diff --git "a/onshape/shard-01137.report.json" "b/onshape/shard-01137.report.json"
--- "a/onshape/shard-01137.report.json"
+++ "b/onshape/shard-01137.report.json"
@@ -221,7 +221,7 @@
         "mjcf_ms": 8.63085687160492,
         "compile_ms": 204.17011575773358,
         "graph_ms": 339.7989086806774,
-        "render_total_ms": 2055.538466665894
+        "render_total_ms": 2063.206839375198
       },
       "mesh_preparation": {
         "status": "complete",
@@ -282,16 +282,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 38.94065599888563,
-        "render_ms": 1841.1228358745575,
-        "compose_ms": 70.00126224011183,
-        "write_ms": 91.42605401575565,
-        "foreground_fraction": 0.6512
+        "compile_ms": 177.85535985603929,
+        "render_ms": 1675.6181861273944,
+        "compose_ms": 80.67921875044703,
+        "write_ms": 114.20376412570477,
+        "foreground_fraction": 0.6512,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "74e10b6e3919309a7abac630658c04ea32c284b7c615a0bdc30392dd75999cff",
         "meshes.tar": "55c38df9c573e74daf5ee66e945243b33326dbf01a7674fe5e9b35e822f17a38",
-        "render.png": "2395f118214a33a65fc885cfdd88905d0bc93cb0bfe309b1f0795dbb8324f79c",
+        "render.png": "75dc7029f12384faa387b67df2087325c471d760e84249fb7253dfb1297f9053",
         "graph-raw.svg": "5ba274dd58d05c251692df2f4ed1c7aa4561bea536d88a37449b90f94a6e9d92",
         "graph-robot.svg": "fce73fbdca0f83d1404a1c90bd65a9adb418150cdfd93d79dc01ababc063da20",
         "robot.urdf": "90de233b1076005189512444a0adeda69bb6a4d766b9ffca16ab2ad02d8408b0"
@@ -323,7 +325,7 @@
         "mjcf_ms": 4.318863153457642,
         "compile_ms": 5.121477879583836,
         "graph_ms": 71.86867808923125,
-        "render_total_ms": 1799.8253270052373
+        "render_total_ms": 1627.6057539507747
       },
       "mesh_preparation": {
         "status": "complete",
@@ -384,16 +386,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.8356872498989105,
-        "render_ms": 1628.5998420789838,
-        "compose_ms": 87.47128117829561,
-        "write_ms": 59.10334689542651,
-        "foreground_fraction": 0.5511
+        "compile_ms": 4.052089061588049,
+        "render_ms": 1465.6684049405158,
+        "compose_ms": 79.67597525566816,
+        "write_ms": 64.3211486749351,
+        "foreground_fraction": 0.5511,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "acc4666079b674cf7a9b87e54777558753175a046d92c955ac60cae61a635fce",
         "meshes.tar": "d8301d59ef1253db2fd0c7a8545f3399bdabfe6bbccb43eafbe4f4fbe0424d01",
-        "render.png": "60a373a7c2719515a86e9a508e359dc9a3ca996c77f7c066eb77fd419c73e1ef",
+        "render.png": "0cf05d72e58ccbaad87addd7fcdaff1b862738499d358309d3e130cc2f2d49f7",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "176cdaeb00bf28ef8b090dad8090ed5e2e174297afa318f7ee91b6168496b1bd"
@@ -432,7 +436,7 @@
         "mjcf_ms": 10.312347207218409,
         "compile_ms": 25.18188487738371,
         "graph_ms": 281.5261469222605,
-        "render_total_ms": 1904.2812776751816
+        "render_total_ms": 1761.6288233548403
       },
       "mesh_preparation": {
         "status": "complete",
@@ -480,16 +484,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.312594033777714,
-        "render_ms": 1729.0684678591788,
-        "compose_ms": 72.65439303591847,
-        "write_ms": 71.65899500250816,
-        "foreground_fraction": 0.7272416666666667
+        "compile_ms": 30.04751494154334,
+        "render_ms": 1563.6103516444564,
+        "compose_ms": 74.43575514480472,
+        "write_ms": 76.64123084396124,
+        "foreground_fraction": 0.7272416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 56
       },
       "artifacts": {
         "robot.mjcf": "c467310ad6bf37113f7850057eeb068a1ef67f64597fba5b1929ca1e5700875a",
         "meshes.tar": "5fff3651e0210eddc408596f59ef040abff41c362efa84534f11930f83d08283",
-        "render.png": "ecc625be716fd7c0b3225f8056190539468950086188c3233f334deee856e496",
+        "render.png": "22cd2ecdb128ff77ff263faa9f8c2980fd6446b50c65e96d8b93602f7761b553",
         "graph-raw.svg": "0ce027264168b21dc563769aaef9c9b59d086aa0671c8393eb39f516fba13a85",
         "graph-robot.svg": "1f0ce9469488237809a5d6b776d9cc107a5d9a5160b20a5f128472f7e0da57e4"
       },
@@ -46969,7 +46975,7 @@
         "mjcf_ms": 5.784279201179743,
         "compile_ms": 67.37543037161231,
         "graph_ms": 129.50292602181435,
-        "render_total_ms": 2172.623354010284
+        "render_total_ms": 1740.8066289499402
       },
       "mesh_preparation": {
         "status": "complete",
@@ -47030,16 +47036,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.059598807245493,
-        "render_ms": 1971.3293807581067,
-        "compose_ms": 98.29228604212403,
-        "write_ms": 76.99069892987609,
-        "foreground_fraction": 0.65725
+        "compile_ms": 34.95766781270504,
+        "render_ms": 1547.2495169378817,
+        "compose_ms": 66.0460670478642,
+        "write_ms": 79.6205117367208,
+        "foreground_fraction": 0.65725,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "1868a39bfe28c740db85e75c893d675c26bd83f65bf07f8cec2978739b2517f0",
         "meshes.tar": "b13a2094900d379ffcbf750df6e2e5a84b8ac6034e18090466eac509968f3b1d",
-        "render.png": "9b0843f9687b9b64636b641f9c558f9a7d0c1541a6e0e7b92fcdc29624448152",
+        "render.png": "dcd65a0ac79fc8ba8fd856288c20f0c7f2f8108f41215049d636a7ab207cbeae",
         "graph-raw.svg": "01d4df9c99f7649acb30f848b7b18aaa07a69257f4ad5a9138c4236557202cfe",
         "graph-robot.svg": "c2749ad803509349b606aa2037c5c1039738ec2f293e29af23470cda655a6349",
         "robot.urdf": "4e15e570d526815fcaf652b18a1b9479f51c99bad029e8ce6f5a9a3845697427"
@@ -47076,7 +47084,7 @@
         "mjcf_ms": 5.957114975899458,
         "compile_ms": 13.32569820806384,
         "graph_ms": 156.8844267167151,
-        "render_total_ms": 2049.318697769195
+        "render_total_ms": 1674.8972521163523
       },
       "mesh_preparation": {
         "status": "complete",
@@ -47137,16 +47145,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.188690800219774,
-        "render_ms": 1868.918549735099,
-        "compose_ms": 87.43802411481738,
-        "write_ms": 68.49049404263496,
-        "foreground_fraction": 0.41965
+        "compile_ms": 6.370468996465206,
+        "render_ms": 1515.9772536717355,
+        "compose_ms": 73.80764791741967,
+        "write_ms": 65.100007224828,
+        "foreground_fraction": 0.41965,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "4e4cd8b477bdbabab46b8652461dfaa60e8bc442707dda9d8dc5d83af8ade36c",
         "meshes.tar": "457ceebcd76bb202f7d03c39eff7ac86b38055f60673930eff5979c839204639",
-        "render.png": "0b77716ca3212931601a7d2adf9801d8bb0abc0e882cf92daa807a0c2582ef5d",
+        "render.png": "f35c986d57c3add774ae511a33af747a6c50870b9067671d1eea1e6e80e6f6f7",
         "graph-raw.svg": "a13edd4aaaabe7bfde666946c91685ab07695350f2a68a16f8bc27b5620d7432",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "0bf983b3c0ab774e676b1e5297c5aa22b49f1545dddba66ecc8acd0fce9f74c5"
@@ -47234,7 +47244,7 @@
         "mjcf_ms": 8.055901154875755,
         "compile_ms": 77.90510216727853,
         "graph_ms": 165.6304500065744,
-        "render_total_ms": 1828.314091078937
+        "render_total_ms": 1715.5236187390983
       },
       "mesh_preparation": {
         "status": "complete",
@@ -47282,16 +47292,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.2297439314425,
-        "render_ms": 1640.5416927300394,
-        "compose_ms": 68.21589218452573,
-        "write_ms": 83.68105301633477,
-        "foreground_fraction": 0.55055
+        "compile_ms": 51.390332635492086,
+        "render_ms": 1494.5044820196927,
+        "compose_ms": 68.42928286641836,
+        "write_ms": 85.81139100715518,
+        "foreground_fraction": 0.55055,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "e8c2030154027e8eb089c1527ad32ff19782f4217280ad4bcfc23057a95d6483",
         "meshes.tar": "566346f97ab859ed9157fb76cc7f67b974a0e2cb76cb89ff57888682def39af3",
-        "render.png": "68982ceadd330c2f0fc629549406de50d6d2e8237967aa5d87fad28b178bdffa",
+        "render.png": "b17d8ab3f5fb4c9244f2493f9e2c0c179427c556e5ea9cdd1305b64081105242",
         "graph-raw.svg": "bcc6765cc4810b0b926f0fab98160f1a76ab8016099fe02228499961af96931c",
         "graph-robot.svg": "1076b10fed73abe4e22c22f5d96038737a5f5c33a66adbfc8865831d12d8702d"
       },
@@ -47333,7 +47345,7 @@
         "mjcf_ms": 5.308880936354399,
         "compile_ms": 47.258925158530474,
         "graph_ms": 179.5529001392424,
-        "render_total_ms": 2054.673350881785
+        "render_total_ms": 1869.9191040359437
       },
       "mesh_preparation": {
         "status": "complete",
@@ -47478,16 +47490,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.975558146834373,
-        "render_ms": 1806.0399987734854,
-        "compose_ms": 79.77999374270439,
-        "write_ms": 138.87162506580353,
-        "foreground_fraction": 0.65065
+        "compile_ms": 37.23647864535451,
+        "render_ms": 1548.750092741102,
+        "compose_ms": 76.98801206424832,
+        "write_ms": 188.62781394273043,
+        "foreground_fraction": 0.65065,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "e4997394ae6ce020d4c74526adb288cfdc414244b74eb6df0fce2505d7372a89",
         "meshes.tar": "159bc684530c5da1b411bf9eae9749d18f76ee9831c12f1327a79b109e68ab2b",
-        "render.png": "40429f57953efe98d17d40b4432633ee5e27e01a63738b259d048fdce3e065a8",
+        "render.png": "5b04d972a5955ecaf12150fc73fe8a4df17703d2bf4319fb821f9405a91df5b0",
         "graph-raw.svg": "5f40cc1a82bf1cab23f8c616a5d44d7ff58a1e152d8c4aec769051d29b8dcf0d",
         "graph-robot.svg": "853ddf0512a97632e9cf461337b069c12405550220c89fffcb2e8040b5eb3d33"
       },
@@ -47529,7 +47543,7 @@
         "mjcf_ms": 6.068986840546131,
         "compile_ms": 67.29549169540405,
         "graph_ms": 142.36732432618737,
-        "render_total_ms": 1953.6347398534417
+        "render_total_ms": 1690.020174253732
       },
       "mesh_preparation": {
         "status": "complete",
@@ -47577,16 +47591,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.338030230253935,
-        "render_ms": 1753.908593673259,
-        "compose_ms": 93.59196713194251,
-        "write_ms": 63.968968112021685,
-        "foreground_fraction": 0.67815
+        "compile_ms": 65.83261862397194,
+        "render_ms": 1470.8539191633463,
+        "compose_ms": 71.22086780145764,
+        "write_ms": 68.147465121001,
+        "foreground_fraction": 0.67815,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "4f010468ad3ea8fe4fd0d0232e92e6fd2533f7806d6cf5670313fae59ba65100",
         "meshes.tar": "b494b3653d14f3d6cd14d92e372441b06a0a3790d45dcb60e3bcecccc531665e",
-        "render.png": "ac791ff0c728215e2a02cfa55530d36eaf2c3dd631950fbe361efe4f0cb8e349",
+        "render.png": "00e668ec4fc5a8fb1b2aa9cf80675be6a187b57c6a790d8937649c44663f8beb",
         "graph-raw.svg": "e3157167d0b25f5e192e2231997f5d3f2cc578d4f06fe43c6b664826ec1c810f",
         "graph-robot.svg": "47fdf51b39e088d46deb98ca348eddfc11acd2e62f5f16480116f03f59dc5057"
       },
@@ -47630,7 +47646,7 @@
         "mjcf_ms": 7.112781051546335,
         "compile_ms": 47.69373498857021,
         "graph_ms": 167.97910537570715,
-        "render_total_ms": 2085.9789359383285
+        "render_total_ms": 1718.7983114272356
       },
       "mesh_preparation": {
         "status": "complete",
@@ -47678,16 +47694,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.89549982175231,
-        "render_ms": 1929.4289709068835,
-        "compose_ms": 70.6481751985848,
-        "write_ms": 56.77837086841464,
-        "foreground_fraction": 0.411775
+        "compile_ms": 23.61727273091674,
+        "render_ms": 1559.959921054542,
+        "compose_ms": 63.89864766970277,
+        "write_ms": 58.231380302459,
+        "foreground_fraction": 0.411775,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "830ce7a6073357266c387d7a593fdfa774e980fd6a7f5d586f5a56cebc6cbb47",
         "meshes.tar": "a211f389ade7f8c45678d9afa8eb534277c3eaa77924cc2ca35957914a73ee4e",
