compose_ms": 59.19368518516421,
-        "write_ms": 78.58110964298248,
-        "foreground_fraction": 0.6908416666666667
+        "compile_ms": 9.84237901866436,
+        "render_ms": 1405.7218912057579,
+        "compose_ms": 56.09461525455117,
+        "write_ms": 89.2221974208951,
+        "foreground_fraction": 0.6908416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "e84e7b0aedf4476f7a15a9440c0a2e69a868ab11274ddfaaba6d53724682dd51",
         "meshes.tar": "886ec5f40be3016eb5e378aa8ff95b2adcbb11b1430dd00a2817f5a74850addb",
-        "render.png": "44fc61a9b68d587c367ebd9392cd42815439c3ab5d255e9714091b3fd096a76e",
+        "render.png": "b022ee4c371ecaa4a220dbeb88a656b5751b9774ee50ab6742a1d3f5969b4cc6",
         "graph-raw.svg": "0e69e04a1478278c79e4cc058f3fbf57a5deaa5fe911aed4476fb8fec8b970d9",
         "graph-robot.svg": "657025abb4e9172330f685c67b931200b7f7506881a354db541737e3d621637a"
       },
@@ -7230,7 +7308,7 @@
         "mjcf_ms": 4.597163293510675,
         "compile_ms": 39.31475104764104,
         "graph_ms": 68.75392515212297,
-        "render_total_ms": 1643.5108548030257
+        "render_total_ms": 1629.0392531082034
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7278,16 +7356,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 40.54417135193944,
-        "render_ms": 1427.5585003197193,
-        "compose_ms": 63.89653589576483,
-        "write_ms": 98.37075462564826,
-        "foreground_fraction": 0.7711
+        "compile_ms": 23.34571722894907,
+        "render_ms": 1414.6041199564934,
+        "compose_ms": 63.43124294653535,
+        "write_ms": 114.92077400907874,
+        "foreground_fraction": 0.7711,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "8225ee57b7420dadb94ce8ed18f4376da5c24399377666b7630d05419a0acda6",
         "meshes.tar": "1f3932490b89b9a2883f8fc805b45868371f072f0bfdcc570975dacc540d7b0f",
-        "render.png": "ab6b34cade8e6431aca19381ca7ecd52b34a05c85ff7bba4956a9922db84f08a",
+        "render.png": "88e76b235c8142cc36a1a313060c5dd52e52792e18356433879eb41345898d8a",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -7325,7 +7405,7 @@
         "mjcf_ms": 24.369925260543823,
         "compile_ms": 20.98867390304804,
         "graph_ms": 94.32947868481278,
-        "render_total_ms": 1622.5683190859854
+        "render_total_ms": 1661.3425891846418
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7398,16 +7478,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.344221852719784,
-        "render_ms": 1410.2531122043729,
-        "compose_ms": 68.85404093191028,
-        "write_ms": 105.35568464547396,
-        "foreground_fraction": 0.7887
+        "compile_ms": 15.851420816034079,
+        "render_ms": 1423.8170576281846,
+        "compose_ms": 74.21101815998554,
+        "write_ms": 132.46970996260643,
+        "foreground_fraction": 0.7887,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "7ec74edb8cac7b6e9be8100162292dc0ae428efd91fc41c35526631d4dec63c7",
         "meshes.tar": "a5a77dd4c179279ddc643d72103b65fe7818b421cddf07f8ab0340f67374dd46",
-        "render.png": "550ed8b9fc08e7d02c806f0adc2de93528719f8d5c175678a0afc8dc85a11e9c",
+        "render.png": "166a2574cb3ec661bf5e0ef9799ac852051c5640acd12d2822457e7a4c736fbd",
         "graph-raw.svg": "c8c39b9aca3a6d59a7a5ae14a71fa55631800581448b16439cf9ef550ba49683",
         "graph-robot.svg": "97493dfb7996e2e36b495c2af9b19816459d0e465b2e11e7d146f9b23a52c81b"
       },
@@ -7445,7 +7527,7 @@
         "mjcf_ms": 4.1936528868973255,
         "compile_ms": 18.8360339961946,
         "graph_ms": 92.34479395672679,
-        "render_total_ms": 1608.9851539582014
+        "render_total_ms": 1619.2452982068062
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7518,16 +7600,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.277839973568916,
-        "render_ms": 1395.364869851619,
-        "compose_ms": 69.37739485874772,
-        "write_ms": 106.0866229236126,
-        "foreground_fraction": 0.7887
+        "compile_ms": 16.63424586877227,
+        "render_ms": 1386.1246719025075,
+        "compose_ms": 69.02719428762794,
+        "write_ms": 134.87396016716957,
+        "foreground_fraction": 0.7887,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "b6c4dbfe2768bd7ea04c55f1a15727d4d0364b6cecea0b14266bd03586a8dbf6",
         "meshes.tar": "a5a77dd4c179279ddc643d72103b65fe7818b421cddf07f8ab0340f67374dd46",
-        "render.png": "550ed8b9fc08e7d02c806f0adc2de93528719f8d5c175678a0afc8dc85a11e9c",
+        "render.png": "6a54e224c0a9d2189a9831281793dc086228d0b5362c116e7e0fac877669a471",
         "graph-raw.svg": "c8c39b9aca3a6d59a7a5ae14a71fa55631800581448b16439cf9ef550ba49683",
         "graph-robot.svg": "97493dfb7996e2e36b495c2af9b19816459d0e465b2e11e7d146f9b23a52c81b"
       },
@@ -7565,7 +7649,7 @@
         "mjcf_ms": 6.396454758942127,
         "compile_ms": 2.8729396872222424,
         "graph_ms": 361.3899853080511,
-        "render_total_ms": 1570.7608740776777
+        "render_total_ms": 1556.5548581071198
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7613,16 +7697,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.6128386855125427,
-        "render_ms": 1422.2548971883953,
-        "compose_ms": 67.76297837495804,
-        "write_ms": 64.66193497180939,
-        "foreground_fraction": 0.69615
+        "compile_ms": 4.546087235212326,
+        "render_ms": 1401.9831651821733,
+        "compose_ms": 74.08862514421344,
+        "write_ms": 63.47000412642956,
+        "foreground_fraction": 0.69615,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "cdca0c0344bbcd7b13f7af0c9f0f3a35353841576d290a182d2305367df6a2ac",
         "meshes.tar": "a6c3357af0766f467108dc69ce86d90e2f5c57bbbe15028da1ddf7a012f5b8e0",
-        "render.png": "9efd3283c77946d70f76149c79dd5d909d0b0a15b6b6bf0e7c568611c8417fad",
+        "render.png": "95d442db246c06b7ac9d0e008017879c1a9e81121b6b8c23047291f14b29f9d9",
         "graph-raw.svg": "792829cf092a84dc4f31eaf76289055a2e48518419b6b35e961ac0a81dccb270",
         "graph-robot.svg": "a433a6abcd61f74aea142f1ba18049d44fb20abb4aa51d253c1f4b43d6b780d0"
       },
@@ -7695,7 +7781,7 @@
         "mjcf_ms": 12.613794766366482,
         "compile_ms": 206.90994709730148,
         "graph_ms": 919.2362762987614,
-        "render_total_ms": 1926.2231262400746
+        "render_total_ms": 1849.0036902949214
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7756,16 +7842,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 241.06984306126833,
-        "render_ms": 1533.3955883979797,
-        "compose_ms": 59.80840278789401,
-        "write_ms": 79.15307907387614,
-        "foreground_fraction": 0.54505
+        "compile_ms": 189.7134380415082,
+        "render_ms": 1511.4675755612552,
+        "compose_ms": 59.69051597639918,
+        "write_ms": 76.01454388350248,
+        "foreground_fraction": 0.54505,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "aa89e0f74647453a7aec8572d8a5533a324d6353d49c63adb204f2e4a3006a2f",
         "meshes.tar": "3245d864c1e6ddc1480f4a6f1e040d5d175fa5eb56bf80c438f984ed7a6eb957",
-        "render.png": "f622c581ade6369e80b3cb2e55c01f82908970b85d064920087aaafae7fc08ab",
+        "render.png": "6bdabe7c3aad6b405601eec0809b8839b96456b936de66862dc03b8eb0e69d5d",
         "graph-raw.svg": "b575c0e76d7b8161e5f5a592e7a46c03497bc96c26b47217f4d17bef456ce8a5",
         "graph-robot.svg": "de58c055e6fa872d11e1bbaf4084ef087622f13604dbc91f3567a45a3db82bed"
       },
@@ -7803,7 +7891,7 @@
         "mjcf_ms": 5.709243007004261,
         "compile_ms": 55.43674482032657,
         "graph_ms": 97.541862167418,
-        "render_total_ms": 1597.858076915145
+        "render_total_ms": 1585.3931331075728
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7851,16 +7939,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 35.763174295425415,
-        "render_ms": 1422.3264828324318,
-        "compose_ms": 61.63195287808776,
-        "write_ms": 65.1747821830213,
-        "foreground_fraction": 0.6468583333333333
+        "compile_ms": 30.21225007250905,
+        "render_ms": 1415.5461499467492,
+        "compose_ms": 62.01113620772958,
+        "write_ms": 65.24433800950646,
+        "foreground_fraction": 0.6468583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "dbfeb0d75b80bff277d88d0a92244118916734f001bc21245151209a83ca1e2c",
         "meshes.tar": "6ed03f0d1e909d49d45c16ee0762707307d3c0f6c4ed26ebf3079b1338950e09",
-        "render.png": "4693a30068b0e1dc9a3a5ac1a65c828fa02ce9f3da0a672cd1a6704f105ef9b3",
+        "render.png": "05eedc286250adee584daf4217828d6767bac08aece4fcfac15a6d5076c7cb09",
         "graph-raw.svg": "6c064eaba959aa21a96c6619ed1b15868d64d678b788e4014620e30d35d5f038",
         "graph-robot.svg": "f91871f7ba74d0338d8482fcec5d5d5194509826d860e48774a539a507016432"
       },
@@ -7931,7 +8021,7 @@
         "mjcf_ms": 9.120169095695019,
         "compile_ms": 147.23659167066216,
         "graph_ms": 293.4371968731284,
-        "render_total_ms": 1769.848323892802
+        "render_total_ms": 1857.2259908542037
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7986,16 +8076,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 146.68197883293033,
-        "render_ms": 1464.8537221364677,
-        "compose_ms": 56.735580787062645,
-        "write_ms": 88.8125179335475,
-        "foreground_fraction": 0.52325
+        "compile_ms": 172.1493429504335,
+        "render_ms": 1528.8396491669118,
+        "compose_ms": 56.382762268185616,
+        "write_ms": 87.82717492431402,
+        "foreground_fraction": 0.52325,
+        "style": "link-palette-v1",
+        "colored_bodies": 37
       },
       "artifacts": {
         "robot.mjcf": "ca4dca57a014635a42afeffd80fc0ddbc36887beb7bf09a11faf7c2b6b4e92b2",
         "meshes.tar": "8f7ac2d4a523d72c38cdaa48f3380bea384da0233ff84669f96bffaafa937b0d",
-        "render.png": "74f9e30108582a56debac6e94d67f0eb9a3492f216d54a6d719fcad03c75f8e0",
+        "render.png": "ac73c257e67a4e73c939632111feb1cca6356835e985826739c7114889947526",
         "graph-raw.svg": "b967d62ae251b8b44525f9cf7691d1542f342aef93691ac6697d8253c7cd658e",
         "graph-robot.svg": "cb0ee7ed14fe69e36c2f8eee435da785ac5cd9c3da1a469741323783152a2a9a"
       },
@@ -8026,7 +8118,7 @@
         "mjcf_ms": 4.4821626506745815,
         "compile_ms": 36.71891521662474,
         "graph_ms": 78.09176528826356,
-        "render_total_ms": 1448.6138727515936