-        "render.png": "0974fc2ccc2b878e320dde56fbe3ef23793f1df9423d74572f52a5a4d3a20b09",
+        "render.png": "4fa2b7a1931c15f5b547d7c80ee6c4a804e313c8947c47587a24c324c35dea91",
         "graph-raw.svg": "e53a7305e4659615dc409675b36f0164be57781c59c18f1baf0948490d7368eb",
         "graph-robot.svg": "28d1ff87cde5853bdfa5bccad6f353963c8d139a49c6f4876e317e78f01e1fe6"
       },
@@ -47718,7 +47736,7 @@
         "mjcf_ms": 3.687470220029354,
         "compile_ms": 2.310945186764002,
         "graph_ms": 78.59971933066845,
-        "render_total_ms": 2007.8621827997267
+        "render_total_ms": 1578.1985842622817
       },
       "mesh_preparation": {
         "status": "complete",
@@ -47779,16 +47797,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.1363133564591408,
-        "render_ms": 1842.9655469954014,
-        "compose_ms": 73.85892560705543,
-        "write_ms": 68.72272491455078,
-        "foreground_fraction": 0.50325
+        "compile_ms": 2.975323237478733,
+        "render_ms": 1440.414559096098,
+        "compose_ms": 55.44723803177476,
+        "write_ms": 66.21736893430352,
+        "foreground_fraction": 0.50325,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "1eedf466cde5b7da336990f551e0718a0a5d52a93c7323dcd05a5f791800e686",
         "meshes.tar": "6763fd8813476dabc2e8cbe7d81c45474c8c4ec7cc307fea10fc15d8094df70d",
-        "render.png": "dd94b9bb7cb791e480bd8e70286d04067be33b1aad665263145c56592415f783",
+        "render.png": "3759b6ecabbd432be9ad3761792b1c7f39989c76178520f14d9a9b944ccf8722",
         "graph-raw.svg": "adf03bdf3a888f176f7012504ceca5cb03190d003f0ffe58cd3a6bf5fde9b334",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "aead7d9928330360b3acfd30456ea163550edb5e54bb1777242a86efdf847c72"
@@ -47819,7 +47839,7 @@
         "mjcf_ms": 3.2586026936769485,
         "compile_ms": 3.123451955616474,
         "graph_ms": 80.00868279486895,
-        "render_total_ms": 2032.0230782963336
+        "render_total_ms": 1593.3409631252289
       },
       "mesh_preparation": {
         "status": "complete",
@@ -47880,16 +47900,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.5095161981880665,
-        "render_ms": 1855.016012210399,
-        "compose_ms": 85.97036404535174,
-        "write_ms": 68.0186920799315,
-        "foreground_fraction": 0.671
+        "compile_ms": 2.9752799309790134,
+        "render_ms": 1446.4304000139236,
+        "compose_ms": 62.801008112728596,
+        "write_ms": 67.67051294445992,
+        "foreground_fraction": 0.671,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "663de4c1e38e7987a48de9427ea284bef2de63c1466aaec5a17e0484fd4d5d0f",
         "meshes.tar": "2c27b5269a8b32e0bb429442c48ff323ca706e8d9d0818adb3c67d97f49f90e0",
-        "render.png": "23c9b6c54d00dcc29f09e1187d8ba7c8deb6f99023a80214bfb81a880435078c",
+        "render.png": "6b645d29bfac2daf49323a4c4c1b3f86c9abc4ff44694cbef878ead371b4933f",
         "graph-raw.svg": "c471cab9825f6857ed702326984a0aeea4fd2588686acb1196f081e340806fce",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "46314d773fe01dc5b2ba7ea4ef822db9d8010ee4fba9b21ae0e4b913b1b3e15c"
@@ -47921,7 +47943,7 @@
         "mjcf_ms": 3.945975098758936,
         "compile_ms": 3.2169101759791374,
         "graph_ms": 97.10013400763273,
-        "render_total_ms": 2083.111505024135
+        "render_total_ms": 1641.172701958567
       },
       "mesh_preparation": {
         "status": "complete",
@@ -47982,16 +48004,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.765013836324215,
-        "render_ms": 1916.0152557305992,
-        "compose_ms": 77.1910515613854,
-        "write_ms": 67.93008605018258,
-        "foreground_fraction": 0.58245
+        "compile_ms": 3.0163838528096676,
+        "render_ms": 1476.5905519016087,
+        "compose_ms": 72.9844132438302,
+        "write_ms": 68.48472822457552,
+        "foreground_fraction": 0.58245,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "8f3bf9ab4febb8a08364538df7091bec5da62bb3cbb61cbba5b6c7c6dc458397",
         "meshes.tar": "87c13840a48d36e887766406fd1db32affdb4a71b19f6962b1d070454be6a99e",
-        "render.png": "301a385c1679ebcccef7c61a6ed63282ffb3b5ece60994be9f8663a069c249de",
+        "render.png": "7118bb5b416c987773e3f845ee35563a6359d00a7bebb4ab1447c494d5490e26",
         "graph-raw.svg": "bc1276098b3976b911c457ad0eb0904d5dfc102cd9387e5f83ff134fc89966dd",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3ddac91ebd0faa3cc411e63956037b7b3efd7c3e29d2b7a38b9c1374ea75fe6d"
@@ -48022,7 +48046,7 @@
         "mjcf_ms": 3.438750747591257,
         "compile_ms": 2.7911686338484287,
         "graph_ms": 67.91411200538278,
-        "render_total_ms": 1935.2517612278461
+        "render_total_ms": 1626.8343171104789
       },
       "mesh_preparation": {
         "status": "complete",
@@ -48083,16 +48107,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.502220682799816,
-        "render_ms": 1775.5996426567435,
-        "compose_ms": 78.07608461007476,
-        "write_ms": 59.13545424118638,
-        "foreground_fraction": 0.4697
+        "compile_ms": 3.5057072527706623,
+        "render_ms": 1466.365935280919,
+        "compose_ms": 63.13340226188302,
+        "write_ms": 80.64394723623991,
+        "foreground_fraction": 0.4697,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ce0a617e522ced7376c831cb34628ad3409878485ff3e53404ca039dd4e632d5",
         "meshes.tar": "ce7f92c72823265e8781f6ce63f936c3bbcfb38c1f9e1841b17c290f9ae2d1b3",
-        "render.png": "7f762a85cc385bb7e43393c0b3f9292797df4ae4732dbc8553eae2b94b5fc552",
+        "render.png": "777a1dc507a4af90f4076507c3a61a6912a666bab2b7a8460f7f57133bb78260",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "052d9c0896bb0a496c5d7feb9a6e8a9b985ed24172195efeb3dd087975607540"
@@ -48131,7 +48157,7 @@
         "mjcf_ms": 49.94676634669304,
         "compile_ms": 267.2876720316708,
         "graph_ms": 7966.093936003745,
-        "render_total_ms": 2006.1989901587367
+        "render_total_ms": 2019.9111429974437
       },
       "mesh_preparation": {
         "status": "complete",
@@ -53592,16 +53618,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 163.13399001955986,
-        "render_ms": 1689.6467409096658,
-        "compose_ms": 64.98039420694113,
-        "write_ms": 71.89708901569247,
-        "foreground_fraction": 0.29205
+        "compile_ms": 279.6583930030465,
+        "render_ms": 1604.3310118839145,
+        "compose_ms": 50.06512627005577,
+        "write_ms": 72.46077060699463,
+        "foreground_fraction": 0.29205,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "12f41e29438ca8b162a6a1235dad6bd86ca3e92fedb5517af998545097a3f008",
         "meshes.tar": "a0a9e984a438e1a70bc8c7a4031bdcaedb2dcfe816e060afe62c6d70701d368b",
-        "render.png": "3581d4464c92d98f3448d0ce01a5532f045ef64f613c8ef30aa622923170eb0b",
+        "render.png": "87789e7e9052ab7b342ca046cbbfcfe429cf1034a9f454dd10c0ef6bcd18b0da",
         "graph-raw.svg": "40609f0155e7035c6ac92e543c6b67bbcbf3c577495cb8b3fe0e0eab67b4b34f",
         "graph-robot.svg": "5c9be9ccc6c5ae2bae33ad80786cc3f472f31cb8030448479a048afa1537aadb"
       },
@@ -53645,7 +53673,7 @@
         "mjcf_ms": 5.791998002678156,
         "compile_ms": 85.75637498870492,
         "graph_ms": 127.75012897327542,
-        "render_total_ms": 1886.0682593658566
+        "render_total_ms": 1675.9067638777196
       },
       "mesh_preparation": {
         "status": "complete",
@@ -53693,16 +53721,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.21828581765294,
-        "render_ms": 1736.506002023816,
-        "compose_ms": 45.71244306862354,
-        "write_ms": 71.95930182933807,
-        "foreground_fraction": 0.088
+        "compile_ms": 49.749376717954874,
+        "render_ms": 1489.700147882104,
+        "compose_ms": 44.826166704297066,
+        "write_ms": 75.57359570637345,
+        "foreground_fraction": 0.088,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "5de80a110c73e2e0890aff39172da3fcb437a44953262e64607b4ed241d15aab",
         "meshes.tar": "c014c79c97018d0a0c60959dd6a13cd0cbfc1cc63cf1d963c846d7e0213f4057",
-        "render.png": "85e745a0c877be37cbd22bc15c117686fe7bb9f5edaa881f1a66e41af14f483a",
+        "render.png": "670b717aa9dd2dbdce55cfb208a644cc21569c1e3a07da43bce175db8b78960f",
         "graph-raw.svg": "b2418504c057795e6bcc897adc075313cd2d09599a2ff7da4486eac2714d15b9",
         "graph-robot.svg": "1e67bba58329d70915086546c3ad54c102afa1982ea353ae5cb08d97d6de8892"
       },
@@ -53766,7 +53796,7 @@
         "mjcf_ms": 9.75033501163125,
         "compile_ms": 36.850945092737675,
         "graph_ms": 318.0032982490957,
-        "render_total_ms": 2085.7278499752283
+        "render_total_ms": 1613.3653689175844
       },
       "mesh_preparation": {
         "status": "complete",
@@ -53833,16 +53863,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.82157776504755,
-        "render_ms": 1918.4769596904516,
-        "compose_ms": 67.64338398352265,
-        "write_ms": 70.37277380004525,
-        "foreground_fraction": 0.385
+        "compile_ms": 18.47633207216859,
+        "render_ms": 1460.9193452633917,
+        "compose_ms": 49.271473195403814,
+        "write_ms": 72.06620508804917,
+        "foreground_fraction": 0.385,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "aac88723ed8274d3e079674a22e8f8afcfba60b91af382cec5356d9d2ee8893b",
         "meshes.tar": "3b1237e1917521978e4df592946c638da3829cf9d5d3ede0070b3e87de4f19d6",
-        "render.png": "cd75aead10e5446fed5bccd3a4b978605efe20c89024712f74858fc74702959c",
+        "render.png": "a8ec92a12d8ce866a4bd9c0f28ea16c60b465e7a387a911cef8549ddbb1d80b9",
         "graph-raw.svg": "eb30b096b262a33da5fb18c93b79ef32c876c7cc60ec24f0e69db364dfb431b9",
         "graph-robot.svg": "db0573d9808b22cd79c3a8275423c435e289c7c92e23808aa509c5aae03e833a"
       },
@@ -53880,7 +53912,7 @@
         "mjcf_ms": 5.551158916205168,
         "compile_ms": 28.49301788955927,
         "graph_ms": 192.76047125458717,
-        "render_total_ms": 2007.5343339703977
+        "render_total_ms": 1631.3870130106807
       },
       "mesh_preparation": {
         "status": "complete",
@@ -53941,16 +53973,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.411972291767597,
-        "render_ms": 1854.19783834368,
-        "compose_ms": 62.107555102556944,
-        "write_ms": 67.37449299544096,
-        "foreground_fraction": 0.32065
+        "compile_ms": 22.898566909134388,
+        "render_ms": 1487.0541710406542,
+        "compose_ms": 46.17929831147194,
+        "write_ms": 61.95383006706834,
+        "foreground_fraction": 0.32065,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "15941f0a79a91513f09ec4425821f0f8f2b51f1df0c565c66c5c0cb8f3ee092e",
         "meshes.tar": "a0802fb2ac5260765c34897e729896d4e8b758426f6dca3d0d2d7b73c9cfbb65",
-        "render.png": "08205eff11640747f4b346205eae0a551a5d6cd8ecf77640726ba9b36294c9d7",
+        "render.png": "5aef219c8a935bb6c8fd1391548f15cf8f0f3be60dcd46efd9f7f3ff6483906e",
         "graph-raw.svg": "eda92addbf98f33c24829a1c67a891e951d151f70798b0ad634ea96a9370a4c7",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "904143143fdfe28ddf87eedc170ba81f1c3b4c1617f12a8e6a7e57caa2989678"
@@ -53984,7 +54018,7 @@
         "mjcf_ms": 3.4153899177908897,
         "compile_ms": 12.011501006782055,
         "graph_ms": 104.58147712051868,
-        "render_total_ms": 2057.361135724932
+        "render_total_ms": 1662.6136917620897
       },
       "mesh_preparation": {
         "status": "complete",
@@ -54045,16 +54079,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.348545800894499,
-        "render_ms": 1907.895125914365,
-        "compose_ms": 59.09226695075631,
-        "write_ms": 67.5386730581522,
-        "foreground_fraction": 0.29535
+        "compile_ms": 18.566019367426634,
+        "render_ms": 1514.454873278737,
+        "compose_ms": 51.1936959810555,
+        "write_ms": 65.66725764423609,
+        "foreground_fraction": 0.29535,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "5491fa475a31f8f851b03b54bc1e7759e9a6010c84dfd302b5ebb6adb7f8c916",
         "meshes.tar": "ea7efcb25ed1ef12d6075ea07ad1923fbb3d5a40ba66be8dae8c55f5dabc4247",
-        "render.png": "91aaf46d4dfd35e9e8d00ae5949f1d554ef70af5c3421a8db402b3de8aef6098",
+        "render.png": "1a90d0d052fdae76a317917a0e7b429ea64ab7589632cda407423f25acf8cf86",
         "graph-raw.svg": "2a02dd66144cf25342e4c303029b177f92c1235665c05a65046f1105664d3c65",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "13d2184c85a859aa611a36fe35e69f4a22b77cfa51ea73cc572b10cd84be0900"
@@ -54096,7 +54132,7 @@
         "mjcf_ms": 8.915042970329523,
         "compile_ms": 158.9907668530941,
         "graph_ms": 382.1690888144076,
-        "render_total_ms": 2191.299634054303
+        "render_total_ms": 1844.9027612805367
       },
       "mesh_preparation": {
         "status": "complete",
@@ -54164,16 +54200,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 45.47710809856653,
-        "render_ms": 1983.9059002697468,
-        "compose_ms": 73.14340025186539,
-        "write_ms": 72.04654300585389,
-        "foreground_fraction": 0.52745
+        "compile_ms": 164.1078656539321,
+        "render_ms": 1523.569235112518,
+        "compose_ms": 70.12238400056958,
+        "write_ms": 74.02701303362846,
+        "foreground_fraction": 0.52745,
+        "style": "link-palette-v1",
+        "colored_bodies": 15
       },
       "artifacts": {
         "robot.mjcf": "661b78640166a7569e9aac080f58aeae2edde3614daa6f102fef3e5afc9bc3d7",
         "meshes.tar": "a9e6062dba90ce636387244ba38a5f28c05c968dff4951aa09b8a5056655a030",
-        "render.png": "8c793798a263311949147294ebec9c77c6f09bf0bd2dbc7b153b422427688795",
+        "render.png": "fd5ca2d4acb94dba52582b0bddebb550adf36b8767f6cbb4b339ff4f72e577a1",
         "graph-raw.svg": "c2439ba24ee0cb9ee364e45adf88bca1bac17780b0ff610ff0896bc53a28589a",
         "graph-robot.svg": "5b57030d7cd0375fb3859e9821e58da88c6abffe9551801f1144be92977312f5",
         "robot.urdf": "2154662408305138c13f9617c11aa64e541d82644ea81d9655b52f2268f91668"
@@ -54210,7 +54248,7 @@
         "mjcf_ms": 9.095981251448393,
         "compile_ms": 491.7139527387917,
         "graph_ms": 182.10060987621546,
-        "render_total_ms": 2211.0533639788628
+        "render_total_ms": 2408.451959025115
       },
       "mesh_preparation": {
         "status": "complete",
@@ -54271,16 +54309,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 85.9714699909091,
-        "render_ms": 1961.8552178144455,
-        "compose_ms": 60.445803217589855,
-        "write_ms": 86.2715458497405,
-        "foreground_fraction": 0.34045
+        "compile_ms": 547.3722172901034,
+        "render_ms": 1692.0734932646155,
+        "compose_ms": 60.4122462682426,
+        "write_ms": 92.87232207134366,
+        "foreground_fraction": 0.34045,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "1dee697a0655c2510af309462efad6b17c7510894490298c6bf3caa7205b55a5",
         "meshes.tar": "ac9b100f8bbe7d65ca80f37eedb1dba0d971e40f195d19f3ae50f6b316892bf8",
-        "render.png": "99aeab4a76504a7497f438e89a3a58d3ae3ebd2e53f9c29759392f21c18426da",
+        "render.png": "dd9bc23f09675dff4e1881beab115a668817c215cd8f02a0b0e8855d083e0d9e",
         "graph-raw.svg": "86199485d240ba56f031e2b8f22d7c83f63bbce41172d3aa1e3dce7fb3bfa397",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "e9691a75ae21af90200ce14918668eee828beef16afb90e3ef4ad1c3f84ebbd6"
@@ -54324,7 +54364,7 @@
         "mjcf_ms": 6.5905810333788395,
         "compile_ms": 17.558448016643524,
         "graph_ms": 182.63849196955562,
-        "render_total_ms": 1951.722570694983
+        "render_total_ms": 1658.8218342512846
       },
       "mesh_preparation": {
         "status": "complete",
@@ -54385,16 +54425,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.851768724620342,
-        "render_ms": 1770.9702863357961,
-        "compose_ms": 75.56479703634977,
-        "write_ms": 80.16104158014059,
-        "foreground_fraction": 0.5412
+        "compile_ms": 14.537916984409094,
+        "render_ms": 1474.4008681736887,
+        "compose_ms": 70.62521297484636,
+        "write_ms": 86.10321721062064,
+        "foreground_fraction": 0.5412,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "dd5b04b3d6e6eab6fa9ad3fadd13b83a3325299c232929975f537696e04551a4",
         "meshes.tar": "39f966f5d46dca6dae44b17af5cc8829648ef512f50a599c313643b43b7944df",
-        "render.png": "4a2ba27a798047829d44b346e4f98a8af7442629e9483a4fb56fb1856fcfa95f",
+        "render.png": "71b33ce095a286d2b2036a282f6c7dd249142d3617cf812eae6e97e06ac5589f",
         "graph-raw.svg": "13315c1239f40f4bdf5e84eb25efa330ba250698f37fa5b8a8c02ef64707f268",
         "graph-robot.svg": "cf6b5fad5f7bbf8ceaf36d2f9b515a09f7693b49cc619c59d013968f0cac5cf6"
       },
@@ -54456,7 +54498,7 @@
         "mjcf_ms": 206.43963292241096,
         "compile_ms": 1101.8146150745451,
         "graph_ms": 1593.5095949098468,
-        "render_total_ms": 2748.966846149415
+        "render_total_ms": 2992.574016097933
       },
       "mesh_preparation": {
         "status": "complete",
@@ -54517,16 +54559,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 375.79411128535867,
-        "render_ms": 2199.929727707058,
-        "compose_ms": 58.367916848510504,
-        "write_ms": 92.21391612663865,
-        "foreground_fraction": 0.33495
+        "compile_ms": 888.6888101696968,
+        "render_ms": 1947.0416042022407,
+        "compose_ms": 50.36878027021885,
+        "write_ms": 87.61199098080397,
+        "foreground_fraction": 0.33495,
+        "style": "link-palette-v1",
+        "colored_bodies": 87
       },
       "artifacts": {
         "robot.mjcf": "865bf1476563e853601c0915099eb24cb9bb89b983a259f9f88f796739b828ec",
         "meshes.tar": "fe87d0d3a04a97538be473379250ea8c266a0c53476ce7eac09208379354af1a",
-        "render.png": "bcf93845d8c4e4f2fd5a5d8d96c428b4215c56dcea588274bdd92417ecfc1fdf",
+        "render.png": "f79f18c65c047cc4142ae8ed7a8a91eb9573a2b5ef234d943740efd96fcaede2",
         "graph-raw.svg": "b6970cb98e8cf0dd1f6466f64fdbf36f153a5c61d1de9e53f1e37fc218dbea5a",
         "graph-robot.svg": "d2cdf434bcd8d56fefd9096596cacd298d770a8d13d4535721eed44c8a09a071"
       },
@@ -54565,7 +54609,7 @@
         "mjcf_ms": 6.287865806370974,
         "compile_ms": 1641.0312820225954,
         "graph_ms": 144.21942504122853,
-        "render_total_ms": 4337.949984706938
+        "render_total_ms": 3685.595559887588
       },
       "mesh_preparation": {
         "status": "complete",
@@ -54620,16 +54664,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1947.2526777535677,
-        "render_ms": 2156.1411120928824,
-        "compose_ms": 76.7776258289814,
-        "write_ms": 132.81452795490623,
-        "foreground_fraction": 0.7727416666666667
+        "compile_ms": 1760.4726841673255,
+        "render_ms": 1704.3138588778675,
+        "compose_ms": 61.459417920559645,
+        "write_ms": 146.7571877874434,
+        "foreground_fraction": 0.7727416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e8bcd048f9c13687ff459b0a427658c6cd0c920fe742d27647481aea8c8bd139",
         "meshes.tar": "01d6d24552ad98e38b2c413ad14a012abdd43541da81b015f9b6aeecf4ec1c15",
-        "render.png": "a44a30391a00f0aa9caedde0588655a85f07cafb81e04fec40fc8d336e14b854",
+        "render.png": "6adf8217668e7898d87882d0be334875da315ceae32cbf8ae4bce46bef1c0409",
         "graph-raw.svg": "6edad47184cd4d073209e74e7644dc7577b7685f3c329db5ea99c88952b9eb52",
         "graph-robot.svg": "d502a5682a609782713d078e0c98b21ba196cf050712931608807c1d8bb757c0"
       },
@@ -54663,7 +54709,7 @@
         "mjcf_ms": 10.128057096153498,
         "compile_ms": 56.65811523795128,
         "graph_ms": 195.81966288387775,
-        "render_total_ms": 1920.3307582065463
+        "render_total_ms": 1682.038904633373
       },
       "mesh_preparation": {
         "status": "complete",
@@ -54731,16 +54777,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.35516617819667,
-        "render_ms": 1572.3913139663637,
-        "compose_ms": 64.16711723431945,
-        "write_ms": 233.30132523551583,
-        "foreground_fraction": 0.2937
+        "compile_ms": 48.982733860611916,
+        "render_ms": 1511.3626164384186,
+        "compose_ms": 52.828209940344095,
+        "write_ms": 56.581726763397455,
+        "foreground_fraction": 0.2937,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "8091a8a4bbdb126e12814412e39e72e88031ae794c07c61e0cb74132fd665d16",
         "meshes.tar": "c8398cabcd07e2d1093983d432247589acd91d79d5c10eeee259b69a4fce6e3e",
-        "render.png": "e09f2f627c4b5ca03d61c0f00a302fd33711043bfe19327fd4968e05a1dc2f5e",
+        "render.png": "2cf097f3682a7cbfd6626bf646e1b83d7e58e0d93e1e5dff1c0c3dc4c6f122be",
         "graph-raw.svg": "4b69b8ae88add6fc1587cb76bf8b1db1aa85a1e57869fca8def72f82ec153fcb",
         "graph-robot.svg": "9c1fb5a73df0f238636e9569a6c3e91d48ae8395cf8fecb056f2cc3c54be17f8",
         "robot.urdf": "4c9ab74ae3344c6500cd5a3d5c58b1038414c4bf50384ed421e6c7e20d95081f"
@@ -54779,7 +54827,7 @@
         "mjcf_ms": 7.616365794092417,
         "compile_ms": 255.42001239955425,
         "graph_ms": 134.24502359703183,
-        "render_total_ms": 2244.863615836948
+        "render_total_ms": 1999.9435627833009
       },
       "mesh_preparation": {
         "status": "complete",
@@ -54840,16 +54888,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 256.43510231748223,
-        "render_ms": 1704.6207985840738,
-        "compose_ms": 70.66390803083777,
-        "write_ms": 197.33400270342827,
-        "foreground_fraction": 0.62755
+        "compile_ms": 205.47569682821631,
+        "render_ms": 1587.7652699127793,
+        "compose_ms": 58.94486280158162,
+        "write_ms": 134.8730199970305,
+        "foreground_fraction": 0.62755,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "30dac7f566ddcdbd7cf9db52f1c58f5bc740cb867950c23a7f33e599fa025814",
         "meshes.tar": "0283e8ac01a047351a8a2b335f0f0d26d6328e150ab951feb21ee3d4fe75b039",
-        "render.png": "41c9e1e0b4818e3a02b162f4f03430c2466d7bb5792972f298edaab516994dcf",
+        "render.png": "52fedf11d290eeb95990e33e438ca2e097c6c3e93e1ac66cd8b61e65ee10ebf1",
         "graph-raw.svg": "7e39ce4a4145db8e160d107261de1e0d060513355590a94088f5558708e07a45",
         "graph-robot.svg": "617ee1161971d11661f55b5be24f6c8c9b55058b918974f333d3eae8308ae700",
         "robot.urdf": "9a5e0ed310ef9a066b422f0a5004a29768624e3be13dab1826544fc79ded31cf"
@@ -54893,7 +54943,7 @@
         "mjcf_ms": 5.442406050860882,
         "compile_ms": 685.1098979823291,
         "graph_ms": 174.04137086123228,
-        "render_total_ms": 2744.0667171031237
+        "render_total_ms": 2632.789960131049
       },
       "mesh_preparation": {
         "status": "complete",
@@ -54960,16 +55010,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 733.1615118309855,
-        "render_ms": 1814.1586063429713,
-        "compose_ms": 59.07147703692317,
-        "write_ms": 118.81184903904796,
-        "foreground_fraction": 0.712075
+        "compile_ms": 635.1772369816899,
+        "render_ms": 1766.54285332188,
+        "compose_ms": 58.38635517284274,
+        "write_ms": 155.4433461278677,
+        "foreground_fraction": 0.712075,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "1d26a8363c863dcf15fd355622ffc27faf4456098dc6316262068bc46946cb10",
         "meshes.tar": "a8d273eda05c487dea40964838497d9fa27aee1d53fc63b988537829da9515ca",
-        "render.png": "c78dafc03fe9eada04bc2efa516b8c36874e449f8f693aad766a35063bae9c62",
+        "render.png": "c4579b47e833c2d9ef81414b514e324597424a11707cb71200ea71ff6e77ad65",
         "graph-raw.svg": "4aa55a3882f6b563d756b9ecfbab5ef46592c6787ccfda1ff8e064dd30f516cc",
         "graph-robot.svg": "6ba82015982e80e21f014cc69916abab3a7d29056fcc59f93a6cd71dfba750ea"
       },
@@ -55011,7 +55063,7 @@
         "mjcf_ms": 6.11587380990386,
         "compile_ms": 90.03543527796865,
         "graph_ms": 130.28910476714373,
-        "render_total_ms": 1943.5309758409858
+        "render_total_ms": 1724.844180047512
       },
       "mesh_preparation": {
         "status": "complete",