+        "render_total_ms": 1503.4237848594785
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8087,16 +8179,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.958407040685415,
-        "render_ms": 1333.9103083126247,
-        "compose_ms": 36.0901509411633,
-        "write_ms": 40.367703419178724,
-        "foreground_fraction": 0.04675
+        "compile_ms": 23.676661774516106,
+        "render_ms": 1390.737428329885,
+        "compose_ms": 35.184990148991346,
+        "write_ms": 41.88110213726759,
+        "foreground_fraction": 0.04675,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "227ce77c695a9d39c3839aba1083077281f67638ef552b91dbaaa77485fa0d0f",
         "meshes.tar": "f764286b109608df35cef73df81b5004332bc8550578cca45b8adebb5d5575da",
-        "render.png": "f5c7891bc05fc109e898fd27e018c4ed9090d2645ff4c6e9f17357e1d4e4fc34",
+        "render.png": "a29c7e3db378e1911f177e0878281a3c4fc32dcbaccdb73665ba897a38a22d12",
         "graph-raw.svg": "84b3c579d3c5a3da579a8e48ccb536d646b386b6d76cc08892e79794b38c1e77",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3483c9b3be5b58941e188af3afe78f098d0287b6b4a880a98201b3003f7b73b2"
@@ -8180,7 +8274,7 @@
         "mjcf_ms": 12.27458193898201,
         "compile_ms": 197.1104028634727,
         "graph_ms": 1124.7455128468573,
-        "render_total_ms": 1864.0030017122626
+        "render_total_ms": 1841.417380142957
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8259,16 +8353,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 178.01196407526731,
-        "render_ms": 1531.331309583038,
-        "compose_ms": 54.514525923877954,
-        "write_ms": 87.73502381518483,
-        "foreground_fraction": 0.5555
+        "compile_ms": 158.5136717185378,
+        "render_ms": 1528.745056129992,
+        "compose_ms": 54.05988311395049,
+        "write_ms": 87.3039229772985,
+        "foreground_fraction": 0.5555,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "57d1890ed88bf2cd988b6124b9192c9ee761480c9f748d40d73ac39415b997c3",
         "meshes.tar": "89f98da0c2abd0679f21239b7ea04dc32a7f64539afd1c52e6b7054bdda903b5",
-        "render.png": "e53db57476b6ebecb0be9b9c4186d634b7b256ccdb7db7795308b03f6edb5922",
+        "render.png": "768f069c2a269931c4bb5618ab9e9ba7780f5569010de33316b7eb822806080b",
         "graph-raw.svg": "accf8535a4fe1d0247943bbac7a5fdefc13fa681f7a3e3d68acee83c47273653",
         "graph-robot.svg": "b272894f7add81c5d75bda5684c55ad52636968ed10ff9d8792bea4487e867d5"
       },
@@ -8343,7 +8439,7 @@
         "mjcf_ms": 10.77382592484355,
         "compile_ms": 153.6419875919819,
         "graph_ms": 948.0548282153904,
-        "render_total_ms": 1786.4747350104153
+        "render_total_ms": 1825.5160441622138
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8398,16 +8494,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 164.29906012490392,
-        "render_ms": 1471.174224279821,
-        "compose_ms": 58.38369578123093,
-        "write_ms": 79.95082531124353,
-        "foreground_fraction": 0.5467
+        "compile_ms": 164.94552185758948,
+        "render_ms": 1506.902847904712,
+        "compose_ms": 58.912665117532015,
+        "write_ms": 82.28801097720861,
+        "foreground_fraction": 0.5467,
+        "style": "link-palette-v1",
+        "colored_bodies": 15
       },
       "artifacts": {
         "robot.mjcf": "fd16ee6d2bd5cd89c22b6dd3757c859587e338d157d758f1ab2e3176e55d1ebd",
         "meshes.tar": "cbf04540af62d37dd040d35c81f967c490b0f1e928094172e7823a99133d864f",
-        "render.png": "7f89d502a336c1ef86b1387ab662a21aef226405993a61781ec9294562fe1f03",
+        "render.png": "3863b4a1e654b45ad0bcb3fe0a66d8337d301ac51a14316954bff6b42895a730",
         "graph-raw.svg": "3254c4096ce2e373b5ec7446f93ece71f7967285825f35ad5466b652816ac076",
         "graph-robot.svg": "60ab59b87a1944e482471602b5e4b002a637d2cd2fd35892f22bcc1102f29854"
       },
@@ -8438,7 +8536,7 @@
         "mjcf_ms": 4.491952713578939,
         "compile_ms": 10.746597778052092,
         "graph_ms": 76.95067999884486,
-        "render_total_ms": 1583.5841069929302
+        "render_total_ms": 1512.3351719230413
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8499,16 +8597,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.013409234583378,
-        "render_ms": 1423.9363158121705,
-        "compose_ms": 67.27424403652549,
-        "write_ms": 73.06912541389465,
-        "foreground_fraction": 0.75845
+        "compile_ms": 8.485457859933376,
+        "render_ms": 1352.8831852599978,
+        "compose_ms": 67.60608311742544,
+        "write_ms": 71.35649397969246,
+        "foreground_fraction": 0.75845,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "66afcc4413520b2132c3a7862bdc26ff540d0d5e3bff6c510d4e6185288254bd",
         "meshes.tar": "86cb2a04dc055294f817d6652fdd8036d471ebb396f4d67268998f1eb6465f04",
-        "render.png": "43790b7fc19d85a8dfa3eb6246f47ce9c6e113a379ec06c6d64df95cf9713dbc",
+        "render.png": "c41e9057e6f9d75f28aee42a0a5635aa1301c186481ae686e39fcfab47dd0c39",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "98dd1f1ed245549d791c6e466744a777606fd29943ae3642da8e136b300f5c6b"
@@ -8592,7 +8692,7 @@
         "mjcf_ms": 2.8021130710840225,
         "compile_ms": 16.917177941650152,
         "graph_ms": 143.7516249716282,
-        "render_total_ms": 1545.5393912270665
+        "render_total_ms": 1498.9891704171896
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8677,16 +8777,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.77771085128188,
-        "render_ms": 1377.9584229923785,
-        "compose_ms": 69.74108517169952,
-        "write_ms": 65.88116800412536,
-        "foreground_fraction": 0.561
+        "compile_ms": 16.92088134586811,
+        "render_ms": 1332.977837882936,
+        "compose_ms": 69.42245597019792,
+        "write_ms": 67.06118583679199,
+        "foreground_fraction": 0.561,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2a6a5fa1eff8a12be7be59328287b80c29704e8f6786eb1ab5f36fa29246c68c",
         "meshes.tar": "5fbbbeb6b95dd6ee9a8c0b057951b1ad239dc6856401cd2de809d3618c946937",
-        "render.png": "079af82c8f093e742f497a951a7708586931963ad25e27626a934a4e885a7492",
+        "render.png": "62608e1f26f54831a35466a317e949e7aed9ff55d0ee5b60dad26157afc2dd44",
         "graph-raw.svg": "bc13b093d4ef3f52435f5d24fe1c34d2092665795c5805a17e0077f56582437a",
         "graph-robot.svg": "c2831ba56af1669b302c97299556d9449df79884ba1aebe0273fd740ff039c56"
       },
@@ -8725,7 +8827,7 @@
         "mjcf_ms": 2.528992947191,
         "compile_ms": 3.0288221314549446,
         "graph_ms": 112.14534379541874,
-        "render_total_ms": 1554.9657111987472
+        "render_total_ms": 1457.5792141258717
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8828,16 +8930,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.4118339642882347,
-        "render_ms": 1411.2456673756242,
-        "compose_ms": 66.22706400230527,
-        "write_ms": 62.20859196037054,
-        "foreground_fraction": 0.55495
+        "compile_ms": 3.1502870842814445,
+        "render_ms": 1313.207883387804,
+        "compose_ms": 66.26002257689834,
+        "write_ms": 62.3331293463707,
+        "foreground_fraction": 0.55495,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ebde20715c43bbd1c762eaf8e830ab9195fb1e7086f981183d614de2c154783a",
         "meshes.tar": "09e157c61e7846ebf7c44a9d2cb2d759c1e8cf956ce66f87e8ff558f3b7bc15f",
-        "render.png": "1298bf7a05642db0b2565b1ac5f82b89327d41dd09ef588dc1516f6ee8cbf672",
+        "render.png": "0ba13dee661377bbca2cb35d54dd8706169580647a877eedbe1180909a3c0690",
         "graph-raw.svg": "a016443a6dcbd5753873fa1e21ab38f8d1577b11df15b64d0645f37b60952489",
         "graph-robot.svg": "f48b6cf644d507aafad988180d9ced88d12f4dc4dd8f9c54f7ed973725c6a6dc"
       },
@@ -8867,7 +8971,7 @@
         "mjcf_ms": 6.552772130817175,
         "compile_ms": 17.538927029818296,
         "graph_ms": 283.17048819735646,
-        "render_total_ms": 1585.6354660354555
+        "render_total_ms": 1540.8717510290444
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9049,16 +9153,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.304538749158382,
-        "render_ms": 1431.1812440864742,
-        "compose_ms": 55.74798956513405,
-        "write_ms": 68.58604587614536,
-        "foreground_fraction": 0.49555
+        "compile_ms": 8.187490049749613,
+        "render_ms": 1395.2191309072077,
+        "compose_ms": 55.71066681295633,
+        "write_ms": 69.72668319940567,
+        "foreground_fraction": 0.49555,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "7a4c5d032424e6c4ff17dcda60cfb3d181e345a2c06c31efbc1469c94e3a8072",
         "meshes.tar": "40e5623fc5983613a4a77b2655e50badf44f647be61b2515fa8886d0e09c0ec4",
-        "render.png": "50c32a1382ddf5f5106eff202157b753e703f6bd914bbc96ad3a11b93fbf7c82",
+        "render.png": "4239661ea9d20d0d8e130d16264816cf210fab0ab5a732fe97935eafb3a9f28d",
         "graph-raw.svg": "16ca11626852eb8f04ea10fad74e3a999fa50c8a347dd11c3aeeb4afb08841cc",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3247f0d85fc00c1b56f0dbc39936680485438c99374f0d76f1ad51f5e793267b"
@@ -9105,7 +9211,7 @@
         "mjcf_ms": 3.500153310596943,
         "compile_ms": 4.00038156658411,
         "graph_ms": 272.7331151254475,
-        "render_total_ms": 1521.3305279612541
+        "render_total_ms": 1493.5040059499443
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9153,16 +9259,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.116925299167633,
-        "render_ms": 1368.912077974528,
-        "compose_ms": 63.095186837017536,
-        "write_ms": 67.54392990842462,
-        "foreground_fraction": 0.52195
+        "compile_ms": 5.221692845225334,
+        "render_ms": 1343.9288209192455,
+        "compose_ms": 62.86807404831052,
+        "write_ms": 69.35805873945355,
+        "foreground_fraction": 0.52195,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "e0eb183799c9c8a92df96e7a15530c7944beec7a136c2c6d1e088881c8cd508f",
         "meshes.tar": "ae80b98e00f8aff441e58f29c1f32fd08c9aa3bfba8e3ef1ac6a8c6d5f029abf",
-        "render.png": "70a07083dc743a15f7d21756e5f97b0e551d7ac55a18f1c145a7e7b0bd190f4a",
+        "render.png": "25b1005f974b6638ed0f9957ab0540156ea06084c84925eeaeb3cfdee3e5a03b",
         "graph-raw.svg": "1d689d445d20514026327ab2b1382c6bc983bf7a824062cdeaafc6f5af74ec46",
         "graph-robot.svg": "dda853d71860fa15fb21d023e9702bfc1eb405190e9372bb5a2b19258574c6db"
       },
@@ -9210,7 +9318,7 @@
         "mjcf_ms": 6.928115151822567,
         "compile_ms": 21.602396853268147,
         "graph_ms": 195.31865091994405,
-        "render_total_ms": 1604.5819921419024
+        "render_total_ms": 1672.3110279999673
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9307,16 +9415,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 34.76603329181671,
-        "render_ms": 1427.6359886862338,
-        "compose_ms": 56.54659029096365,
-        "write_ms": 72.50438025221229,
-        "foreground_fraction": 0.5984
+        "compile_ms": 21.829411387443542,
+        "render_ms": 1359.5606284216046,
+        "compose_ms": 56.29437975585461,
+        "write_ms": 222.4413356743753,
+        "foreground_fraction": 0.5984,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "8022fa3949882696a021c01cf52e175fdf6d77e5db5db94f157dd6e23024e612",
         "meshes.tar": "75ac14138ec168eec7faaa8a53c4b07c64dc5f8649372dc4a9716475bd339bf2",
-        "render.png": "9a3ae0b63240bd795353887105b0ed4a8260ddae4aa82ec9e88fb156ce02eb9f",
+        "render.png": "763cde766c4d8d1203883a59fc8e59507116718d71d754a94950d498c88a8790",
         "graph-raw.svg": "e68ee230e030eb84c94987f4e374d1e109f917e2fc15ff6f731e99e57391683c",
         "graph-robot.svg": "92fb4fc96f64999ff10c84b9cafc9ec50d919de5bde9f10fdbdc763a5c59f17d"
       },
@@ -9360,7 +9470,7 @@
         "mjcf_ms": 5.855288822203875,
         "compile_ms": 103.11341658234596,
         "graph_ms": 139.8615539073944,
-        "render_total_ms": 1771.7341599054635
+        "render_total_ms": 2009.1746049001813
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9427,16 +9537,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 120.5167337320745,
-        "render_ms": 1501.378561835736,
-        "compose_ms": 68.32219194620848,
-        "write_ms": 68.10545176267624,
-        "foreground_fraction": 0.4807
+        "compile_ms": 129.0169907733798,
+        "render_ms": 1410.016989801079,
+        "compose_ms": 67.93230399489403,
+        "write_ms": 390.0388958863914,
+        "foreground_fraction": 0.4807,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "b8200e56966a7069f879088aed159450fe33f565a642f2ef65b3b069624dedcc",
         "meshes.tar": "e26860c2cab99bc1e8e9e4bd78a3e784e4babe193f4c54a411d22ae1468144b7",
-        "render.png": "b321ffd96d03114403521707b5b0cb90c18eb0029b8905faba2a75455818f8f5",
+        "render.png": "571e9064af0ccd08278c2e79a9d3634a19d053f634b5ac9d378b020c6a9c4f92",
         "graph-raw.svg": "a2a0fc98ab81515e786ad2181e92c968a0aa2b71c6457e08c163f2ae6afba256",
         "graph-robot.svg": "98a328e5e29070a0552cc7059b1ce967ad7ae62059fe3fedb8d1a1e432897cc5"
       },
@@ -9489,7 +9601,7 @@
         "mjcf_ms": 3.4494339488446712,
         "compile_ms": 5.517745856195688,
         "graph_ms": 384.1766179539263,
-        "render_total_ms": 1536.138583905995
+        "render_total_ms": 1722.0849813893437
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9544,16 +9656,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.94079664349556,
-        "render_ms": 1416.4050919935107,
-        "compose_ms": 52.81712720170617,
-        "write_ms": 49.298995174467564,
-        "foreground_fraction": 0.17875
+        "compile_ms": 5.521329119801521,
+        "render_ms": 1395.001478958875,
+        "compose_ms": 52.497873082756996,
+        "write_ms": 257.025727070868,
+        "foreground_fraction": 0.17875,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "ad3c6c3fd23adfc337b7b741d62f90e7ad626797c43e4771a07130e6c283e1d4",
         "meshes.tar": "288029f5669f548814b667b66fb858ea5d9f72c9353041312a4787c1eb61986a",
-        "render.png": "d61839e6e3ccde7503405c2664bcf13c3a5cc146a8017a91608d7818178e79cf",
+        "render.png": "50cac207cb906fb09accced110989f5d0a73e57e6e1704dabb2ebc55a3270556",
         "graph-raw.svg": "7000048f555b595d9afd6204b9efa19eecd54a927106dabc0b171d93efe38250",
         "graph-robot.svg": "6a90d59b44baab4cb6d3aa5dc3f167fe7ad56a19cc95dec69d9040e0be239e73"
       },
@@ -9588,7 +9702,7 @@
         "mjcf_ms": 4.662198014557362,
         "compile_ms": 3.4839706495404243,
         "graph_ms": 153.61808706074953,
-        "render_total_ms": 1564.4620461389422
+        "render_total_ms": 1505.2470457740128
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9649,16 +9763,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.954780917614698,
-        "render_ms": 1418.9640199765563,
-        "compose_ms": 66.01891899481416,
-        "write_ms": 61.19994493201375,
-        "foreground_fraction": 0.6831
+        "compile_ms": 3.419875167310238,
+        "render_ms": 1358.7181018665433,
+        "compose_ms": 65.83984801545739,
+        "write_ms": 64.99883905053139,
+        "foreground_fraction": 0.6831,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "240c53e9857368afcf44f14bc406ae1b95c3557632654deac16fdb999b8122d5",
         "meshes.tar": "e4d43925d2b29c9b40df5968538756d3cc59a004a40397bc79c48db3ae1dda01",
-        "render.png": "22f1fb9a5c6a6c28d0e443e47135c1a2152f46847f67a8982340921cfed8dfd4",
+        "render.png": "5d66c6e12aff47631facf87fd98f2996b1ba9bf8cc8a76017dad29a1efb64120",
         "graph-raw.svg": "0bdfe8522598f6a00e53811f26e692b4fc3cf78af5d4f9f4905e8ee7b0f4d531",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "341f5010b03b9a6a3872ba7b12496415c35df4582157353d74a0ea0c55dcd180"
@@ -9699,7 +9815,7 @@
         "mjcf_ms": 4.488256759941578,
         "compile_ms": 35.22014617919922,
         "graph_ms": 108.11716038733721,
-        "render_total_ms": 1660.796067211777
+        "render_total_ms": 1586.9086738675833
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9747,16 +9863,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 47.51471197232604,
-        "render_ms": 1461.9394247420132,
-        "compose_ms": 57.86632327362895,
-        "write_ms": 80.52653074264526,
-        "foreground_fraction": 0.56925
+        "compile_ms": 34.12593808025122,
+        "render_ms": 1401.4954939484596,
+        "compose_ms": 57.291463017463684,
+        "write_ms": 81.82237390428782,
+        "foreground_fraction": 0.56925,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "c18653e92735a72e6be16c929cead834a0db40ba8436bfde5bb6cd0426d65a73",
         "meshes.tar": "5afa942e8ea5a151e29b61333a044eda78db3078bd96859ad40a9c423153fba4",
-        "render.png": "db091e63e07cfca9a90902b93fce907ad888b4e41ab56705874474cd5d0f820a",
+        "render.png": "8d2e173c4ef6c45af268f140b0d1f4932cefb595892cc851410cf7b7aabbfd09",
         "graph-raw.svg": "7fa9eaae68b44790e0212da41686e982fd5ddc969879aa6770d4e66b55ceadfc",
         "graph-robot.svg": "68a436bc6d6b191f86ad45a01c05525329b3979e2f8da4e63dc901bc4b27c045"
       },
@@ -9794,7 +9912,7 @@
         "mjcf_ms": 4.209660924971104,
         "compile_ms": 20.84011910483241,
         "graph_ms": 105.28724920004606,
-        "render_total_ms": 1519.191914703697
+        "render_total_ms": 1560.9841723926365
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9842,16 +9960,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.506517883390188,
-        "render_ms": 1375.9716339409351,
-        "compose_ms": 54.48042694479227,
-        "write_ms": 64.36505308374763,
-        "foreground_fraction": 0.44825
+        "compile_ms": 9.8729832097888,
+        "render_ms": 1415.2983017265797,
+        "compose_ms": 54.6127543784678,
+        "write_ms": 66.35489407926798,
+        "foreground_fraction": 0.44825,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "0338df9af66dd89c848bb02c3491294fb658847fd856e4bba0c9f4dadc34a5e4",
         "meshes.tar": "8c2f086b034e537679b0961a32f9505b25c8b704f933521685a7eb2cf298b6ac",
-        "render.png": "3137b3eee4c4f02566560f3895ddea16293afb9ec2e56d82a05be924ba7e2e83",
+        "render.png": "7c3de61eae1277d3d092322b31e051fc4a81f43f3076bf86b8b51ae730597a45",
         "graph-raw.svg": "22819804272707b3e5a904ffb7f1cd6c40811171b182e8484a5ca210349dcec5",
         "graph-robot.svg": "555048ae2f0b23926719fd26cd2fae5d56a11eb5e32df72744308ff495735205"
       },
@@ -9894,7 +10014,7 @@
         "mjcf_ms": 5.981544964015484,
         "compile_ms": 21.40446240082383,
         "graph_ms": 131.75607658922672,
-        "render_total_ms": 1530.5656497366726
+        "render_total_ms": 1535.1179386489093
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9942,16 +10062,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.46499801427126,
-        "render_ms": 1373.124344740063,
-        "compose_ms": 52.16053407639265,
-        "write_ms": 75.87474212050438,
-        "foreground_fraction": 0.35915
+        "compile_ms": 21.36981673538685,
+        "render_ms": 1372.1284321509302,
+        "compose_ms": 52.585961762815714,
+        "write_ms": 76.12477382645011,
+        "foreground_fraction": 0.35915,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "628ae7ef9c8db96b071a961d0dba17aa3ae785d1d7d9464f164a4c3f0b4371c2",
         "meshes.tar": "55b387eb1f0dc563ec19fa11abb5535ec2941c3cbe9a09c7b4877f287ce7e69c",
-        "render.png": "7d34fb190a01bad453eb359316b6f126e51293eb1ec842c2650b4f94709539f6",
+        "render.png": "d1bff357a22684a4d7c42d6639e0a70294fa1f548460473a9563e642a97e3fd0",
         "graph-raw.svg": "bf9d171a02611d0d18e5876dd8f9ea2d2b08a139b6c6b1784c1f3a051f2abd6c",
         "graph-robot.svg": "a31a16141d1276dd4c476c849001cd18d2b44b0aaef3b4e4e935d27328c5890e"
       },
@@ -9983,7 +10105,7 @@
         "mjcf_ms": 4.927168134599924,
         "compile_ms": 10.505983140319586,
         "graph_ms": 99.20129692181945,
-        "render_total_ms": 1560.3916188701987
+        "render_total_ms": 1468.7863723374903
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10044,16 +10166,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.536242958158255,
-        "render_ms": 1404.4141042977571,
-        "compose_ms": 41.11469304189086,
-        "write_ms": 84.55805899575353,
-        "foreground_fraction": 0.7095
+        "compile_ms": 10.289859026670456,
+        "render_ms": 1299.0502319298685,
+        "compose_ms": 40.76768597587943,
+        "write_ms": 106.34491313248873,
+        "foreground_fraction": 0.7095,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "0d436c487d2bbfe0d4fd9638d8f95012e0e9927b9841dc4d705e9a72aff28074",
         "meshes.tar": "ab028078679bb509235d0ed2f6323b666abc594fc8f1feddcea96cb4c621a63e",