@@ -55066,16 +55118,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 75.31135715544224,
-        "render_ms": 1694.2496784031391,
-        "compose_ms": 70.69987198337913,
-        "write_ms": 82.88535801693797,
-        "foreground_fraction": 0.32725
+        "compile_ms": 55.54153909906745,
+        "render_ms": 1513.4025891311467,
+        "compose_ms": 51.40007613226771,
+        "write_ms": 91.46290877833962,
+        "foreground_fraction": 0.32725,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "886e28c7147a46a104b33fe2af238f3dddfe4ae2a890f292ca3bfe45646bacf1",
         "meshes.tar": "8eb96d55939ddb99131f7f390dd11ae04bf1d2ea6c2a90df592c8d754f9f5197",
-        "render.png": "92026b541b88589f82a96225ffe6e8dd652e110c0337457bc4cffbbd7498138c",
+        "render.png": "ffa0f3ae2abcf8f92b7641132636f07fa6c746d5e4a39823ada9344a4343e582",
         "graph-raw.svg": "584a15bdcdd705f425231ba246908b8ec96446267530ff67f49d38f9cb56b047",
         "graph-robot.svg": "6a9fd8f652b3883954a6e41b993da1016ed0b84105353556cff98273be395c6f"
       },
@@ -55125,7 +55179,7 @@
         "mjcf_ms": 6.40330882743001,
         "compile_ms": 1063.2546129636467,
         "graph_ms": 256.8965880200267,
-        "render_total_ms": 2776.874133851379
+        "render_total_ms": 2553.5925328731537
       },
       "mesh_preparation": {
         "status": "complete",
@@ -55173,16 +55227,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 679.9653088673949,
-        "render_ms": 1925.0773689709604,
-        "compose_ms": 65.65022561699152,
-        "write_ms": 82.42055587470531,
-        "foreground_fraction": 0.35475
+        "compile_ms": 571.9779692590237,
+        "render_ms": 1815.7183239236474,
+        "compose_ms": 64.48022602126002,
+        "write_ms": 84.5163268968463,
+        "foreground_fraction": 0.35475,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "14ba21bedc99cdb7e0e4cc9db40a4f0ea06241a617cd8b8a9f77500457ffb1ac",
         "meshes.tar": "40bebec0f185ff08b0027aa0629b081987fe66ab840e59cb343f87fd99d2cf53",
-        "render.png": "4bdaf9be8e50dde75b65573ffb859ecb8cbfa32cd84eaaf282cd3c3235bc91da",
+        "render.png": "ce59073eddd223fe8fbeffc6874fcd9bf3d846174ad454559d3e7bbcf493294a",
         "graph-raw.svg": "0c35342808de3dfd38e632ca2d3ac20f7cbf116804c5ef871a5693461cb7a606",
         "graph-robot.svg": "d4c3ef5cc26685a55d37abb8949430340888aa8e3439b297986a163eaf086001"
       },
@@ -55213,7 +55269,7 @@
         "mjcf_ms": 4.719786811619997,
         "compile_ms": 36.65068373084068,
         "graph_ms": 83.51595420390368,
-        "render_total_ms": 1831.6365699283779
+        "render_total_ms": 1669.4650119170547
       },
       "mesh_preparation": {
         "status": "complete",
@@ -55274,16 +55330,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.6342781968414783,
-        "render_ms": 1667.884839233011,
-        "compose_ms": 66.72549899667501,
-        "write_ms": 74.30355111137033,
-        "foreground_fraction": 0.48675
+        "compile_ms": 21.97851287201047,
+        "render_ms": 1491.2182157859206,
+        "compose_ms": 63.06885415688157,
+        "write_ms": 80.32261487096548,
+        "foreground_fraction": 0.48675,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "67cd2b5f67e7dd4b74894cec1eb850c4404da1d3267392882558a0deeaed5030",
         "meshes.tar": "d3fa3f4065e204e086dbfe709e341a941d4ed8be6be153283441a6f9151abf18",
-        "render.png": "7212ca104a2089605cf66ad30f4dfc183c4c7c9ed38d85f4c6c3655f52b4b68d",
+        "render.png": "af739fb0ee60ad7ad5093bf3b43fdd6fafc1426f91a27d9c12a4c398623fb456",
         "graph-raw.svg": "3db23c0e8246d40d2158df7c03cf7fc1f2554780bbc14c1a41b51d15bfe6f813",
         "graph-robot.svg": "f3e6348b906f1b73c46dfb1e6573189fc73fd5b53cecb42f585acfbe28968530",
         "robot.urdf": "ef09f499e61bc6eb8ae1b9ac4ec073659cb2a7fd841e7ad765f04cae21ee031a"
@@ -55320,7 +55378,7 @@
         "mjcf_ms": 3.1745540909469128,
         "compile_ms": 1.9728890620172024,
         "graph_ms": 218.4015610255301,
-        "render_total_ms": 2029.4289169833064
+        "render_total_ms": 1690.6364816240966
       },
       "mesh_preparation": {
         "status": "complete",
@@ -55406,11 +55464,13 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.156021073460579,
-        "render_ms": 1806.0901402495801,
-        "compose_ms": 162.00371086597443,
-        "write_ms": 42.37643489614129,
-        "foreground_fraction": 0.0
+        "compile_ms": 2.131178043782711,
+        "render_ms": 1489.8163578473032,
+        "compose_ms": 148.47492100670934,
+        "write_ms": 38.04219514131546,
+        "foreground_fraction": 0.0,
+        "style": "link-palette-v1",
+        "colored_bodies": 0
       },
       "artifacts": {
         "robot.mjcf": "1e91750d639a785c9555f7cae9816ff7fa7e67e0c86339d859b42c6f5fd4ea6b",
@@ -55452,7 +55512,7 @@
         "mjcf_ms": 5.530885886400938,
         "compile_ms": 489.16161386296153,
         "graph_ms": 224.06718786805868,
-        "render_total_ms": 2715.116580016911
+        "render_total_ms": 2338.757032994181
       },
       "mesh_preparation": {
         "status": "complete",
@@ -55513,16 +55573,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 485.3096902370453,
-        "render_ms": 2031.1195962131023,
-        "compose_ms": 84.33408290147781,
-        "write_ms": 91.25035488978028,
-        "foreground_fraction": 0.7583333333333333
+        "compile_ms": 518.7057619914412,
+        "render_ms": 1596.9174751080573,
+        "compose_ms": 88.94853806123137,
+        "write_ms": 119.35039423406124,
+        "foreground_fraction": 0.7583333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "9ed87a07e5dc55d1133e96dd7eedda891c6a08c2633b5deefba2fd2d8279bf5c",
         "meshes.tar": "f860f5ce792eb450e32367637acf56ea72bb4af3883944bcc8619859abed7ec7",
-        "render.png": "5233706485e576a6e5ef33a882ac32343ab7728bafe7b49d01b1d621d147d539",
+        "render.png": "fd9a51fae382821e88ecb3f5711449b6a9e044fe983eabd4f4883fae54cf3733",
         "graph-raw.svg": "5475c887acc5eba4b87a91c41e1d63b96ef6196dbc1601dc2135007b09542734",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "9b948fbf55fb2e2e959b57988d13324c52f9c3e6e03be3692b686bf1b262f873"
@@ -55566,7 +55628,7 @@
         "mjcf_ms": 4.886426962912083,
         "compile_ms": 912.2813860885799,
         "graph_ms": 211.37731475755572,
-        "render_total_ms": 3328.3378020860255
+        "render_total_ms": 2696.136536076665
       },
       "mesh_preparation": {
         "status": "complete",
@@ -55614,16 +55676,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 931.9278160110116,
-        "render_ms": 2175.3098838962615,
-        "compose_ms": 104.13814289495349,
-        "write_ms": 87.25417405366898,
-        "foreground_fraction": 0.7924583333333334
+        "compile_ms": 659.0912300162017,
+        "render_ms": 1831.08547097072,
+        "compose_ms": 91.3552138954401,
+        "write_ms": 97.53526095300913,
+        "foreground_fraction": 0.7924583333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4db984ec86e20c2bdf8b928955880e757e6fd32c56868f4c18fd5d89d0a01c36",
         "meshes.tar": "f6d3fa46595903eb431cc740b5d9d088a42561769eb1f35a3f14efba9aebeddb",
-        "render.png": "f38af20733b40b170eb07df12715fd74c7299980356729c36c9d10109ed10c83",
+        "render.png": "f6f577154bc88989174dca4a542beb03fbaf8b5fe44ac9f5ec0eb4bd18c73c6b",
         "graph-raw.svg": "47b7be2dc54ea64a8ac397c55fd7b729cd20b194599508fa52e1c925b917e5bf",
         "graph-robot.svg": "0031feba0541eff49a012d8c7c4062858c0f649fb7fb6e72bbad386b6de014e1"
       },
@@ -55671,7 +55735,7 @@
         "mjcf_ms": 7.266489323228598,
         "compile_ms": 1077.7329509146512,
         "graph_ms": 633.7854890152812,
-        "render_total_ms": 3334.6872739493847
+        "render_total_ms": 2997.877816669643
       },
       "mesh_preparation": {
         "status": "complete",
@@ -56308,16 +56372,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 995.7597251050174,
-        "render_ms": 2142.634842079133,
-        "compose_ms": 94.02571897953749,
-        "write_ms": 74.55960614606738,
-        "foreground_fraction": 0.6931166666666667
+        "compile_ms": 944.6389717049897,
+        "render_ms": 1871.1951593868434,
+        "compose_ms": 83.38122814893723,
+        "write_ms": 80.19693288952112,
+        "foreground_fraction": 0.6931166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d076bd8fed5644b20c303a6e6c4a312635d2b5f288e0dacef1209e9e3972eebf",
         "meshes.tar": "ac3d755e708f465248fbb06610026c4a1bf7175eaae99769c0a9bc826fd57f78",
-        "render.png": "831b9a3fa468556e7a91ef3f215b4650887429d07b3474392e71921478721abb",
+        "render.png": "76a363201220d001a3ff30eb67b49a1c4a33de670567ebfa31fba99e04cfde74",
         "graph-raw.svg": "4bf8040ba136056b21863fbfd128c25af48056c04684c307097cb3fd3bdac77a",
         "graph-robot.svg": "d9e786edf33d59472786227fcd06fb54927b0697b60cf1c19008dfb3f0c618ad"
       },
@@ -56360,7 +56426,7 @@
         "mjcf_ms": 4.719816148281097,
         "compile_ms": 1180.8694945648313,
         "graph_ms": 204.6971907839179,
-        "render_total_ms": 3319.33055492118
+        "render_total_ms": 2819.9509219266474
       },
       "mesh_preparation": {
         "status": "complete",
@@ -56408,16 +56474,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1158.4964781068265,
-        "render_ms": 1924.1971150040627,
-        "compose_ms": 121.25169392675161,
-        "write_ms": 90.35880770534277,
-        "foreground_fraction": 0.7590916666666667
+        "compile_ms": 849.8667851090431,
+        "render_ms": 1742.8895588964224,
+        "compose_ms": 99.69144407659769,
+        "write_ms": 107.75451129302382,
+        "foreground_fraction": 0.7590916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "0c1f7b5e9b23302026b0ee98311bedc6856c119d2aa293477d6f2d68430eeb78",
         "meshes.tar": "f586b362c10a7561add084f960e2226dceed6d96524418288a0cd20a40fdb76b",
-        "render.png": "6553106fd769008b3919ed4fceaa72364f96154cd11e087b04cbfed103445f01",
+        "render.png": "08c0cebaa379ab45aa9cb7102a3d97e04b0a04ecfe5f633e14f60c53597ceae2",
         "graph-raw.svg": "47b7be2dc54ea64a8ac397c55fd7b729cd20b194599508fa52e1c925b917e5bf",
         "graph-robot.svg": "0031feba0541eff49a012d8c7c4062858c0f649fb7fb6e72bbad386b6de014e1"
       },
@@ -56460,7 +56528,7 @@
         "mjcf_ms": 2.7870661579072475,
         "compile_ms": 20.526647102087736,
         "graph_ms": 250.81206811591983,
-        "render_total_ms": 1873.2691160403192
+        "render_total_ms": 1713.5218940675259
       },
       "mesh_preparation": {
         "status": "complete",
@@ -56533,11 +56601,13 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.950061112642288,
-        "render_ms": 1649.0242723375559,
-        "compose_ms": 162.68711211159825,
-        "write_ms": 38.71337417513132,
-        "foreground_fraction": 0.0
+        "compile_ms": 17.574927303940058,
+        "render_ms": 1480.9700469486415,
+        "compose_ms": 164.57585291936994,
+        "write_ms": 37.831669207662344,
+        "foreground_fraction": 0.0,
+        "style": "link-palette-v1",
+        "colored_bodies": 0
       },
       "artifacts": {
         "robot.mjcf": "af2c8e0436d5b1a8132f0c941590c5361843b54e7797cb572b872cd8ab8f8393",
@@ -56578,7 +56648,7 @@
         "mjcf_ms": 4.147681873291731,
         "compile_ms": 96.71485284343362,
         "graph_ms": 223.38504996150732,
-        "render_total_ms": 1929.9267032183707
+        "render_total_ms": 1763.7419826351106
       },
       "mesh_preparation": {
         "status": "complete",
@@ -56639,16 +56709,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 83.84650619700551,
-        "render_ms": 1674.9516567215323,
-        "compose_ms": 83.03990215063095,
-        "write_ms": 70.89677406474948,
-        "foreground_fraction": 0.7932166666666667
+        "compile_ms": 131.30210107192397,
+        "render_ms": 1475.7667179219425,
+        "compose_ms": 64.79412037879229,
+        "write_ms": 79.38050013035536,
+        "foreground_fraction": 0.7932166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "76ae0a6c99645306aad86b8da44085990b8bec55b6ad3ea520f95e3248a040d4",