-        "render.png": "99aa15f7f8711ab403b78248d155d1f5f61b6eb673dc6a0226e66f45d57e4a84",
+        "render.png": "bf39e0d060a18c78f33d1f725dbb1ba4454ee25709bf5bd631f5b7da2ab834f0",
         "graph-raw.svg": "4f22b13319c3e44adea413b1b5ca2def9a9926367f34f2c9efde29c2822fba4d",
         "graph-robot.svg": "45d982748fc7dfc9c2f4c9813a0373afdcfd54ff2685968acf5e9d70b2ec4f08",
         "robot.urdf": "ecce89d0941fbb30b2e5ccea05d7f66e614c59ddb13b31c4829cc950073ab35b"
@@ -10092,7 +10216,7 @@
         "mjcf_ms": 4.742939956486225,
         "compile_ms": 31.037419103085995,
         "graph_ms": 80.3361120633781,
-        "render_total_ms": 1581.2636092305183
+        "render_total_ms": 1563.9178971759975
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10140,16 +10264,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.89842888340354,
-        "render_ms": 1397.3965351469815,
-        "compose_ms": 65.53745362907648,
-        "write_ms": 83.6234143935144,
-        "foreground_fraction": 0.63745
+        "compile_ms": 19.158679991960526,
+        "render_ms": 1354.6604956500232,
+        "compose_ms": 80.54275484755635,
+        "write_ms": 92.29693096131086,
+        "foreground_fraction": 0.63745,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "960346227f004e07bca49507ffedc87aa050b053059202e98096dd5ab79b790a",
         "meshes.tar": "9d342daed43a942b26940f8e0572116e15ae31fcec4666d20211af56078c8861",
-        "render.png": "258027e2c7a2e8f1e734a3efac13ab3741ea30e3baceed5ccd85e72f78a31f7b",
+        "render.png": "e8ca6517c5de5dc178f9b96b4052c515122e519e18006f5ed6b5609ccc6d94cb",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -10187,7 +10313,7 @@
         "mjcf_ms": 4.4191451743245125,
         "compile_ms": 21.937900222837925,
         "graph_ms": 131.4066951163113,
-        "render_total_ms": 1607.0380588062108
+        "render_total_ms": 1594.6129001677036
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10314,16 +10440,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.12101002037525,
-        "render_ms": 1422.56801109761,
-        "compose_ms": 56.07935693114996,
-        "write_ms": 95.33931501209736,
-        "foreground_fraction": 0.7181416666666667
+        "compile_ms": 13.550156261771917,
+        "render_ms": 1392.2023931518197,
+        "compose_ms": 56.07203580439091,
+        "write_ms": 120.43448677286506,
+        "foreground_fraction": 0.7181416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "109a3165dde1fac8b292a67816476d4e852291288945ed3afd0c7b7d64964330",
         "meshes.tar": "d259e05e005db747e60ac55ac9f3e48d62519160ad3efbd99ea3efb32a3a9d4f",
-        "render.png": "47a854acb906caaa44a06a34f4e01023978c4920b689444a5c344ff103aaed4f",
+        "render.png": "9f3c5bbaf531e2e821afa8b2e6c91afaa14c54aa5e900ff382b4f989cc5391fc",
         "graph-raw.svg": "6fc773f02ab78fbe8daa7216cf1e778808130560aea209408740264c119b3261",
         "graph-robot.svg": "5c534cf9b3c09a2f6c1f24c8f4ad44825296cff608a7dedf1748c7055572b930"
       },
@@ -10361,7 +10489,7 @@
         "mjcf_ms": 4.222308751195669,
         "compile_ms": 12.14766874909401,
         "graph_ms": 128.47233330830932,
-        "render_total_ms": 1667.5414219498634
+        "render_total_ms": 1640.0699620135128
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10409,16 +10537,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.939725045114756,
-        "render_ms": 1469.5402961224318,
-        "compose_ms": 80.72942309081554,
-        "write_ms": 90.41535342112184,
-        "foreground_fraction": 0.784875
+        "compile_ms": 10.221847333014011,
+        "render_ms": 1437.3791441321373,
+        "compose_ms": 65.95989316701889,
+        "write_ms": 114.02282118797302,
+        "foreground_fraction": 0.784875,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "3624068bd34873b29d6df0beea8c2050f309be8ec76a797c5497c3b05e4652fe",
         "meshes.tar": "51610d6b6a87165b8d15aba3dee8d8078f5eb36f96847f9d60801ab6b109f289",
-        "render.png": "ce82610595c26143ead8e492ab90cc931fc0bbe82cd7970f38b2b54740f9f953",
+        "render.png": "8c326ca22079356da88f30022da4437780c6de9496fdc4b066a90d179f2b770b",
         "graph-raw.svg": "a3de3b4bcb98578f942416d75d3c74a184c3de89c057d32f45f731726c2b7b5c",
         "graph-robot.svg": "8417cb830a8e6535cc2566bd1db58ca00b54f510e25c04295c1131bb0598187e"
       },
@@ -10460,7 +10590,7 @@
         "mjcf_ms": 6.074339151382446,
         "compile_ms": 69.90342820063233,
         "graph_ms": 183.10860125347972,
-        "render_total_ms": 1785.4074942879379
+        "render_total_ms": 1703.8362049497664
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10557,16 +10687,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 72.09355803206563,
-        "render_ms": 1511.789191979915,
-        "compose_ms": 74.81628702953458,
-        "write_ms": 111.28892190754414,
-        "foreground_fraction": 0.7818416666666667
+        "compile_ms": 78.60134588554502,
+        "render_ms": 1411.1341070383787,
+        "compose_ms": 73.01603816449642,
+        "write_ms": 128.79651132971048,
+        "foreground_fraction": 0.7818416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "610e598638b5d300ec531a15af4f71b6b2874d50bc53d4ef3126829ba675018f",
         "meshes.tar": "68fc4eabdca7dd25648ee71b8d772dec77b3aa0c02aeb3df18b025be3f560da5",
-        "render.png": "7bcc806262d3b435136d2acea26db688c3ab82546846ea044238cca7b39f3ca7",
+        "render.png": "7725dad400cd5365c3a979496f79b583aa356b5c06fb54eb45c9b4d69d95fc1f",
         "graph-raw.svg": "fc94ffe7721da646c6785e1631b2eebb0c1f4cf2686951099589bf9fd9a63822",
         "graph-robot.svg": "4dc550e2dbcae3a4c52e025a611adfb4e343424a6c1399f96f6e6c85e7b524d8"
       },
@@ -10609,7 +10741,7 @@
         "mjcf_ms": 5.610140040516853,
         "compile_ms": 253.26352892443538,
         "graph_ms": 119.43651828914881,
-        "render_total_ms": 1817.3101679421961
+        "render_total_ms": 1909.1016021557152
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10657,16 +10789,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 199.8347328044474,
-        "render_ms": 1456.8708892911673,
-        "compose_ms": 54.539179895073175,
-        "write_ms": 93.68746308609843,
-        "foreground_fraction": 0.4444
+        "compile_ms": 262.2611317783594,
+        "render_ms": 1473.4279387630522,
+        "compose_ms": 55.733082350343466,
+        "write_ms": 105.10323103517294,
+        "foreground_fraction": 0.4444,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "cda3ecb7a95a9a3c84d962da6b500d3fc1ddb7ffb7bc64d0cc127ba37bb26b48",
         "meshes.tar": "6f10e1ac52b22bdc13984e53431f815aca126e614174867522d1bb69dcd410df",
-        "render.png": "1d213ae54ee42a6c774a280c7ebeca354557f7e54f6da19daa1f2368f1778aaa",
+        "render.png": "52beff8f319ad878447c84afd399fd511fd68a9d15885d8ba571a71a2b762f8b",
         "graph-raw.svg": "40771252f46514ac03e213d4eccb7ac2e0db26c8937e7e01d778228d6b4efc6a",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -10697,7 +10831,7 @@
         "mjcf_ms": 5.063029006123543,
         "compile_ms": 19.58639035001397,
         "graph_ms": 70.35210588946939,
-        "render_total_ms": 1571.3420007377863
+        "render_total_ms": 1478.6234539933503
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10758,16 +10892,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.884758844971657,
-        "render_ms": 1394.7647749446332,
-        "compose_ms": 60.00862875953317,
-        "write_ms": 76.25476224347949,
-        "foreground_fraction": 0.56265
+        "compile_ms": 14.160499908030033,
+        "render_ms": 1315.5925492756069,
+        "compose_ms": 60.429307632148266,
+        "write_ms": 76.3283846899867,
+        "foreground_fraction": 0.56265,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "c80406b32e39bcf01ae8178969a13bd9842eab2cd0162df96a396fd7d7c4fe18",
         "meshes.tar": "9f98bd21e08dc228f38912b8c0869d76ff68b6dfdc413768d1bac5bde6008ba9",
-        "render.png": "2eb0e1420cbc3fb860e083fba0e3454cf515ff6dd52995eb5ce24e72cbf1722f",
+        "render.png": "e5e6ccf02163c851f4cda5a4af779a584539c16230eb54dc5b9eae0a28056a58",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "e94af99bd6743ca30e5b4fbfc6f8938abaff1b4db233aca9c3b95850041829bd"
@@ -10799,7 +10935,7 @@
         "mjcf_ms": 3.193117678165436,
         "compile_ms": 47.77565831318498,
         "graph_ms": 86.8610292673111,
-        "render_total_ms": 1610.4319468140602
+        "render_total_ms": 1578.372647985816
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10860,16 +10996,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 40.00090388581157,
-        "render_ms": 1415.6015352346003,
-        "compose_ms": 64.06671879813075,
-        "write_ms": 78.02221365272999,
-        "foreground_fraction": 0.429
+        "compile_ms": 36.62659786641598,
+        "render_ms": 1380.2934028208256,
+        "compose_ms": 64.95792279019952,
+        "write_ms": 84.41028883680701,
+        "foreground_fraction": 0.429,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "bb3df2bbd0e2bcffbd2f2a624cd37d946720ee894c33dd6f340c68143a041cb3",
         "meshes.tar": "2f0a4dccfc49ff46e1bd93d46f9f99797f1f13eb470ea0e5441a9462890011bc",
-        "render.png": "fe972bac90e3eacef26bb24caf86431e3d7c0e6a91f4401f360fe78a9e58cae4",
+        "render.png": "fc64dbe76aab2d5e0bbd3f95056b5b9dd8917fb9375adb0d0ff6d710abe4738c",
         "graph-raw.svg": "dc20c0552226f397b710c7cf58b549752dca25bd7fe0c55cfee538cbb5c0894b",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "4a1c93077258c69c9b629cd5ca9ee4b79a9cc6884627e5db5926d07c2337d2f0"
@@ -10907,7 +11045,7 @@
         "mjcf_ms": 4.611204843968153,
         "compile_ms": 51.80681683123112,
         "graph_ms": 208.44878908246756,
-        "render_total_ms": 1694.76163899526
+        "render_total_ms": 1721.6674098744988
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10955,16 +11093,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 66.41588406637311,
-        "render_ms": 1430.932678282261,
-        "compose_ms": 90.79617401584983,
-        "write_ms": 93.95200107246637,
-        "foreground_fraction": 0.7678
+        "compile_ms": 49.58085808902979,
+        "render_ms": 1420.560178346932,
+        "compose_ms": 91.04073513299227,
+        "write_ms": 147.6543159224093,