         "meshes.tar": "e07fd2eabf22126b993e2d35aa84077c0cbcebc8e08921b14c94420f8dbadea0",
-        "render.png": "480e87dea25abbba43dbf6d3d9cc3b7824581caaf0a4363ed3f0cd199107e7a4",
+        "render.png": "ad9584a89d2c298370b519f4d4c60ad4fa12fb98d21b25477ad5c0e1786882bd",
         "graph-raw.svg": "5475c887acc5eba4b87a91c41e1d63b96ef6196dbc1601dc2135007b09542734",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "ef117c997708084823e988f83110d256bfeee3c3b86c1abc590ea924026e5305"
@@ -56703,7 +56775,7 @@
         "mjcf_ms": 8.724317885935307,
         "compile_ms": 23.342677857726812,
         "graph_ms": 778.3630532212555,
-        "render_total_ms": 1760.3151141665876
+        "render_total_ms": 1657.4227553792298
       },
       "mesh_preparation": {
         "status": "complete",
@@ -56854,16 +56926,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.738286897540092,
-        "render_ms": 1590.6387399882078,
-        "compose_ms": 72.06510985270143,
-        "write_ms": 61.95518700405955,
-        "foreground_fraction": 0.3322
+        "compile_ms": 24.3829726241529,
+        "render_ms": 1494.394927751273,
+        "compose_ms": 56.23441003262997,
+        "write_ms": 69.25777904689312,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 22
       },
       "artifacts": {
         "robot.mjcf": "8e9b9f37c90893bd78554eebd03939d33e9b39499f45c817ec96095b852ad02a",
         "meshes.tar": "36940640813eed5a627f5cc5cde19f34f719bd3584dd36fcab5606b40a3d3383",
-        "render.png": "512418f2a9258fcd9d30ce8b9405f72bf91c0710338f0689ba0b80869540bb5e",
+        "render.png": "9663114d13c4b2719ba7a7292df7a5539ee030af80396e0f0d105dc169859723",
         "graph-raw.svg": "d82a9f1ff7efa9469a355d7dbc40645af33ad32b7e324a0f559d0ce286855e8a",
         "graph-robot.svg": "278dbcff0b6f22676a47bdf5fb49f791f39eb4e5811ce150ca475f7ecdc87a48"
       },
@@ -56901,7 +56975,7 @@
         "mjcf_ms": 3.0721682123839855,
         "compile_ms": 14.998255763202906,
         "graph_ms": 76.63448667153716,
-        "render_total_ms": 1955.5835132487118
+        "render_total_ms": 1590.5326181091368
       },
       "mesh_preparation": {
         "status": "complete",
@@ -56962,16 +57036,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.434409905225039,
-        "render_ms": 1781.7934420891106,
-        "compose_ms": 71.76610501483083,
-        "write_ms": 72.46949383988976,
-        "foreground_fraction": 0.47245
+        "compile_ms": 9.202606044709682,
+        "render_ms": 1441.9506611302495,
+        "compose_ms": 54.89360773935914,
+        "write_ms": 72.22711062058806,
+        "foreground_fraction": 0.47245,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "7903c0a913f1b84fb0b00601b9ff66737f76f9dac6c6f76317e90e7908f47ff8",
         "meshes.tar": "aae921f5807d6146148c1e0ca5a708f7e3bd3804c90c3ada180ff7f480793aea",
-        "render.png": "85f3bde94360b76e2c2b5a87e54eaac495bd65e47a0fb2d1a0a5b3654a01eeb6",
+        "render.png": "b1bceca617b589d4be1ed263b3d5cc0af4dcc1a7a965f99925045e9df28286c4",
         "graph-raw.svg": "06bb5c9e6b7df1a3ac1417de4961e8022fa637387da158ad2f31e0e2602fa8c6",
         "graph-robot.svg": "c787f0dd3196422de0c332853498e6213b38c9299018876cdbc03f065f279b4e"
       },
@@ -57010,7 +57086,7 @@
         "mjcf_ms": 4.288368858397007,
         "compile_ms": 24.843551218509674,
         "graph_ms": 82.37252803519368,
-        "render_total_ms": 1710.8486290089786
+        "render_total_ms": 1577.1777899935842
       },
       "mesh_preparation": {
         "status": "complete",
@@ -57065,16 +57141,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.229841090738773,
-        "render_ms": 1547.8483531624079,
-        "compose_ms": 65.20796194672585,
-        "write_ms": 61.372984666377306,
-        "foreground_fraction": 0.29205
+        "compile_ms": 15.991880092769861,
+        "render_ms": 1439.5444062538445,
+        "compose_ms": 47.53073304891586,
+        "write_ms": 61.392929404973984,
+        "foreground_fraction": 0.29205,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "948e886d16e33d82c5100d484e5c1cf3ca0ef68edc3a3b1c398dcb90db961ca6",
         "meshes.tar": "1d08b9e1f731d0c61c97e57edf22f2eb60d8bf0a1b3055df4d78c3c23be40dea",
-        "render.png": "3b1763be11ab7a26dc3f4e4dd389aca97fbbfc2bd52c4bb5ab50e8eb30f280a4",
+        "render.png": "06ae6d638c1902cbef193a08059d6049503eb6f1777a1ac11ef18d93a0058563",
         "graph-raw.svg": "c82c0f3eccd461b665683e1ff48093659fe106c06329c775e80c69e404bda52b",
         "graph-robot.svg": "adccfb9e51722287f60b0d7a0a80c1b5f9719e03a745223772b386b0cbfc2906"
       },
@@ -57112,7 +57190,7 @@
         "mjcf_ms": 3.287969157099724,
         "compile_ms": 821.3277361355722,
         "graph_ms": 76.36347878724337,
-        "render_total_ms": 2676.8327462486923
+        "render_total_ms": 2361.9293682277203
       },
       "mesh_preparation": {
         "status": "complete",
@@ -57160,16 +57238,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 765.124293975532,
-        "render_ms": 1749.0767217241228,
-        "compose_ms": 59.948604088276625,
-        "write_ms": 82.31348404660821,
-        "foreground_fraction": 0.1375
+        "compile_ms": 733.1360699608922,
+        "render_ms": 1479.0549268946052,
+        "compose_ms": 44.40214019268751,
+        "write_ms": 92.6684532314539,
+        "foreground_fraction": 0.1375,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "078a1126bea2282b09f32a8fc3bc331c9e02c860e01b1847de5a848e4b51002b",
         "meshes.tar": "bdbd10888282315d094271f8f1295b753a2e9b35b2e4a82a6fbec6b8e9a42f0a",
-        "render.png": "d105a01aff0305f667e1c030b69b77c60d82bbd58aa4de706223f3083fe2362d",
+        "render.png": "331f2f4d3049b37c84fc071ebb35c6685c94a2de82f629ec37a14ecc59cfe3cc",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -57211,7 +57291,7 @@
         "mjcf_ms": 6.834414787590504,
         "compile_ms": 219.90104485303164,
         "graph_ms": 162.45580837130547,
-        "render_total_ms": 2141.7550100013614
+        "render_total_ms": 2745.9959629923105
       },
       "mesh_preparation": {
         "status": "complete",
@@ -57266,16 +57346,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 249.2518899962306,
-        "render_ms": 1719.2544960416853,
-        "compose_ms": 69.69510670751333,
-        "write_ms": 83.37055006995797,
-        "foreground_fraction": 0.3333
+        "compile_ms": 201.08497887849808,
+        "render_ms": 1529.6369274146855,
+        "compose_ms": 53.004246205091476,
+        "write_ms": 949.349120259285,
+        "foreground_fraction": 0.3333,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "d01f92d6e565e36cbcbb6f3e71705e6883967c63f6a0b182e9bba76cb6f7b9ce",
         "meshes.tar": "2646ed9e59d379869103bdda4f098a1ee49991bf94dbf10b038fa9c848cd9d13",
-        "render.png": "1faa136a75d2b6f188cc36126cb6da0ef5141f8dcce4e4133f98295b5aa34bbc",
+        "render.png": "b9c1ce1bf9a7fc376730df2d0f21532caa4d25a645c72639629beae57cba8afb",
         "graph-raw.svg": "2f5efdbc577512713195b89ff24d6868ddb63e64e8434d568fcf718451efd829",
         "graph-robot.svg": "f406e1c4d019a40ed49e2899364d6b6d1f4c7545e7c2fdbcaab1ab972a6b5bbf"
       },
@@ -57306,7 +57388,7 @@
         "mjcf_ms": 3.35955573245883,
         "compile_ms": 23.421434685587883,
         "graph_ms": 74.73452994599938,
-        "render_total_ms": 1799.979005008936
+        "render_total_ms": 1682.7046368271112
       },
       "mesh_preparation": {
         "status": "complete",
@@ -57367,16 +57449,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.048045992851257,
-        "render_ms": 1608.8096350431442,
-        "compose_ms": 81.53763506561518,
-        "write_ms": 72.39546813070774,
-        "foreground_fraction": 0.56485
+        "compile_ms": 15.623946208506823,
+        "render_ms": 1434.2651818878949,
+        "compose_ms": 63.513217959553,
+        "write_ms": 157.03532891348004,
+        "foreground_fraction": 0.56485,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "18a1a8daa494759c07185a8cdaf6373a96138b5ca1acfb5eef64b141b76bb208",
         "meshes.tar": "0de02ab79c7db687aafd983b270fe8ea55e74f9f29e664ed65396cdfa2155c01",
-        "render.png": "99ca1fb41fe24454eead84749f02d52d9203eb14d68da1e23fb14f2e0a0e2be8",
+        "render.png": "119ba6e048ca8fe4edb077908b93335acc1b5512a6cbba713d1a7ba090089c69",
         "graph-raw.svg": "194fbe7ea515662b95edd135a80804ad93ce4ab734288121b04d7df2dffecabd",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "475396681bd7f7987ecf82a3170793086dbb69e1f2af543cf8baff9fb078cabf"
@@ -57420,7 +57504,7 @@
         "mjcf_ms": 8.045175112783909,
         "compile_ms": 184.88265993073583,
         "graph_ms": 248.4618998132646,
-        "render_total_ms": 1914.828128181398
+        "render_total_ms": 1730.4492527619004
       },
       "mesh_preparation": {
         "status": "complete",
@@ -57468,16 +57552,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 162.2793385758996,
-        "render_ms": 1597.5927840918303,
-        "compose_ms": 59.92460483685136,
-        "write_ms": 74.38239082694054,
-        "foreground_fraction": 0.19965
+        "compile_ms": 121.2245118804276,
+        "render_ms": 1479.6347110532224,
+        "compose_ms": 44.43502193316817,
+        "write_ms": 72.8279366157949,
+        "foreground_fraction": 0.19965,
+        "style": "link-palette-v1",
+        "colored_bodies": 16
       },
       "artifacts": {
         "robot.mjcf": "3666d5d82e1982252b7bde526f019f0fb3ffd99ab4252ec907a09f2bc6e47068",
         "meshes.tar": "d70eb7dfb415a6192b57292aee7147664f3ebb9bc148d1dfc86c81053f6f398c",
-        "render.png": "4dfa6709b50c0b914ee7d16b0bfa499b18296ada719590b9cc4b535a0d5a0ace",
+        "render.png": "520465ee376515c0c5315a6093d6d2b791ad43d943ed5ad740647d4bb07aa51a",
         "graph-raw.svg": "24f3f68c3c97c042ed51805ee50f5bf5f803dc205e481b2cfcffec0a5e159e51",
         "graph-robot.svg": "ee712c45491527a30277268a25f5bedf91ad5c8a9cd24579a91b4cd947793f7c"
       },
@@ -57515,7 +57601,7 @@
         "mjcf_ms": 4.312945995479822,
         "compile_ms": 57.529285084456205,
         "graph_ms": 75.7845463231206,
-        "render_total_ms": 1905.6144240312278
+        "render_total_ms": 1661.0683500766754
       },
       "mesh_preparation": {
         "status": "complete",
@@ -57563,16 +57649,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 40.91976676136255,
-        "render_ms": 1683.3252971991897,
-        "compose_ms": 84.19253630563617,
-        "write_ms": 79.69933096319437,
-        "foreground_fraction": 0.71225
+        "compile_ms": 40.901090018451214,
+        "render_ms": 1461.6288598626852,
+        "compose_ms": 68.25914699584246,
+        "write_ms": 77.57713878527284,
+        "foreground_fraction": 0.71225,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "c2a15e72d8d0e15be1077f9b2d0c06316f2dee35357fd887168257497dc7ca91",
         "meshes.tar": "c1ba377263a790a0708987079c75f80e1e37084581a66c728bec15a629581166",
-        "render.png": "496ef1654e5fa29f5cb312a614d0a0eeb6d9411002053fc57ecf85601c585e3e",
+        "render.png": "56e59368a2eb0bb73f5628944685840dedc6bb317e403d0c674e4a52ff872d7a",
         "graph-raw.svg": "ea2ddf4ac8b104cd3e9e7003678649503d80ebafd792619e77599e7782533e5a",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -57609,7 +57697,7 @@
         "mjcf_ms": 3.981113899499178,
         "compile_ms": 10.34670788794756,
         "graph_ms": 205.6603617966175,
-        "render_total_ms": 1811.2563961185515
+        "render_total_ms": 1561.5706141106784
       },
       "mesh_preparation": {
         "status": "complete",
@@ -57670,16 +57758,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.57369801774621,
-        "render_ms": 1655.885408166796,
-        "compose_ms": 65.45701995491982,
-        "write_ms": 63.247392885386944,
-        "foreground_fraction": 0.418
+        "compile_ms": 7.29562109336257,
+        "render_ms": 1418.379397597164,
+        "compose_ms": 53.30641381442547,
+        "write_ms": 69.67568304389715,
+        "foreground_fraction": 0.418,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "7b6d92ede80e6cdd6b454a45fc111b3825840820f382731499182c720db50fdb",
         "meshes.tar": "a4db99a5587deb8fb00dfe49d78103f0a6fdc6335426ee486d6a00312bd63388",
-        "render.png": "e9771dd7337a167a9b135b29d88316e04a01740233f5df541a65cfe8ba439c81",
+        "render.png": "81fbb03568184cdf291edc9713a566a9f9cf2003333bafd362fa702687d4b54a",
         "graph-raw.svg": "74f6bd8375c85170476f94097e5dc32c0cfae0495b3d44e6fabb1529dc16d866",
         "graph-robot.svg": "1b7720e687b7c64bd43429b0be8185ecc5b07b2a682fcb22e0e60fc05667350d",
         "robot.urdf": "5b4899617d1b7ece4b95502f06b6e2d4683c52fbbe884853ecd417585bed1826"
@@ -57713,7 +57803,7 @@
         "mjcf_ms": 10.443546809256077,
         "compile_ms": 24.43237602710724,
         "graph_ms": 519.927647896111,
-        "render_total_ms": 1792.7728621289134
+        "render_total_ms": 1660.5874323286116
       },
       "mesh_preparation": {
         "status": "complete",
@@ -57774,16 +57864,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 27.466902043670416,
-        "render_ms": 1588.312809355557,
-        "compose_ms": 80.74938599020243,
-        "write_ms": 76.0968211106956,
-        "foreground_fraction": 0.63965
+        "compile_ms": 22.80485676601529,
+        "render_ms": 1481.3944310881197,
+        "compose_ms": 59.70814963802695,
+        "write_ms": 83.93596019595861,
+        "foreground_fraction": 0.63965,
+        "style": "link-palette-v1",
+        "colored_bodies": 23
       },
       "artifacts": {
         "robot.mjcf": "f5d5ef8859fdfe9615136c37a94b6d0352cb9d7eed0a1a1f201f2217697e16c5",
         "meshes.tar": "de727dfdfc196f598ce861bd475303c16a3022f23c4b4f00fc433f56f3b32a6a",
-        "render.png": "04080628c70e91c81861bad404d17fd8a9536568bbe2274fd4673f209e8d0873",
+        "render.png": "e7d8afdfabc464b25a5634d7ae069ead630245d5c82b33127509e2f59167d8e9",
         "graph-raw.svg": "ef8397dca920547a7ecc40f20a8519fe06b65ce6a08aa514046f95d5f57155d6",
         "graph-robot.svg": "007d76aafae6e52419070da43c4eeb74e8e513fa689746141f74bc6fc8a11ca6",
         "robot.urdf": "bde293da824368def633f184fc66b1bdd1b6e8a9125950fb37bb2b257d4ccd1d"
@@ -57818,7 +57910,7 @@
         "mjcf_ms": 4.738923627883196,
         "compile_ms": 12.411386240273714,
         "graph_ms": 199.46305826306343,
-        "render_total_ms": 1791.8075299821794
+        "render_total_ms": 1592.4563026055694
       },
       "mesh_preparation": {
         "status": "complete",
@@ -57879,16 +57971,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.914011996239424,
-        "render_ms": 1637.2785358689725,
-        "compose_ms": 70.2506578527391,
-        "write_ms": 60.26101903989911,
-        "foreground_fraction": 0.41525
+        "compile_ms": 8.586468175053596,
+        "render_ms": 1447.5877657532692,
+        "compose_ms": 53.48337721079588,
+        "write_ms": 70.27889229357243,
+        "foreground_fraction": 0.41525,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "654097ffdeb71da40c188b314b2e247c65d7546ed877002d485ba2944d4b5885",
         "meshes.tar": "50692dd9d08aee909eda650d761626610ad98e972ae66aa0458644a09cf6f6ac",
-        "render.png": "28d031ce71bef6f6d2e144f035fc7629cddfac6b1be9d54985fdb156bfd61f68",
+        "render.png": "6a51b58e4546a1b03e9d16fe812fd3f017cd197cca3eca7c2d04ae461ad3a03f",
         "graph-raw.svg": "0d267dc530bca2f3387b3c3547e8726e207059de62f4ee5f6b9cab25911d1fda",
         "graph-robot.svg": "8ea7a0a913e4a6ea6613dacd21351720942570debf4fc3d38bfe35387cc26d9c",
         "robot.urdf": "d2f451c9adb461d273142bbd15ff3eec6ed810fc3924e0877ccf408a8da2f8db"
@@ -57922,7 +58016,7 @@
         "mjcf_ms": 9.472952224314213,
         "compile_ms": 15.340144280344248,
         "graph_ms": 302.29342728853226,
-        "render_total_ms": 2043.853621929884
+        "render_total_ms": 1572.7470917627215
       },
       "mesh_preparation": {
         "status": "complete",
@@ -57983,16 +58077,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.335303075611591,
-        "render_ms": 1863.9144459739327,
-        "compose_ms": 75.89059602469206,
-        "write_ms": 72.38541822880507,
-        "foreground_fraction": 0.7106
+        "compile_ms": 12.102906592190266,
+        "render_ms": 1406.111209653318,
+        "compose_ms": 63.90457507222891,
+        "write_ms": 78.20803532376885,
+        "foreground_fraction": 0.7106,
+        "style": "link-palette-v1",
+        "colored_bodies": 13
       },
       "artifacts": {
         "robot.mjcf": "b3e2a57a570ded56a2a0dd2e06c992e0f59628623dd57274d81a8a6ee4cd7849",
         "meshes.tar": "a3dbf50a3a7a011a09e7ff6c8e7779a9e1ff5d08507e5b29c0354f57f9b8fa05",
-        "render.png": "2b0d73bf29f990c75f72b89f8bc591da30faa64bcd9b22db78fef12aca1b9c81",
+        "render.png": "6512868c14806ee07daa742847e8102ff1d508560dcecbe26ce2b0525d1b765e",
         "graph-raw.svg": "127ddefa04d75f5998c04377beae3aa66c19ebaad44a83c79d00ac791108f009",
         "graph-robot.svg": "a76305adde0394d4d6d2d26b4fb97e57fe1de0f22aef8c3e510cf927355c3774",
         "robot.urdf": "4867c8ff27664031ae0f78fcf62dc6eb39354baccaa7ba341b14313b39e1b43d"
@@ -58025,7 +58121,7 @@
         "mjcf_ms": 3.8278051652014256,
         "compile_ms": 7.607293780893087,
         "graph_ms": 166.46413085982203,
-        "render_total_ms": 1865.4192513786256
+        "render_total_ms": 1557.5173338875175
       },
       "mesh_preparation": {
         "status": "complete",
@@ -58086,16 +58182,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.506660185754299,
-        "render_ms": 1710.1584929041564,
-        "compose_ms": 73.01517808809876,
-        "write_ms": 58.79873409867287,
-        "foreground_fraction": 0.44935
+        "compile_ms": 6.4948988147079945,
+        "render_ms": 1413.0316199734807,
+        "compose_ms": 56.172661017626524,
+        "write_ms": 68.906603846699,
+        "foreground_fraction": 0.44935,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "aa446d22ce727062ff0bde4b4fd1d75cdd5445f5fb7bd406a56f971a10e612e8",
         "meshes.tar": "049b1bbab0bed337f1f776e43e34359b23ec15e190bf1853213f065334602dc8",
-        "render.png": "ea1b0745d9345f795e7b85e6355ca37984613d4e0048d158c94844bee6d7f5b6",
+        "render.png": "8dc3c34ebc31fe9f8b4f4cad88964d3001a391ca57b6bbf90299244f7ca24295",
         "graph-raw.svg": "4864300da52142acf66f4171b168bedda65555d6eded55e13b096d498a0980d5",
         "graph-robot.svg": "060d852c9503d580f948dde08009234930195137b5b92c15ed267740b9065e14",
         "robot.urdf": "4d32620cf04e2952e7b27f65c76280f46e7f148a264317495a3351edf7a0e78f"
@@ -58134,7 +58232,7 @@
         "mjcf_ms": 4.336150363087654,
         "compile_ms": 19.779118709266186,
         "graph_ms": 72.8145781904459,
-        "render_total_ms": 1741.5962521918118
+        "render_total_ms": 1605.8525322005153
       },
       "mesh_preparation": {
         "status": "complete",
@@ -58182,16 +58280,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.799389030784369,
-        "render_ms": 1531.7651638761163,
-        "compose_ms": 88.62716006115079,
-        "write_ms": 90.80888889729977,
-        "foreground_fraction": 0.79625
+        "compile_ms": 11.552489828318357,
+        "render_ms": 1410.6784691102803,
+        "compose_ms": 69.24504693597555,
+        "write_ms": 101.46007407456636,
+        "foreground_fraction": 0.79625,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ea50d9c3e404fe2967f5dd4d66ed88388aef5518347d0e5832b5d5a74efdfed8",
         "meshes.tar": "29519b8caa2c50c61a5c6bd8a3977d604a655f83bae6f19be1ce584fcc91c441",
-        "render.png": "213551b9c5f95e8cc65097bdcbadcfbe3f47a2a4ff5fceaa51170848c820716b",
+        "render.png": "9c3c15bd03a32674e1851e5d88ebffccd8a25c5017fdad7cf18be285b8ad7ad4",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -58228,7 +58328,7 @@
         "mjcf_ms": 3.3338358625769615,
         "compile_ms": 312.1848157607019,
         "graph_ms": 161.18751605972648,
-        "render_total_ms": 2081.3124561682343
+        "render_total_ms": 1942.1141650527716
       },
       "mesh_preparation": {
         "status": "complete",
@@ -58337,16 +58437,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 259.30539099499583,
-        "render_ms": 1633.2322587259114,
-        "compose_ms": 82.35689112916589,
-        "write_ms": 85.53716074675322,
-        "foreground_fraction": 0.7898
+        "compile_ms": 272.2290442325175,
+        "render_ms": 1483.144222293049,
+        "compose_ms": 64.93478501215577,
+        "write_ms": 109.02229230850935,
+        "foreground_fraction": 0.7898,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "a283bd4bb632e00ada97ff92423a4d6a40520a68b8967e9969365abbeec36200",
         "meshes.tar": "b1d07402daf2643460afe8fe1a3bb05c7d143ca61f3f5b92a5288990824dfbda",
-        "render.png": "b84e768c184a092250c82e42a8bdcb0b9e5daabc118a8640ef106d727a37a590",
+        "render.png": "de8ada9805615c8c9fab3ca98c591e297dc8a481f1a516c11fa14e78e5957d1f",
         "graph-raw.svg": "ca8cfa6294bf61815b2f6fc143a17145175f0a1ff5d1628bd65a4941004bd726",
         "graph-robot.svg": "cf4d9f6f2629357ff507e0beed9b030c7aa5fd87ae7335b384467aa50ff4c84c"
       },
@@ -58489,7 +58591,7 @@
         "mjcf_ms": 266.36613393202424,
         "compile_ms": 6234.054599888623,
         "graph_ms": 8864.409163128585,
-        "render_total_ms": 11119.143512099981
+        "render_total_ms": 9934.480673633516
       },
       "mesh_preparation": {
         "status": "complete",
@@ -58976,16 +59078,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6366.749461740255,
-        "render_ms": 4539.532083086669,
-        "compose_ms": 63.106531742960215,
-        "write_ms": 90.94549482688308,
-        "foreground_fraction": 0.757575
+        "compile_ms": 5359.545562881976,
+        "render_ms": 4380.94835029915,
+        "compose_ms": 60.64041703939438,
+        "write_ms": 87.31518872082233,
+        "foreground_fraction": 0.757575,
+        "style": "link-palette-v1",
+        "colored_bodies": 493
       },
       "artifacts": {
         "robot.mjcf": "da644131459dee40cfe4a71a9babfb8a3a9b0487da8834e1e7e1e93dfa86b2e5",
         "meshes.tar": "6eed5885bbb75909c9a14ff68f1b421791ccdc14693f6df46e4b428bb3015a2c",
-        "render.png": "adc65abca85e927319d15b4fe735e334d8344270770e703741b48cdab8a7aa5c",
+        "render.png": "43c2d5aa3c772128e27f745a249a37a6e0b468a27902e8bde4b69b0cdb451916",
         "graph-raw.svg": "3141dacf231bbe0f7e45d141da9296275cf26205b0663bbe56207d360cf7f6bb",
         "graph-robot.svg": "0d854cb182aee3daf3b2db0db768562c7f46432f0e5bad3a097126fb801d86b8"
       },
@@ -59016,7 +59120,7 @@
         "mjcf_ms": 4.591814242303371,
         "compile_ms": 258.3683948032558,
         "graph_ms": 68.40702192857862,
-        "render_total_ms": 1805.9811061248183
+        "render_total_ms": 1592.8717721253633
       },
       "mesh_preparation": {
         "status": "complete",
@@ -59077,16 +59181,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 35.21912777796388,
-        "render_ms": 1599.3083179928362,
-        "compose_ms": 67.63827987015247,
-        "write_ms": 87.67260890454054,
-        "foreground_fraction": 0.638
+        "compile_ms": 118.75095870345831,
+        "render_ms": 1298.091719392687,
+        "compose_ms": 60.315918643027544,
+        "write_ms": 103.0894941650331,
+        "foreground_fraction": 0.638,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "8f75fbc55df63dd9bb5fdb5681912d9a822f03b18dd3ab4f91aee0db71dda520",
         "meshes.tar": "077c3b1313b49c1b87122da15f02cd6be64638a453aa9b4f9c4f34ecab8dd433",
-        "render.png": "6aa5598edbd0ed08aae624b9d937f9f19496f88b891d9c320ac3690393a86450",
+        "render.png": "e38467f78003b45855649dbd785693dc122517d9be098c73c9c46a1f60d1be54",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "9532ab843b03ad52ce4fe69c9e04d9dbd461aaa5420bcfba3feb17331258a552"
@@ -59136,7 +59242,7 @@
         "mjcf_ms": 5.32332481816411,
         "compile_ms": 9.40844090655446,
         "graph_ms": 245.67010207101703,
-        "render_total_ms": 1964.6468590945005
+        "render_total_ms": 1335.1951371878386
       },
       "mesh_preparation": {
         "status": "complete",