+        "foreground_fraction": 0.7678,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "3243965381ba9d49781c5793a29d86836cbef4f5efc3e388b36da3ba83a1da17",
         "meshes.tar": "704f10093dca9898b33616fbdc1afc776bba4db9c2cbadd3c1639eefc43a2490",
-        "render.png": "7235caba361a3cef79450419e417819e54ceda52c58eb64a1af33219d280c6eb",
+        "render.png": "541893f0d83c41d50797b89a36424adb4e910c3e7e5d7b7c2695f6d472810c2b",
         "graph-raw.svg": "47d5389a167f77996b0eac51d39b44e2c327dcaa1e6fe0a6fcc8dbae48ae6ac8",
         "graph-robot.svg": "8417cb830a8e6535cc2566bd1db58ca00b54f510e25c04295c1131bb0598187e"
       },
@@ -10996,7 +11136,7 @@
         "mjcf_ms": 3.7506166845560074,
         "compile_ms": 18.2993458583951,
         "graph_ms": 86.46183274686337,
-        "render_total_ms": 1483.1790355965495
+        "render_total_ms": 1554.6830468811095
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11057,16 +11197,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.63394107669592,
-        "render_ms": 1329.2212467640638,
-        "compose_ms": 55.56066380813718,
-        "write_ms": 62.30447581037879,
-        "foreground_fraction": 0.34265
+        "compile_ms": 14.42330377176404,
+        "render_ms": 1344.941277988255,
+        "compose_ms": 55.01041188836098,
+        "write_ms": 128.0915909446776,
+        "foreground_fraction": 0.34265,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "a84c67cee517616ea0ee9af76441df557ab20ac5df3d871d499c0e52734c6a5c",
         "meshes.tar": "47c06773847eadc5799709b5f01f1aac97bb0849affd1eeb05dfcac33c8309f0",
-        "render.png": "ad0b03454d413c8e1ba6aa3f6b4d5425500bcf84d9378d49bb4698904ed43b2b",
+        "render.png": "83f30966c36cb52791e0a65db491fa7443be989ff2de3f2b20408bc8eea3bd2e",
         "graph-raw.svg": "55bc227eb6ac908e0a0cc23c163092ff0001e1222bf6e644e9f943420b5bcd46",
         "graph-robot.svg": "a666c27203f4a2b1d25ca0b88b1659cadd9cd16ae514bce8fbe695cfb1940026",
         "robot.urdf": "7e3e27097369078366147cf5e8b3d2e666f2a83d937559ac26148271940f03f6"
@@ -11105,7 +11247,7 @@
         "mjcf_ms": 3.4111770801246166,
         "compile_ms": 8.190634194761515,
         "graph_ms": 102.56586270406842,
-        "render_total_ms": 1553.9763262495399
+        "render_total_ms": 1514.784809667617
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11190,16 +11332,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.551473919302225,
-        "render_ms": 1407.7995559200644,
-        "compose_ms": 45.203874818980694,
-        "write_ms": 75.77851880341768,
-        "foreground_fraction": 0.14135
+        "compile_ms": 6.159850861877203,
+        "render_ms": 1369.6329751983285,
+        "compose_ms": 44.71543384715915,
+        "write_ms": 82.20904227346182,
+        "foreground_fraction": 0.14135,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "0839049abef90f34d090b17f2be88f6d7789f9aeaef3abae1fea86a3850c09de",
         "meshes.tar": "928c707254e224ec5bb25e73b608ec899d2a113db57aaf9c8b4391a59b13b82f",
-        "render.png": "be5fedc036598edacd02d69113b2560679752b4815c5828733cdcc8cbc71d188",
+        "render.png": "37a2998622611365606f3ff2dbe32bb85d723f61e37181f02dcca455cba9810f",
         "graph-raw.svg": "6b997d4552b1ca3fc2966644eddfc9d96ec2594074399da9d93eead76f2db9d6",
         "graph-robot.svg": "e125b9dd3730d42d0832cd549e242d60c85521ebb8105f4aec92f160aa216c5b"
       },
@@ -11244,7 +11388,7 @@
         "mjcf_ms": 6.4906892366707325,
         "compile_ms": 64.49306104332209,
         "graph_ms": 267.1549189835787,
-        "render_total_ms": 1653.6011449061334
+        "render_total_ms": 1643.876374233514
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11299,16 +11443,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 82.89784099906683,
-        "render_ms": 1414.359729271382,
-        "compose_ms": 66.06484018266201,
-        "write_ms": 76.88283268362284,
-        "foreground_fraction": 0.7381
+        "compile_ms": 60.05996000021696,
+        "render_ms": 1424.8719769529998,
+        "compose_ms": 65.58203278109431,
+        "write_ms": 81.2002420425415,
+        "foreground_fraction": 0.7381,
+        "style": "link-palette-v1",
+        "colored_bodies": 13
       },
       "artifacts": {
         "robot.mjcf": "4bb1647befeaf0c72f2f753177065f5ee62590a418064ac8c76152b606c40e9c",
         "meshes.tar": "46013ac971704c7f01182be7e82d03a64bb0182a2d5118239c42ac8f7feac225",
-        "render.png": "d2f4eb1d4edfb3529c8bf1975c7988fc15f9925e7ee695e2d16cabacbe4ed614",
+        "render.png": "8c02dedf3c59ef9c387d2d884ff2da4a19fd429bca803ba57d6066e1c17e1dba",
         "graph-raw.svg": "a4b256873ba174510044735222757c51ea557fcb0c58a34dd3b2339b02888e81",
         "graph-robot.svg": "4ec7f4376329921efe75e66e1b93cdbf140d91b668b0ea65ae6fed2619920a5d"
       },
@@ -11352,7 +11498,7 @@
         "mjcf_ms": 6.1662038788199425,
         "compile_ms": 592.241520062089,
         "graph_ms": 178.7609001621604,
-        "render_total_ms": 2710.815154016018
+        "render_total_ms": 2427.3768649436533
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11413,16 +11559,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 656.4574670046568,
-        "render_ms": 1862.7005708403885,
-        "compose_ms": 58.197290636599064,
-        "write_ms": 115.96991727128625,
-        "foreground_fraction": 0.6885666666666667
+        "compile_ms": 528.8727069273591,
+        "render_ms": 1691.9406498782337,
+        "compose_ms": 57.32005508616567,
+        "write_ms": 133.17174278199673,
+        "foreground_fraction": 0.6885666666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "2cddaeae21f19d23bb5384b764493be3aed16aaf149062c244c359a29d814869",
         "meshes.tar": "796067131e8198090d8f7bf4e7b47a393bffeda0ed8967ad2ed24174c6499a3f",
-        "render.png": "af1ab303615a4595d8e788dc3f5a5ed871f4ef54dba4a3c248a69c9cda78d191",
+        "render.png": "8cccb2c83def51c67c2cb5ec12e7b1fd437ea4c302bbe08d3935b00fa4873293",
         "graph-raw.svg": "4aa55a3882f6b563d756b9ecfbab5ef46592c6787ccfda1ff8e064dd30f516cc",
         "graph-robot.svg": "6ba82015982e80e21f014cc69916abab3a7d29056fcc59f93a6cd71dfba750ea"
       },
@@ -11460,7 +11608,7 @@
         "mjcf_ms": 27.98069315031171,
         "compile_ms": 13.24238395318389,
         "graph_ms": 87.37539080902934,
-        "render_total_ms": 1468.4820091351867
+        "render_total_ms": 1513.500337023288
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11521,16 +11669,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.507123164832592,
-        "render_ms": 1325.1243219710886,
-        "compose_ms": 64.71145106479526,
-        "write_ms": 63.62011516466737,
-        "foreground_fraction": 0.6605083333333334
+        "compile_ms": 10.846317280083895,
+        "render_ms": 1362.6936911605299,
+        "compose_ms": 64.38297592103481,
+        "write_ms": 62.78322637081146,
+        "foreground_fraction": 0.6605083333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "71f9b0450bcf4807fbdc2a4958e142615add8e7583f8ded43ce587c9ee71dcd9",
         "meshes.tar": "573891a435a958e810ce06d65b06ed67018debb6640d2ef1d0b5378f718db6ef",
-        "render.png": "afcc888aa0d83b6bee32f209ae82ace07cda2e1cd545e12b8ed78fd3216a19e0",
+        "render.png": "1955aa2ba0aa671328f8604fe4dc619ecaed3ee28ddf792f405f96fce5eeaae1",
         "graph-raw.svg": "6bb23ef8d31df265c3a14d43371b118e95feea9a31459ca580bf73b16258d7a6",
         "graph-robot.svg": "3dc0efc934cab511d554b87a6c1b0a9abdb6453a6a28f751e328e45a73f6225c"
       },
@@ -11569,7 +11719,7 @@
         "mjcf_ms": 4.248026758432388,
         "compile_ms": 3.143087960779667,
         "graph_ms": 105.64364306628704,
-        "render_total_ms": 1481.209826655686
+        "render_total_ms": 1505.5957259610295
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11630,16 +11780,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.638887010514736,
-        "render_ms": 1338.2752411998808,
-        "compose_ms": 59.5813263207674,
-        "write_ms": 65.71909319609404,
-        "foreground_fraction": 0.53955
+        "compile_ms": 3.322312142699957,
+        "render_ms": 1365.4389372095466,
+        "compose_ms": 59.20723080635071,
+        "write_ms": 65.29045896604657,
+        "foreground_fraction": 0.53955,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "70f03d9cda29e8fc5dd8d20407d8f64b07a4af398fa57139c32867380660b077",
         "meshes.tar": "7008db4bc1b8b931a749e42bdf2095becc773bb992ce98a033cc64a73e370fcf",
-        "render.png": "3ddcda05380ff967adab78978a0e986fdafa5edb9aae71c266963f5e3a6c2bb7",
+        "render.png": "0c219be027754e502cb8f8865a714f10836c584bc179f0dc7dd6a2d9ca45941a",
         "graph-raw.svg": "6f9f1ca56946afbb7ba6357e0fb849be03f7e3746f9e2f1c4fd7ce6490ccfe4e",
         "graph-robot.svg": "8b9684f9ed110130af9a7fec4b692cf8c8477160339fb923ad7f730332752a67"
       },
@@ -11673,7 +11825,7 @@
         "mjcf_ms": 7.156520150601864,
         "compile_ms": 26.518664322793484,
         "graph_ms": 130.15321921557188,
-        "render_total_ms": 1607.1509178727865
+        "render_total_ms": 1545.465646777302
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11734,16 +11886,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.27972697094083,
-        "render_ms": 1417.7633672952652,
-        "compose_ms": 68.46719793975353,
-        "write_ms": 84.61950486525893,
-        "foreground_fraction": 0.72655
+        "compile_ms": 15.256010927259922,
+        "render_ms": 1358.2850182428956,
+        "compose_ms": 68.17109789699316,
+        "write_ms": 91.3310176692903,
+        "foreground_fraction": 0.72655,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "7cadf29491ced211d9ceade3eef9d8e19ba966e79955b092f978caebb01ad9d7",
         "meshes.tar": "7dfcef1796670f5f9bbb2c56a6904d96c92c59008dfa057f77e72d1865ea0112",
-        "render.png": "40f3f2fad8f30b11df526c399e3dc11fa3bf90a9d224c7938e4934e918908427",
+        "render.png": "001790fea4a70afbec216f6e295fdb321b1ac3596bbb20f33b758fdaf1fd16ec",
         "graph-raw.svg": "ab0059b34c488cfa406847b85430eb9104c07c0b7ea8eaf1ca6fa65cbb72f2e3",
         "graph-robot.svg": "d91be58acc37430c6e2815c3292d4914547a948ce707f236948ce044960867da",
         "robot.urdf": "3693658054c13158096912a853d111171b598210a174143d1ade608cc7f25305"
@@ -11782,7 +11936,7 @@
         "mjcf_ms": 5.002604331821203,
         "compile_ms": 29.476015828549862,
         "graph_ms": 99.19960983097553,
-        "render_total_ms": 1568.8047539442778