@@ -59197,16 +59303,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.61350616812706,
-        "render_ms": 1805.3706958889961,
-        "compose_ms": 69.71120880916715,
-        "write_ms": 58.39939275756478,
-        "foreground_fraction": 0.42405
+        "compile_ms": 11.799837928265333,
+        "render_ms": 1198.9133097231388,
+        "compose_ms": 53.402907215058804,
+        "write_ms": 58.131630066782236,
+        "foreground_fraction": 0.42405,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "c398aa8599f1e721f6cedc3daed03cbf34a11b3a61a6c2b68aacf22988faa1d3",
         "meshes.tar": "3c5e6e44c69b3ab22493f7921d9c1ceea2c48ea417f60d97003b184ec52582d2",
-        "render.png": "7a0f262ed8a0803fae29c49c8eea0e2098a52ee903675f6bceac39f37a7ce382",
+        "render.png": "e170e1ce5b339cdcc4f0843e16f4e1f6d3bd57ac71b06d2ab48e7af1055e915d",
         "graph-raw.svg": "06994f548fb8297de4dbc63e7028f4e69aa2ab2006f106cebb80986ea4f4ccc1",
         "graph-robot.svg": "fcd032d367c5ca3043d8edd60b80643a133f0b0ea5a29e704cfcf2f96d8da6b6",
         "robot.urdf": "50140e3d76aaa3a3b62777718e4a80ff3b6f557423643625bd32c29fadcf4394"
@@ -59245,7 +59353,7 @@
         "mjcf_ms": 6.426796317100525,
         "compile_ms": 21.25175390392542,
         "graph_ms": 170.75537098571658,
-        "render_total_ms": 1772.210317198187
+        "render_total_ms": 1401.1462219059467
       },
       "mesh_preparation": {
         "status": "complete",
@@ -59293,16 +59401,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.718422062695026,
-        "render_ms": 1594.1129568964243,
-        "compose_ms": 78.84967979043722,
-        "write_ms": 65.09779579937458,
-        "foreground_fraction": 0.3168
+        "compile_ms": 11.124153155833483,
+        "render_ms": 1231.1240579001606,
+        "compose_ms": 60.615824069827795,
+        "write_ms": 85.70264093577862,
+        "foreground_fraction": 0.3168,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "74510b3a70b0971b7fab8ff0f84d831d7db0c9c690a0bac8b2485c7954c6dac2",
         "meshes.tar": "e6c4a62e587ab17f74c0c7b0b594e91f675bb0341ae861e093f7f8ed377bf447",
-        "render.png": "889ab926d932a7322a764ef0e4cfd80a78a2a04488a926b991d30d209ca232ed",
+        "render.png": "32342af067df32a085e1f578d998ddff0c0af21702a146d43738aeecbbab2c88",
         "graph-raw.svg": "48a2827f35b35cf85a5997a0c8242a652d8cb3e36b28e0f46bbdc866655fef7a",
         "graph-robot.svg": "784fcdd73b3a4cc72f969bcd926083513c16213a6d71aa887b6c5d6ba3e63f1e"
       },
@@ -59333,7 +59443,7 @@
         "mjcf_ms": 4.4254641979932785,
         "compile_ms": 794.8703691363335,
         "graph_ms": 76.9252092577517,
-        "render_total_ms": 2670.40454223752
+        "render_total_ms": 2683.898491319269
       },
       "mesh_preparation": {
         "status": "complete",
@@ -59394,16 +59504,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 781.6636417992413,
-        "render_ms": 1718.1327100843191,
-        "compose_ms": 67.981309723109,
-        "write_ms": 82.44499424472451,
-        "foreground_fraction": 0.38775
+        "compile_ms": 1041.828938294202,
+        "render_ms": 1482.5020711869001,
+        "compose_ms": 52.75071505457163,
+        "write_ms": 94.30098021402955,
+        "foreground_fraction": 0.38775,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "016e576e6de23cece2065515aa2bddac8c1177bf2960fc510dc9c063424e6954",
         "meshes.tar": "f2045e0d8ff28808facf87833b1a3011102377cdc374a68b09e5de35e772ef51",
-        "render.png": "8ba583363235c6b15bde2d0815372105d8a86c99ebbb5969d396fb884ce3e0d5",
+        "render.png": "7a758134b4c237ab1c04842a0b9240998aa5c142c53d594a50011102d8a65188",
         "graph-raw.svg": "194fbe7ea515662b95edd135a80804ad93ce4ab734288121b04d7df2dffecabd",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "4024800ba325c3027e41dcc0ea5649c645953b8a8c371e1bf656d797cf018ffe"
@@ -59443,7 +59555,7 @@
         "mjcf_ms": 11.246108915656805,
         "compile_ms": 1526.0992366820574,
         "graph_ms": 365.16879918053746,
-        "render_total_ms": 4243.217362090945
+        "render_total_ms": 3845.4132420010865
       },
       "mesh_preparation": {
         "status": "complete",
@@ -59523,16 +59635,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1548.300956375897,
-        "render_ms": 2517.9837439209223,
-        "compose_ms": 67.68272677436471,
-        "write_ms": 78.63022480159998,
-        "foreground_fraction": 0.4079833333333333
+        "compile_ms": 1283.314449712634,
+        "render_ms": 2384.7506451420486,
+        "compose_ms": 59.830483980476856,
+        "write_ms": 93.99546589702368,
+        "foreground_fraction": 0.4079833333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 14
       },
       "artifacts": {
         "robot.mjcf": "23b2f7720e8d11fc3dae2a51d24702bc7d584191d6e286eef23d0ac0ba9b9507",
         "meshes.tar": "0a1102a20cdf5014135b1e4bfcccd4aa1a9d910f0dc1603a3f48bb1fff27a4db",
-        "render.png": "a5ccfe7e7c88c9ab28167ddcc1f3a5d8228fbc27e35366c9a7849beeb128a005",
+        "render.png": "6b48db4bc6c57423f968d1179099dd842e3299da6798a07dde99218dfccbf339",
         "graph-raw.svg": "2efcc05ab15272cd7c952d1a559891d7d4d5d47677482111c042a58568b7dd05",
         "graph-robot.svg": "104eb83fd381000e1bd33da6311c3e3e91171f921cec5ff12a381ce5a72e51ea",
         "robot.urdf": "9a8aa6e26f47d4450c0b2dc3206e702a88af1226562cc760035fcecea765f6ad"
@@ -59568,7 +59682,7 @@
         "mjcf_ms": 8.66618100553751,
         "compile_ms": 75.17146691679955,
         "graph_ms": 95.8811710588634,
-        "render_total_ms": 1909.3308127485216
+        "render_total_ms": 1703.6542859859765
       },
       "mesh_preparation": {
         "status": "complete",
@@ -59629,16 +59743,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 44.25036581233144,
-        "render_ms": 1689.4613923504949,
-        "compose_ms": 67.46720615774393,
-        "write_ms": 88.13248481601477,
-        "foreground_fraction": 0.37345
+        "compile_ms": 57.00198095291853,
+        "render_ms": 1428.5475020296872,
+        "compose_ms": 50.55153323337436,
+        "write_ms": 154.72007915377617,
+        "foreground_fraction": 0.37345,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "c8aff9eae70468c9a973f55ed8c18ebd8bc5ad152305fdcd840cdc388f2884e4",
         "meshes.tar": "037249c74f1abb1e505ded5f0c1567694e13c07021f9d2ad644531dcfc76f54b",
-        "render.png": "f41dd04e00cf872c198059ba5476621b11d0922c7e7931ff3350bb24777410d4",
+        "render.png": "9e2d5304b4492b41510d9abb9137747fffe933f1aaece3341676070d6c1b4fb5",
         "graph-raw.svg": "17c3441a065577b9d521b8302ed7691dd9130dd739ecc06e5e821c3b3c5e88ea",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "84260634ebbaee250191503f587ffd9c6b177360a7aef80d0e12ed0303cb8ead"
@@ -59674,7 +59790,7 @@
         "mjcf_ms": 5.950743798166513,
         "compile_ms": 55.01788109540939,
         "graph_ms": 166.71749902889132,
-        "render_total_ms": 2098.2315381988883
+        "render_total_ms": 1613.826340995729
       },
       "mesh_preparation": {
         "status": "complete",
@@ -59735,16 +59851,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 56.54631881043315,
-        "render_ms": 1849.4429946877062,
-        "compose_ms": 71.59754913300276,
-        "write_ms": 88.9821439050138,
-        "foreground_fraction": 0.41855
+        "compile_ms": 39.00221874937415,
+        "render_ms": 1408.6457039229572,
+        "compose_ms": 53.1604359857738,
+        "write_ms": 100.54092481732368,
+        "foreground_fraction": 0.41855,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e471e7da6192b73718685b05b3a084e1ec5fa08b9a87eacbc3d77b4f9260250a",
         "meshes.tar": "86050f3c9159bf100d872c424d717feb53327a1e78416e6902da7de5a0f82290",
-        "render.png": "5b71995aa96483c640bccd183decd68805c471d86508118643eb55671eaff86b",
+        "render.png": "9de597f51126d73f56746f6b12c29d9bd6b1b073afadaac3df0b5a59fa9d8b19",
         "graph-raw.svg": "7635cab4aa96bb7f87942c2a132420a7c88a87cb402e589a2c349a3b0558d843",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "6e1aada5fb5b769f72503195b0701146bb2a8e07246e8b6049c4e4c3eaafafa8"
@@ -59780,7 +59898,7 @@
         "mjcf_ms": 5.197052378207445,
         "compile_ms": 55.62102422118187,
         "graph_ms": 186.62568693980575,
-        "render_total_ms": 1919.9696709401906
+        "render_total_ms": 1693.1454753503203
       },
       "mesh_preparation": {
         "status": "complete",
@@ -59841,16 +59959,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 47.314266208559275,
-        "render_ms": 1705.1848410628736,
-        "compose_ms": 57.10572795942426,
-        "write_ms": 90.7038589939475,
-        "foreground_fraction": 0.35915
+        "compile_ms": 39.326622150838375,
+        "render_ms": 1423.0799810029566,
+        "compose_ms": 62.10942938923836,
+        "write_ms": 150.26645315811038,
+        "foreground_fraction": 0.35915,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e0ec2b6e3b87bae2db65c87025929eeeebbbd930c664b6b0988d66ef1dc7b6c8",
         "meshes.tar": "060ec493e7bddf7d4f56324a2e8ddb93f600b70a92a542d4c9a63f552a01de33",
-        "render.png": "23631664f23cf008ecbb42bb61b80cd519f40eafc942ab8840ee279dc0b151bd",
+        "render.png": "632456adf5e61615b64c379cbe2dc4a3bcf8505a46f2b1542bbd95c5e1246d0d",
         "graph-raw.svg": "ebadb68a3454e66967963669e079e5991ac4a5b3f6a4b4cc71f645d1d4a318d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a6b0a239ada1b84f746fdc7254cb265243f55596eb35a0a93697a601e2c33e5f"
@@ -59886,7 +60006,7 @@
         "mjcf_ms": 5.81804383546114,
         "compile_ms": 53.73124871402979,
         "graph_ms": 107.125548645854,
-        "render_total_ms": 2168.4960033744574
+        "render_total_ms": 1635.8843948692083
       },
       "mesh_preparation": {
         "status": "complete",
@@ -59947,16 +60067,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 41.44466994330287,
-        "render_ms": 1947.2386077977717,
-        "compose_ms": 69.91074467077851,
-        "write_ms": 89.50934512540698,
-        "foreground_fraction": 0.418
+        "compile_ms": 39.89124996587634,
+        "render_ms": 1427.2987069562078,
+        "compose_ms": 53.83239686489105,
+        "write_ms": 102.19007125124335,
+        "foreground_fraction": 0.418,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "90e42cdf6d2c7d2743cb70db6135c4630b7a0241a541889948b3f7de5cab3846",
         "meshes.tar": "379a020e4e2a5b8c97ee8129ba199a4d8c517da54e3e50c276aabcc73d849992",
-        "render.png": "cd730b30a1b0720d96f39eb5595fa74d51de905d08e9d87dd6f1171806270cf0",
+        "render.png": "617fb26564e6ab09b6158f0278da9783626d749c6dd2348bb5748cb237a10ad9",
         "graph-raw.svg": "a1f84cba93bec344766751b929f24dac46e9fc96f9c19f8f29329704943d9a38",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "fb8fe73a01cbcf9ad3c1261db07f9aeae68e2e53a96faede2a09b091ec25b5c7"
@@ -59992,7 +60114,7 @@
         "mjcf_ms": 3.6871316842734814,
         "compile_ms": 46.64088599383831,
         "graph_ms": 97.82541822642088,
-        "render_total_ms": 1859.9746553227305
+        "render_total_ms": 1620.2153130434453
       },
       "mesh_preparation": {
         "status": "complete",
@@ -60053,16 +60175,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 43.76141028478742,
-        "render_ms": 1653.6965663544834,
-        "compose_ms": 56.27359822392464,
-        "write_ms": 88.8315998017788,
-        "foreground_fraction": 0.39875
+        "compile_ms": 39.63409876450896,
+        "render_ms": 1422.3005059175193,
+        "compose_ms": 52.91307205334306,
+        "write_ms": 93.07564701884985,
+        "foreground_fraction": 0.39875,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "be725973b9728deae2aedda734971c2b4a448809044b74913b7bdbdbcf4603b4",
         "meshes.tar": "1ee2e99562f6522cad912b201063447155d77497029f0047152cbf8cd104a0ff",
-        "render.png": "f282296e8ce0b6a213911ad750167fda8416434979ce599b0eb00fca7d278562",
+        "render.png": "9e43660e09e8d5921ed6ff24f3cbbda20beffc0b2ac9eb65f5905a452e6b53dc",