+        "render_total_ms": 1532.0972218178213
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11855,16 +12009,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.501371938735247,
-        "render_ms": 1409.582357853651,
-        "compose_ms": 55.123441852629185,
-        "write_ms": 70.71449514478445,
-        "foreground_fraction": 0.51975
+        "compile_ms": 22.70384831354022,
+        "render_ms": 1371.737466659397,
+        "compose_ms": 54.74269296973944,
+        "write_ms": 70.71472704410553,
+        "foreground_fraction": 0.51975,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "44100eb0e13ba946847b4d15c052d1b3fdcdcb9d19e21c2db63b72b437beef16",
         "meshes.tar": "1c5f6fb4db9b2ae9cc44a7af1fbb7e5091102be5f72d8c5d041b9b60e6ac9a78",
-        "render.png": "755e2f127c59f2f7e10647cbb327f8cc8b796a4f90662c267c252b972f86ecdd",
+        "render.png": "38d103e0ebd68b39c72c8506e7e1c0d3fc90b4e11e2e14de1ee6c36bde04488e",
         "graph-raw.svg": "6bb8c51b9aa8e50e1feded2ad74c519b783b89e882f057d0dc28dee5aeb10bbf",
         "graph-robot.svg": "51778abce710069ff4fcfeef87553c748bb350cff9be07eb4b8032976bfce224"
       },
@@ -11902,7 +12058,7 @@
         "mjcf_ms": 3.0830041505396366,
         "compile_ms": 2.3299739696085453,
         "graph_ms": 218.90067076310515,
-        "render_total_ms": 1618.4775163419545
+        "render_total_ms": 1587.2149621136487
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12035,11 +12191,13 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1.9472050480544567,
-        "render_ms": 1417.127669788897,
-        "compose_ms": 148.41640507802367,
-        "write_ms": 38.38675422593951,
-        "foreground_fraction": 0.0
+        "compile_ms": 2.2233501076698303,
+        "render_ms": 1388.4310340508819,
+        "compose_ms": 147.34042715281248,
+        "write_ms": 37.41614008322358,
+        "foreground_fraction": 0.0,
+        "style": "link-palette-v1",
+        "colored_bodies": 0
       },
       "artifacts": {
         "robot.mjcf": "753b40a3d0adb7951291cad4b7c5cada582dbe395d16e5be451382b020810070",
@@ -12076,7 +12234,7 @@
         "mjcf_ms": 4.792402032762766,
         "compile_ms": 3.4572859294712543,
         "graph_ms": 86.29635535180569,
-        "render_total_ms": 1585.1137451827526
+        "render_total_ms": 1540.0434182956815
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12137,16 +12295,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.643686253577471,
-        "render_ms": 1437.8555701114237,
-        "compose_ms": 64.61687479168177,
-        "write_ms": 66.5421411395073,
-        "foreground_fraction": 0.61545
+        "compile_ms": 2.7217399328947067,
+        "render_ms": 1394.1067759878933,
+        "compose_ms": 63.86453006416559,
+        "write_ms": 67.19192303717136,
+        "foreground_fraction": 0.61545,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "57996f68fbd6049d46fe109458e57988d82b21d864bc990547f352a8218553d4",
         "meshes.tar": "cb6c6afa5906bbbdcd113f63efcb4c28ff7ca79b0d46a91fdbfbb3aeca80151c",
-        "render.png": "e3894283e837c70b1a6e1263e7a79a89e8159a328aea7a406cda5794ffa61929",
+        "render.png": "b76bd6c0d04789efb33170727d44cb1669ecb481b848d23da6b20a2552accb47",
         "graph-raw.svg": "7bd127c924c83c626db1282e26d6d8022e3784775ef16fba88f50a8fd7bf99fa",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "34de8f4e24e48d1078f09e11ffeb0858de93b3f59d874a346d121a2e001948b3"
@@ -12179,7 +12339,7 @@
         "mjcf_ms": 4.660510923713446,
         "compile_ms": 26.898411102592945,
         "graph_ms": 264.4936852157116,
-        "render_total_ms": 1605.6463746353984
+        "render_total_ms": 1634.2177959159017
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12240,16 +12400,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 43.161243200302124,
-        "render_ms": 1391.0241457633674,
-        "compose_ms": 56.26794882118702,
-        "write_ms": 101.60700790584087,
-        "foreground_fraction": 0.54505
+        "compile_ms": 25.726787745952606,
+        "render_ms": 1401.7710578627884,
+        "compose_ms": 55.33573869615793,
+        "write_ms": 139.08080710098147,
+        "foreground_fraction": 0.54505,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "f7d3043ff4ee76d3ee526dc685f8b32ee9a5bc80291546c0adaebc9bde7c5ccc",
         "meshes.tar": "07c5c59ab6917020046621affda0dcbf7eaddcc494c3da7900c26b46574b52d5",
-        "render.png": "06cc63ab7de3dc8ce7df96f95d06763c8f92991efa161229ab6994672dbe5681",
+        "render.png": "d30ae1d68301a3aff712bcf2f4a8ada65211bb65c29cd470622e2764b0ebf3e9",
         "graph-raw.svg": "eda3877217b4e92ddee604e2c606a2bdf32530f889242baafb390dd9bb3c367a",
         "graph-robot.svg": "78094be9e8b4126532e3a493cdff23bb91e6f1ed6f712509c1ea611c1ff021b8",
         "robot.urdf": "fc9ea1bef96feeac4dd7c3e215157e11d9321042f69a192a237b5fa514db975a"
@@ -12282,7 +12444,7 @@
         "mjcf_ms": 4.5483470894396305,
         "compile_ms": 32.8708216547966,
         "graph_ms": 75.5068059079349,
-        "render_total_ms": 1671.5583107434213
+        "render_total_ms": 1669.7076908312738
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12343,16 +12505,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 31.099780928343534,
-        "render_ms": 1444.8934430256486,
-        "compose_ms": 70.89030230417848,
-        "write_ms": 112.05504788085818,
-        "foreground_fraction": 0.7832
+        "compile_ms": 25.2631651237607,
+        "render_ms": 1414.9317126721144,
+        "compose_ms": 71.37587992474437,
+        "write_ms": 145.88387170806527,
+        "foreground_fraction": 0.7832,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "845d91f860cb6ad4f3b3a6b00d4c050dbf0a6bc32d4dd279fa91a5569c4033c4",
         "meshes.tar": "465bd6d53ee1ed1d2fab31f4466c4b4ad2339aeaf51e355898a95251d2559819",
-        "render.png": "a131b592f377090b186a33ac27aba0f7e27f06d5f87e2adba2a3d9a812b04201",
+        "render.png": "95b64aa42d048dbe06719c429b5b1775f3638095fd16add252ef562f29337068",
         "graph-raw.svg": "bf00bc1cef3dada6bf6bd0c8102b9e5e1d0a2085e6a638306e355424f9a8476c",
         "graph-robot.svg": "a666c27203f4a2b1d25ca0b88b1659cadd9cd16ae514bce8fbe695cfb1940026",
         "robot.urdf": "2faebd1c43c5cd954995a02d4c74e72543d0fd14386bbbaea9145ef87f17cf7c"
@@ -12384,7 +12548,7 @@
         "mjcf_ms": 4.420829936861992,
         "compile_ms": 51.97571497410536,
         "graph_ms": 75.91102365404367,
-        "render_total_ms": 1576.5013778582215
+        "render_total_ms": 1627.3523177951574
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12445,16 +12609,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.54418797791004,
-        "render_ms": 1378.628270700574,
-        "compose_ms": 58.813925832509995,
-        "write_ms": 83.24861433357,
-        "foreground_fraction": 0.70525
+        "compile_ms": 40.593099780380726,
+        "render_ms": 1411.1653538420796,
+        "compose_ms": 57.91128380224109,
+        "write_ms": 105.72753380984068,
+        "foreground_fraction": 0.70525,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a7b240501e7d16fe1c9b8330954b8cefdc66e85da661f2edffdb96dab1f1c775",
         "meshes.tar": "b9636bc499f8ead16b7f1293f2676fed29438ff12823322ad75514a05386ef0a",
-        "render.png": "5fc011b6f7822d1baaf5915ea1386dc1c31bc0d3e751c4f113a8eadf5b7d8e3d",
+        "render.png": "7957f5a96a25e5724e2cb0df5262bddf68092ad2e7bac077209a2366bcfc59ce",
         "graph-raw.svg": "c471cab9825f6857ed702326984a0aeea4fd2588686acb1196f081e340806fce",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "c9d59e896b0fde903f534266942f36530a329d23bfb9e804234b6400b27e345e"
@@ -12489,7 +12655,7 @@
         "mjcf_ms": 5.4192449897527695,
         "compile_ms": 7.079102098941803,
         "graph_ms": 174.1299950517714,
-        "render_total_ms": 1469.0074832178652
+        "render_total_ms": 1474.8235261067748
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12550,16 +12716,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.246652755886316,
-        "render_ms": 1335.3343158960342,
-        "compose_ms": 56.299300864338875,
-        "write_ms": 59.75281493738294,
-        "foreground_fraction": 0.33275
+        "compile_ms": 5.982738919556141,
+        "render_ms": 1338.356755208224,
+        "compose_ms": 57.29193426668644,
+        "write_ms": 60.532817617058754,
+        "foreground_fraction": 0.33275,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "9fd93c0580cb9a80759b900611b72702adbba4f436ea99af01648067367f4550",
         "meshes.tar": "1f37f4f635eeda216543b262483f55df5deb7d3b84ec2fffed9b2d26285f622f",
-        "render.png": "f7809a5444139d3f99f68259f599643f6b71ce674b5b17e72de41b4d5c571362",
+        "render.png": "88120c671da3d9cea52caf513190ff7363cc88764e9f7dddae8f63aec318498e",
         "graph-raw.svg": "1013d10243deed0f7007a6d95a8692aff47d1136b8be0ea5de7b9ada777537ea",
         "graph-robot.svg": "3d8da0f3790b77a9193d3b62a87da3559b55b2ace6b450876f3b0a479521b463",
         "robot.urdf": "5e9bfc92130b8915dfa182cefe834a972abe5185a433e69f06d06370918e7daa"
@@ -12590,7 +12758,7 @@
         "mjcf_ms": 3.973481245338917,
         "compile_ms": 16.67011482641101,
         "graph_ms": 277.83499332144856,
-        "render_total_ms": 1548.5442518256605
+        "render_total_ms": 1524.5235050097108
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12651,16 +12819,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.303778022527695,
-        "render_ms": 1415.522470138967,
-        "compose_ms": 47.37270623445511,
-        "write_ms": 54.693082347512245,
-        "foreground_fraction": 0.1958
+        "compile_ms": 9.75565193220973,
+        "render_ms": 1396.6170870698988,
+        "compose_ms": 47.40918520838022,
+        "write_ms": 58.11868095770478,
+        "foreground_fraction": 0.1958,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "7b2d2ecad688291108eb2e7f2bd617078535ada75c753307f543403a7a36b898",
         "meshes.tar": "9732b644a6852949707893aabb8b15446c58fc1ef2164dc0124353c97777ec69",
-        "render.png": "50930df9c6181222c670aa8a84fbf2f6fa182fe83f37a8b5ef69e2f607303d83",
+        "render.png": "d9bda00307fa13ad9db9918d6369e9dab84dc15cb3da77044f60b1a92e17112c",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "718331e020fcd76ba31e9f718e9d6ebeaf75fd9e4c903f3d134a82ef642ccb5c"
@@ -12703,7 +12873,7 @@
         "mjcf_ms": 5.992333870381117,
         "compile_ms": 30.87040176615119,
         "graph_ms": 678.3070010133088,
-        "render_total_ms": 1696.6708009131253
+        "render_total_ms": 1538.0853596143425
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13322,16 +13492,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 31.153297051787376,
-        "render_ms": 1438.4339610114694,
-        "compose_ms": 59.8636781796813,
-        "write_ms": 155.13511700555682,
-        "foreground_fraction": 0.7196583333333333
+        "compile_ms": 32.330545131117105,
+        "render_ms": 1369.1445831209421,
+        "compose_ms": 58.91538318246603,
+        "write_ms": 65.91176195070148,
+        "foreground_fraction": 0.7196583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "2303c5bcb2ac06bd0c288ee0f4ee389884eafb9870780ccfadb7303003b18728",
         "meshes.tar": "2191a227db98ea71d043828e35f588b4eb331bbd1ca99c8484f2adbc4294776e",
-        "render.png": "04234f5a2c0b94bf30445a721a1b95fd206522eac42d42f839af2d1912a701bf",
+        "render.png": "c6a2fce8664b8efe9c82a68c768d292b51ff375969bb068604d06a887bec6258",
         "graph-raw.svg": "ad6a5ffcbde15d2664fddcf5ff13838a5fcfeee488b753dac60c3756ea3eef6d",
         "graph-robot.svg": "529136b99f48efbce079d03bf355e7ad6286d452b66692c9638ef3988b2a3cf4"
       },
@@ -13364,7 +13536,7 @@
         "mjcf_ms": 5.362702999264002,
         "compile_ms": 3.448525909334421,
         "graph_ms": 96.89057897776365,
-        "render_total_ms": 1464.8845638148487
+        "render_total_ms": 1470.0984531082213
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13425,16 +13597,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.568664029240608,
-        "render_ms": 1334.209515247494,
-        "compose_ms": 61.277711763978004,
-        "write_ms": 51.54215870425105,
-        "foreground_fraction": 0.3619
+        "compile_ms": 3.1328368932008743,
+        "render_ms": 1344.6615058928728,
+        "compose_ms": 61.008770018815994,
+        "write_ms": 49.325172789394855,
+        "foreground_fraction": 0.3619,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "045ec3e84f3b42faa2efa12bbff8d03e504419ffd92a183c439d0819f136b3f8",
         "meshes.tar": "6fb3aaa3fcf16474c227ade647858212362c750e9137e91d4e0c3d6299d476a6",
-        "render.png": "dd347d329e941c9c103e5581e79b03a28c49c105a13731b351e20145aa617b29",
+        "render.png": "b971be947fa91208c2e5dc735c4d45d2d58048b631cebe4f4d815bb0ee4c8466",
         "graph-raw.svg": "f7ac2f8422c1808b32d149c96b40189e9008c1f2b793516b569e07bfce94ea96",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "25741df1ac6515d635c60a8e97454e10955aee99d57a625a17fd5f27a8cbc309"
@@ -13488,7 +13662,7 @@
         "mjcf_ms": 6.510427221655846,
         "compile_ms": 548.245208337903,
         "graph_ms": 862.6100411638618,
-        "render_total_ms": 2391.7520670220256
+        "render_total_ms": 2646.4948654174805
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14131,16 +14305,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 587.1167830191553,
-        "render_ms": 1589.9350037798285,
-        "compose_ms": 62.094106804579496,
-        "write_ms": 140.45561524108052,
-        "foreground_fraction": 0.70525
+        "compile_ms": 820.2975140884519,
+        "render_ms": 1570.6609347835183,
+        "compose_ms": 61.467400286346674,
+        "write_ms": 182.04956827685237,
+        "foreground_fraction": 0.70525,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ed8385aee4fc949a8ea154e632d53457765e65b0e6665157282ac0d54d9e7dc9",
         "meshes.tar": "671c7e408f45529ad31417842637b2934ec533e4819c61f3f18dfcad6d0de280",
-        "render.png": "2f358472da352ceb5cd693c9f77423e29ce74ab4e9e1013527d7169b0eef18fc",
+        "render.png": "67678ac744f83d20f8df41e908b2bb35257d8a289ded5460328a5af092cb64cd",
         "graph-raw.svg": "676b746ebb2b936ea168bcc7b3ea2ff6539957cf0d2b49ed071bd244d80df93d",
         "graph-robot.svg": "9ff0cc57479d00655471245f1ad04d646f17a26828229b794460a43e180b01c2"
       },
@@ -14180,7 +14356,7 @@
         "mjcf_ms": 5.17614558339119,
         "compile_ms": 183.7198999710381,
         "graph_ms": 130.1651019603014,
-        "render_total_ms": 1834.6315496601164
+        "render_total_ms": 1719.3308621644974
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14283,16 +14459,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 194.14457632228732,
-        "render_ms": 1493.0464546196163,
-        "compose_ms": 67.24647898226976,
-        "write_ms": 63.88228898867965,
-        "foreground_fraction": 0.2618
+        "compile_ms": 182.32599832117558,
+        "render_ms": 1408.0262463539839,
+        "compose_ms": 50.38891127333045,
+        "write_ms": 66.5032067336142,
+        "foreground_fraction": 0.2618,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "8d4309b7c6848d918ec76e932815d7169a9cfe5a6c2c79830de2fc5f15e72f7d",
         "meshes.tar": "8f04bca28ff2880a3fb65f094e32437390ed09c22b580e44d5b0b975c12f9c47",
-        "render.png": "1bc5b5ab10d3acfe61154f93b49bb5d6fb1dffa08ee804c5fd68a99912bd8301",
+        "render.png": "cabe473d0a85331cb01cd0403b4bf61c7f0c7f1ff2d9dbb83665eda677590fbd",
         "graph-raw.svg": "41aeda9847ed09292806f7e9f528babe0b0d116ae135357974e0c0e0fae79448",
         "graph-robot.svg": "e05c995e6cc15ac120ba8e9dc3fd160866070cdbe96a4046d35785df7a9d7ffe"
       },
@@ -14329,7 +14507,7 @@
         "mjcf_ms": 11.390398256480694,
         "compile_ms": 112.78501525521278,
         "graph_ms": 240.61359325423837,
-        "render_total_ms": 1710.6805481016636
+        "render_total_ms": 1693.346621003002
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14390,16 +14568,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 103.08939311653376,
-        "render_ms": 1469.6591631509364,
-        "compose_ms": 46.44159972667694,
-        "write_ms": 77.11207587271929,
-        "foreground_fraction": 0.2486
+        "compile_ms": 141.1319342441857,
+        "render_ms": 1417.4517770297825,
+        "compose_ms": 44.14109792560339,
+        "write_ms": 78.17248208448291,
+        "foreground_fraction": 0.2486,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "48d252cf2719651960b67b92994f72b445fa395bef3b1c227d9480c2a05e4b37",
         "meshes.tar": "abe1f74cebcfc0ad14029ce52caf7e94d1b71836b05084a7208698a75b4f9e50",
-        "render.png": "53fbbc0a2f3365a0961604fdfc1f6e94f4f1bc80be0ef718ce2dbc1ea4600835",
+        "render.png": "ff173a2ad2c247ae3b037dcd5171dc29ed1c199a0e1bd3184d9def1dea710aba",
         "graph-raw.svg": "e24d1ec8416b75bb70ce3621bf5319a7ac479a3c96dd4e445dc852e95110da62",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "4b0964de4db1947075d64867fabd5426fbefdf723ce56bc80082cc660f1d23bc"
@@ -14432,7 +14612,7 @@
         "mjcf_ms": 4.26523620262742,
         "compile_ms": 2.947234082967043,
         "graph_ms": 111.02270800620317,
-        "render_total_ms": 1579.2121612466872
+        "render_total_ms": 1528.331395238638
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14493,16 +14673,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.118266981095076,
-        "render_ms": 1427.2405710071325,
-        "compose_ms": 70.10928122326732,
-        "write_ms": 64.65424364432693,
-        "foreground_fraction": 0.7469
+        "compile_ms": 2.928175963461399,
+        "render_ms": 1381.9353859871626,
+        "compose_ms": 67.57437204942107,
+        "write_ms": 63.88663733378053,
+        "foreground_fraction": 0.7469,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d2736098ee3619307d531e0e62d879b30ac50bcaa973d42f63ed6d3e41ae9bad",
         "meshes.tar": "2efd65286f8587ac4cc6e05a9281cf9af73aaca992008a7ce964647594da9e14",
-        "render.png": "d8bd5a2ed04497e6df6f60402e58c375698e6450bc7877764ddc84013fed2ba2",
+        "render.png": "819f0a4d481a0d74d2ad45309f30079337ffda99b6050cc03eacbfd6c3760fad",
         "graph-raw.svg": "a774d2210429d44c0c47ce31910dfb208b587e613a7ccf507ecb1cca8b50676b",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "1adaedc056005de193087f23c81abe2bd56f9a16cddd7a56d1c7e93527f9099c"
@@ -14538,7 +14720,7 @@
         "mjcf_ms": 5.704361945390701,
         "compile_ms": 71.65675377473235,
         "graph_ms": 99.29941594600677,
-        "render_total_ms": 1714.6138632670045
+        "render_total_ms": 1645.6422531045973
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14599,16 +14781,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 69.21059684827924,
-        "render_ms": 1477.8374461457133,
-        "compose_ms": 62.75285501033068,
-        "write_ms": 91.88289800658822,
-        "foreground_fraction": 0.6226
+        "compile_ms": 62.32514604926109,
+        "render_ms": 1405.7707046158612,
+        "compose_ms": 62.3869551345706,
+        "write_ms": 102.73206094279885,
+        "foreground_fraction": 0.6226,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "883b09a9aedde2fc4407dab5bceaa9332dcbd4556094b51ffd03a9bc6d50fd73",
         "meshes.tar": "918deaf81ef5784e017a57a34161e33bdd5dd30c437069fad476e2ff35d25cc5",
-        "render.png": "0d186003a1ffe2ce9a7a122a4b94c80f9d57e7ae082188a53d170154fd127cda",
+        "render.png": "c565409b5f143a87a9865f02fc3e966936a101c51b280a1dfa0b116deb80b285",
         "graph-raw.svg": "3f9fc9714ee01b181752867bc865df731365887448a00bf184e56d09076469a7",
         "graph-robot.svg": "855249975ffbf133ed52c500ca7dcff9da85a1cd2be4fd64ad4e80eee3c89f0e",
         "robot.urdf": "9035f146c52bf17144613213a823048b5ceb57db3be509f611f1e3cf74d9c3b3"
@@ -14647,7 +14831,7 @@
         "mjcf_ms": 5.6649427860975266,
         "compile_ms": 25.067237205803394,
         "graph_ms": 114.33690786361694,
-        "render_total_ms": 1514.9646811187267
+        "render_total_ms": 1485.6763421557844
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14708,16 +14892,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.00171598047018,
-        "render_ms": 1382.2510396130383,
-        "compose_ms": 42.92149096727371,
-        "write_ms": 57.09176976233721,
-        "foreground_fraction": 0.2563166666666667
+        "compile_ms": 15.206883195787668,
+        "render_ms": 1358.407024294138,
+        "compose_ms": 41.91238526254892,
+        "write_ms": 58.00235737115145,
+        "foreground_fraction": 0.2563166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "d845e56194fb960a7ad9feb7a62ea8224c3385765aac24214c5e827ddab346b8",
         "meshes.tar": "cb6bea6a505c307f26c2a07f24d359bef51cca979b606f525d06275d5aa4d644",
-        "render.png": "4b8756953ba6c9436e53038c465e1c2789353b908482f71550180e254ceb9754",
+        "render.png": "9897ddb04dd71b170558afb6d6e501972badce826109498a2de7425c42189040",
         "graph-raw.svg": "b542b05fd1a1590368c79a26930cd07cd4982e71df72e586cf5ac447a4c82d3d",
         "graph-robot.svg": "bd3f246065bcfc4ccaeaa95c3e27d959f78e951b37e6e53c7ce8da0bd9c4c30c"
       },
@@ -14755,7 +14941,7 @@
         "mjcf_ms": 3.7961299531161785,
         "compile_ms": 2.979015000164509,
         "graph_ms": 79.8905841074884,
-        "render_total_ms": 1462.5649829395115
+        "render_total_ms": 1547.1141091547906
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14810,16 +14996,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.3766793310642242,
-        "render_ms": 1316.5461057797074,
-        "compose_ms": 59.42966602742672,
-        "write_ms": 71.7384540475905,
-        "foreground_fraction": 0.75075
+        "compile_ms": 2.79651815071702,
+        "render_ms": 1398.4163417480886,
+        "compose_ms": 61.09043164178729,
+        "write_ms": 72.90097465738654,
+        "foreground_fraction": 0.75075,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b8de542c4526a3f6c72c3d0c6eca1d15da7b3916f80dad12c36ca93005e5201c",
         "meshes.tar": "e610ef5f94c1b90e2bd6bc40c1d9afbc18f5906baf5d7499b26cc7fa5835d0de",
-        "render.png": "4f1e73b79da81979746e5ae95e173b34139e68a9331d974c31c339fc1afbbc1b",
+        "render.png": "8efc20b16ef9ab286633d64339a8300b992afa82fed610fa7baf2f05a2275c7b",
         "graph-raw.svg": "7d73a13c5c558e42f8dc2bd8dabc4f58ba90ec9f0956dcc0d240b257a7de2fc9",
         "graph-robot.svg": "dbb8aca7caa2607d4407120bbcd9cf76bcde070f827ccce7cb7fab0e22f5bbcc"
       },
@@ -14850,7 +15038,7 @@
         "mjcf_ms": 4.683859180659056,
         "compile_ms": 18.676868174225092,
         "graph_ms": 89.43555178120732,
-        "render_total_ms": 1517.4611019901931
+        "render_total_ms": 1548.9480490796268
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14911,16 +15099,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.067962903529406,
-        "render_ms": 1369.1493277437985,
-        "compose_ms": 52.17809183523059,
-        "write_ms": 70.12782292440534,
-        "foreground_fraction": 0.38665
+        "compile_ms": 10.136985220015049,
+        "render_ms": 1384.9519239738584,
+        "compose_ms": 51.702129654586315,
+        "write_ms": 90.4896748252213,
+        "foreground_fraction": 0.38665,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2825d3532104bbc97a3630d582c1dc6baec730182f4e4380df46f483b65e9503",
         "meshes.tar": "08407e32c0dfeb1c4eeb3eebfded4edc3e35ff242811eca306d7284cd4c0b78d",
-        "render.png": "d21f8e0f9d1698daa0f49cdc8d0dcd22ec6cae6bc94aba1250f2eec88248932f",
+        "render.png": "0a0d165f292735f95c0cba6d23c6668387b3742952a7569ce2e122b81e4036c0",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "042e9f10dcea27417effe4c7f8f88a9311a4d5b3867e02191c0d1fec65957ae1"
@@ -14963,7 +15153,7 @@
         "mjcf_ms": 7.560873869806528,
         "compile_ms": 335.72456473484635,
         "graph_ms": 173.69132675230503,
-        "render_total_ms": 2127.5035212747753
+        "render_total_ms": 2146.5803789906204
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15030,16 +15220,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 301.4572807587683,
-        "render_ms": 1686.3759797997773,
-        "compose_ms": 49.76933775469661,
-        "write_ms": 76.6687192954123,
-        "foreground_fraction": 0.2002
+        "compile_ms": 331.40996377915144,
+        "render_ms": 1604.5586769469082,
+        "compose_ms": 48.94659807905555,
+        "write_ms": 145.71949699893594,
+        "foreground_fraction": 0.2002,
+        "style": "link-palette-v1",
+        "colored_bodies": 19
       },
       "artifacts": {
         "robot.mjcf": "8fb2ea7aaf1ddc0a1aa58e2b412ab095c374f8a825fd1a7482bf59988f915d91",
         "meshes.tar": "0126514c4156123278e1703dc48c83dd5f6e1f219fc91884c6af1aea653302ac",
-        "render.png": "62dac27c16b74ea725f30afb8223d9f02a8f1555967b4e4977077e820f9413f0",
+        "render.png": "a2b8c4d9e1bb7338e8cc4dcb74bb9e1b73d17c9d862feff20bbdeabc67bf5073",
         "graph-raw.svg": "cd8fcc575e58dcd8a3c46e13ea78e7201db3e374d5b4d4c866cadea93cb8b0e1",
         "graph-robot.svg": "c8c7e81b63a5f2f6d6c58d34c92a0861793e52f276e5acc6ee9f482b700a8495"
       },
@@ -15081,7 +15273,7 @@
         "mjcf_ms": 8.723777253180742,
         "compile_ms": 285.05481593310833,
         "graph_ms": 208.54039210826159,
-        "render_total_ms": 2094.019316136837
+        "render_total_ms": 2152.457940392196
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15148,16 +15340,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 333.678160328418,
-        "render_ms": 1597.8821502067149,
-        "compose_ms": 50.88504310697317,
-        "write_ms": 98.22561219334602,
-        "foreground_fraction": 0.36135
+        "compile_ms": 407.96804893761873,
+        "render_ms": 1585.3169239126146,
+        "compose_ms": 49.1710458882153,
+        "write_ms": 97.47172519564629,
+        "foreground_fraction": 0.36135,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "a69c45865b3f21c3afea2ae906eb16cfb110d18deb5abd42862c15d00a3490fd",
         "meshes.tar": "ed1472201a891d37b230062ba6194092360161d4dffb0b0a08bd8250964d3212",
-        "render.png": "df1c18b575709871a23902517a11371e913c68d61e055cba09d2585fd48317cb",
+        "render.png": "03779f411f77f2a939f691fc0b40f1c2ee9ee97e2ba51fef656142a8a7525947",
         "graph-raw.svg": "b66b9080076f35cc098ce0f00a301b90e518c3876d1ba7706326ffc8d7e409dd",
         "graph-robot.svg": "9b1d46be89b978e495f8841a268a64c35f4a3e9878130e2cf536162ef121c0a9"
       },
@@ -15188,7 +15382,7 @@
         "mjcf_ms": 5.024237092584372,
         "compile_ms": 412.0036056265235,
         "graph_ms": 107.96464886516333,
-        "render_total_ms": 2668.1068330071867
+        "render_total_ms": 2130.939843133092
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15274,16 +15468,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 836.3347696140409,
-        "render_ms": 1627.9373168945312,
-        "compose_ms": 61.72456778585911,
-        "write_ms": 128.56959691271186,
-        "foreground_fraction": 0.784875
+        "compile_ms": 388.1912869401276,
+        "render_ms": 1507.5924131087959,
+        "compose_ms": 60.188230127096176,
+        "write_ms": 160.24769702926278,
+        "foreground_fraction": 0.784875,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "54662c784aa55b0411142aaeab2be6c69e7a23d2f97330663ce57036ab73f979",
         "meshes.tar": "562803ac1725027dc1af398611082792617128bd1cc7858798b78af7ba710057",
-        "render.png": "5acf4b698fd02cbd403b9481c36249874b6044ea525cfce0fa36bcc2798c8ed4",
+        "render.png": "a1a3172b6129c00fcfc7bbb20c3479577c9c479eadd472168f6eec0d8c00102d",
         "graph-raw.svg": "0ddb5f4335671569d5d0ab0b1b67ea2756ba605732c7707d5cad13e7604cb05b",
         "graph-robot.svg": "b28e2419e15c54a662530801289a2fe49f5fe55791779d1fda8e2ddc7dbf2919",
         "robot.urdf": "48997fb9ad7273e0563ffdfd5afc406258b1a999c9784aa1945a8c8b497870ef"
@@ -15296,12 +15492,89 @@
   ],
   "output": {
     "archive": "shard-01132.tar",
-    "archive_sha256": "6ead2488c1298d29635158faeaaf6499b775c11ad3fcf42281edf95d207ad223",
+    "archive_sha256": "c7f6065b5c673968e925b089fc421e640616c8eb3c2f92a73dae78f6031c78e7",
     "packaged_samples": 98
   },
+  "render_enrichment": {
+    "schema_version": 1,
+    "definition": "Preview renders were regenerated from the packaged MJCF and meshes with the recorded camera and image settings and a deterministic per-link palette; no conversion artifact, count, or timing other than the render's was recomputed",
+    "identity": {
+      "style": "link-palette-v1",
+      "palette_sha256": "aeceafaddf4f6dc009c3db778801e6535c0a0feee5fa9439f1d918c4298898f1",
+      "render": {
+        "width": 1600,
+        "height": 1200,
+        "dpi": 300,
+        "padding": 0.06,
+        "supersample": 2,
+        "azimuth": 135.0,
+        "elevation": -35.264389682754654,
+        "distance_scale": 2.5,
+        "orthographic": true,
+        "geom_groups": [
+          1
+        ],
+        "headlight_ambient": 0.35,
+        "headlight_diffuse": 0.55,
+        "headlight_specular": 0.1,
+        "background": [
+          255,
+          255,
+          255
+        ],
+        "show_ground_plane": false,
+        "camera": null,
+        "link_palette": "link-palette-v1"
+      },
+      "render_backend": "osmesa",
+      "pipeline_identity": {
+        "schema_version": 1,
+        "codesign_version": "0.4.2",
+        "repository": {
+          "commit": "f16a2b5e07dc30d82dc74975390e71ad383c37ba",
+          "dirty": false
+        },
+        "source_sha256": "29f37e7336061889d2fbda8ccaf4c0dcf6af89e138fcbea3d4fe99d4eec02821",
+        "native_core_sha256": "f3188cb8879a19ff0ef65d12c27c98dbe6b642e3ad41d511a830ccb544db622b",
+        "dependencies": {
+          "cascadio": "0.0.13",
+          "huggingface-hub": "1.28.0",
+          "matplotlib": "3.11.1",
+          "mujoco": "3.11.0",
+          "networkx": "3.6.1",
+          "pillow": "12.3.0",
+          "trimesh": "4.12.2"
+        },
+        "mesh_producer": {
+          "schema_version": 2,
+          "codesign_version": "0.4.2",
+          "geometry_sha256": "936cc5faf6edd66a4199a59734e71b68c9b51f29320a875349b928d72e833a17",
+          "python": "3.12.13",
+          "implementation": "cpython",
+          "system": "Linux",
+          "machine": "x86_64",
+          "dependencies": {
+            "cascadio": "0.0.13",
+            "trimesh": "4.12.2"
+          }
+        }
+      }
+    },
+    "source": {
+      "archive_sha256": "6ead2488c1298d29635158faeaaf6499b775c11ad3fcf42281edf95d207ad223",
+      "report_sha256": "fe9044495725e947ea69702cb43633d82305f406298801a09932ec326fb3e7a7"
+    },
+    "scheduler": {
+      "job_id": "60317276",
+      "array_job_id": "60313720",
+      "array_task_id": "1132",
+      "node": "gl3186",
+      "host": "gl3186.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 98,
     "compiled_models": 98,
-    "archive_sha256": "6ead2488c1298d29635158faeaaf6499b775c11ad3fcf42281edf95d207ad223"
+    "archive_sha256": "c7f6065b5c673968e925b089fc421e640616c8eb3c2f92a73dae78f6031c78e7"
   }
 }