         "graph-raw.svg": "a5a80b2e85d8b1b69e051d32c090ba025aa76d399371ca1c3c61f683d8149d7f",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3ece8ce2b08e4619771ca648770aaeaba95503395330d9cd49a4c4c3a09427ed"
@@ -60097,7 +60221,7 @@
         "mjcf_ms": 3.6938809789717197,
         "compile_ms": 41.778836864978075,
         "graph_ms": 90.68884374573827,
-        "render_total_ms": 2081.6032430157065
+        "render_total_ms": 1625.616020988673
       },
       "mesh_preparation": {
         "status": "complete",
@@ -60158,16 +60282,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 38.0009007640183,
-        "render_ms": 1871.0881671868265,
-        "compose_ms": 66.31082529202104,
-        "write_ms": 88.3580013178289,
-        "foreground_fraction": 0.41745
+        "compile_ms": 33.29938789829612,
+        "render_ms": 1427.9638933949172,
+        "compose_ms": 53.21190878748894,
+        "write_ms": 98.70289592072368,
+        "foreground_fraction": 0.41745,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "c4c68a7e033e8303d3e854822a9b1e796d7cc0da1f0b3fb79b70f0b79142e33a",
         "meshes.tar": "0b86c201da3fe921f692f82b2dfe349897cdccb4a7543aa6bfa3a29546d66412",
-        "render.png": "8c9dfe88ddb59a80dab386187608a491226b471bfb834ac08223c00ae8c2fe64",
+        "render.png": "22f8d5d66248bccb4b6f4621db95a264f470904caa7fde2b6092ba1c230fd978",
         "graph-raw.svg": "30e0ad16203c2e1d946711109f45ab601314e3dba8d62a86ced41404b1abfbdc",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "506589f7e2ddf90f86ee349f7847ec5516481d1941ab8e5c0bfa052420d783c1"
@@ -60203,7 +60329,7 @@
         "mjcf_ms": 5.452816374599934,
         "compile_ms": 47.90726397186518,
         "graph_ms": 157.54643315449357,
-        "render_total_ms": 2003.6741308867931
+        "render_total_ms": 1614.4380602054298
       },
       "mesh_preparation": {
         "status": "complete",
@@ -60264,16 +60390,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 41.143837850540876,
-        "render_ms": 1810.7514157891273,
-        "compose_ms": 54.52392902225256,
-        "write_ms": 84.34855472296476,
-        "foreground_fraction": 0.37455
+        "compile_ms": 39.06030021607876,
+        "render_ms": 1422.1712267026305,
+        "compose_ms": 50.39837118238211,
+        "write_ms": 90.57141374796629,
+        "foreground_fraction": 0.37455,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "89db56982619a2ddac815e57d29abbb325b253503ccb2692d65c1609c5d7d9d8",
         "meshes.tar": "eb2a5308c7283e617aac8051a0fce8fd6b16ec8f88787397c8b814dede0ea41c",
-        "render.png": "d5415bfd7de7aa9a9a5d80cbe0fea95535efe58d93475bb8b0f18c627c85e3bc",
+        "render.png": "9d67f288c9c45c2a16a553fc4dad9a3dc0ffb9b1e4f7bb6d590779e39818fe3e",
         "graph-raw.svg": "446511bcc6baf4cc370bd4188260abe0429045b586e331b6a9a8e86c0824d88b",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "d23747345ae37100421e0e9b89fcdd53c88c7dc67ec7ff8813f8992d13d6c233"
@@ -60313,7 +60441,7 @@
         "mjcf_ms": 4.603744018822908,
         "compile_ms": 8.8414098136127,
         "graph_ms": 105.5385610088706,
-        "render_total_ms": 1706.2406628392637
+        "render_total_ms": 1571.8576582148671
       },
       "mesh_preparation": {
         "status": "complete",
@@ -60392,16 +60520,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.1637178510427475,
-        "render_ms": 1552.963798865676,
-        "compose_ms": 60.6517237611115,
-        "write_ms": 70.26607729494572,
-        "foreground_fraction": 0.4202
+        "compile_ms": 4.612715914845467,
+        "render_ms": 1426.5463291667402,
+        "compose_ms": 56.27648765221238,
+        "write_ms": 71.85725308954716,
+        "foreground_fraction": 0.4202,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d6820763250b636b494fcaa581d4ef71beb9120d89cdec22398ce00c50a3de74",
         "meshes.tar": "a37cff2166be932e0ecfd9ed2a766b3800bfee51510ae9a95bf182283b6d2d44",
-        "render.png": "84ea9e021b2bf7b838fdc01c44ca76bbd36f542dd80b8937aa2411da60501941",
+        "render.png": "f5a1858c53c4773a4e5659d821215c1ca60fa147e7ecae0af3a08a5bfc1ff3e0",
         "graph-raw.svg": "effb081d0b5a9f14742e6591aa94394affa7754329a46e19b6b93a91a6a03c2f",
         "graph-robot.svg": "d1697e38d17c5280b84ef4cb46a570dbf912e10eb554ba6f1e6aac8adc0782d8"
       },
@@ -60443,7 +60573,7 @@
         "mjcf_ms": 5.870628170669079,
         "compile_ms": 68.29938478767872,
         "graph_ms": 152.06536604091525,
-        "render_total_ms": 2190.732322167605
+        "render_total_ms": 1716.7864451184869
       },
       "mesh_preparation": {
         "status": "complete",
@@ -60491,16 +60621,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 74.8942312784493,
-        "render_ms": 1899.548479821533,
-        "compose_ms": 77.61358190327883,
-        "write_ms": 117.29924008250237,
-        "foreground_fraction": 0.67925
+        "compile_ms": 46.28717573359609,
+        "render_ms": 1401.975641027093,
+        "compose_ms": 65.52134826779366,
+        "write_ms": 189.55732323229313,
+        "foreground_fraction": 0.67925,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "a54900e930620aa6b52887d590112c6f13998db486d32b32d38fd9e80c42c440",
         "meshes.tar": "e366d7d1a295648eac94fb830acafaf81a4072b6d6d578c2449444db9ee955c1",
-        "render.png": "4b64486863aa74775993b6c207294a0d7f805fca683f86a790783ad61494c3e5",
+        "render.png": "4596bbf98035219b66f4711694ccdcc1087ad770572516cdab13390806a6152b",
         "graph-raw.svg": "66c8340a5b605b0d658f17e87dca726eebd019fa9df23ec8d0efccc6f6af8095",
         "graph-robot.svg": "fc5bbc776cb393b66d69e9b20348f0451ee88295ba526e9ca6484357d6518168"
       },
@@ -60538,7 +60670,7 @@
         "mjcf_ms": 4.635785706341267,
         "compile_ms": 44.754120986908674,
         "graph_ms": 73.43252608552575,
-        "render_total_ms": 1998.3456498011947
+        "render_total_ms": 1534.4172529876232
       },
       "mesh_preparation": {
         "status": "complete",
@@ -60586,16 +60718,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 35.89189238846302,
-        "render_ms": 1813.2285443134606,
-        "compose_ms": 65.94837317243218,
-        "write_ms": 65.71112992241979,
-        "foreground_fraction": 0.28985
+        "compile_ms": 21.894577890634537,
+        "render_ms": 1372.7945401333272,
+        "compose_ms": 51.55028123408556,
+        "write_ms": 76.0261369869113,
+        "foreground_fraction": 0.28985,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "8561347c01d2bcf1ab25e60351c8e2e16365075520e7b611d3e7035af9c0eeca",
         "meshes.tar": "44fb244b91d100e00cdf15a1b05dd7c3e1bc514b02dd9370b96d02db341737ed",
-        "render.png": "c98ed1c7f4a5309d7ba9c52eccb0528691f252855d7eae17f6cd51f46bd2c84f",
+        "render.png": "ba63195ce16d1d7d07daeda5223d43cbfb0b58ad3209cd06b8cfd6e40534f219",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -60628,7 +60762,7 @@
         "mjcf_ms": 5.514718126505613,
         "compile_ms": 268.79664370790124,
         "graph_ms": 93.0046970024705,
-        "render_total_ms": 2163.529520854354
+        "render_total_ms": 1842.6234438084066
       },
       "mesh_preparation": {
         "status": "complete",
@@ -60689,16 +60823,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 266.2294041365385,
-        "render_ms": 1721.9915869645774,
-        "compose_ms": 70.74279617518187,
-        "write_ms": 84.43268574774265,
-        "foreground_fraction": 0.4884
+        "compile_ms": 215.48099908977747,
+        "render_ms": 1463.6762668378651,
+        "compose_ms": 59.43764327093959,
+        "write_ms": 92.0332302339375,
+        "foreground_fraction": 0.4884,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "9cd6648af1d903c74beb15a00e60fa9ce6294ad2d599ceb2c35800604df6afee",
         "meshes.tar": "e7c5171b99be23dcd29b187a850b539b3c5dfa5cae0c6aa22361d39f61b8c8b6",
-        "render.png": "16ef2dcf09febb0514eba213a1af033ac5e0093aee79aec9cdfd77a58f0280cd",
+        "render.png": "fb7b06ecce8b3c383197ec9a7871b4e8dd3f834be2fd2ec857774e75c5308d60",
         "graph-raw.svg": "634e721a245cd97596602790f61bc26dd1aa2aa9dcceb7a82081d1623fb099f6",
         "graph-robot.svg": "67ea597c904bdf78a1665b12ed0c6a6cd84581fcae83f8132473c567cdb0b087",
         "robot.urdf": "f388b484b023c940b20ce9683ce964ac20f2e7e8eece82e4a4f27f7bf0043f60"
@@ -60740,7 +60876,7 @@
         "mjcf_ms": 4.459216259419918,
         "compile_ms": 302.59280325844884,
         "graph_ms": 123.75824712216854,
-        "render_total_ms": 2355.9987009502947
+        "render_total_ms": 1857.6782122254372
       },
       "mesh_preparation": {
         "status": "complete",
@@ -60788,16 +60924,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 242.49112186953425,
-        "render_ms": 1971.398110035807,
-        "compose_ms": 58.85562300682068,
-        "write_ms": 67.54588102921844,
-        "foreground_fraction": 0.31295
+        "compile_ms": 229.91037787869573,
+        "render_ms": 1485.491193830967,
+        "compose_ms": 56.70126806944609,
+        "write_ms": 73.43970891088247,
+        "foreground_fraction": 0.31295,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "3bc77db5173ab5064f3c7f1a086289edfb43665f564871837174972ed4d6bb91",
         "meshes.tar": "8e633e90a4271c96e8b15f5c53ee8b1188041c5461816bef8ffa6fc9cd7e16ac",
-        "render.png": "bcb53be5136f911ae2937c00f79123d458b1b0d48e8edca8c2d7d492a632f3b1",
+        "render.png": "ece5a310a16024ba487d01ac4b2561729117e9fc7b5a3174d32af104267450e1",
         "graph-raw.svg": "1ace720bd98dc212fe2074a6c16754842a04a02aa6fb042d3aea0b68173a18c9",
         "graph-robot.svg": "bd55894ddef5cbc9ad405c64a9f7674968a62df482a5c54efece30f5f9ed81d2"
       },
@@ -60835,7 +60973,7 @@
         "mjcf_ms": 4.253283143043518,
         "compile_ms": 15.096840914338827,
         "graph_ms": 70.86754590272903,
-        "render_total_ms": 1846.2850819341838
+        "render_total_ms": 1560.8368548564613
       },
       "mesh_preparation": {
         "status": "complete",
@@ -60883,16 +61021,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.033591158688068,
-        "render_ms": 1668.1529530324042,
-        "compose_ms": 78.00191594287753,
-        "write_ms": 75.47501334920526,
-        "foreground_fraction": 0.6314
+        "compile_ms": 7.577632088214159,
+        "render_ms": 1400.8209998719394,
+        "compose_ms": 59.30046131834388,
+        "write_ms": 81.08263975009322,
+        "foreground_fraction": 0.6314,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "aa61912440c7bff5af12fb1d07722c3884c630d12f5ab9b12f5cb8369f1c0324",
         "meshes.tar": "8bda35f2e6ea0275f6bed970918526c156d51b02c72d0bf899e9791bac81ee8f",
-        "render.png": "d3a9157c3aace70c383cd8f2c955a385021234d83630f9937a824f96c1088abe",
+        "render.png": "c16bea5aead0d8301021c947e7d4a5a7290a18b05358b1e12ddfc416b4c62284",
         "graph-raw.svg": "3c96088693037aaf59bd59bd8a9fc4e2562d3c94f4f71b5daec1e87565e33f3c",
         "graph-robot.svg": "6616b64aaa2d117e8cce991de1f91cd9f93d74c01cbb6559dafe29f48602369a"
       },
@@ -60940,7 +61080,7 @@
         "mjcf_ms": 6.883716210722923,
         "compile_ms": 119.211636018008,
         "graph_ms": 187.18113517388701,
-        "render_total_ms": 2177.7953528799117
+        "render_total_ms": 1707.0634718984365
       },
       "mesh_preparation": {
         "status": "complete",
@@ -60988,16 +61128,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 104.00025034323335,
-        "render_ms": 1887.8522850573063,
-        "compose_ms": 79.36294190585613,
-        "write_ms": 86.79752005264163,
-        "foreground_fraction": 0.45485
+        "compile_ms": 75.06748801097274,
+        "render_ms": 1468.3950589969754,
+        "compose_ms": 59.473972767591476,
+        "write_ms": 91.317820828408,
+        "foreground_fraction": 0.45485,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "90a043f1e3c74380588479ec799eb148cbc380822ab39575f2190c04277c7b88",
         "meshes.tar": "614cb8b4f897afca3b351ec5b72e10388edc18e919a64ea04137a53ac5865bd8",
-        "render.png": "be3f56a8c70de4ac427ffa34b88793d6f159f16df42e6877e032ffb8290090c4",
+        "render.png": "cd207d5f1cbb0dd61096cd4809e70948eaf6ef5cc9862f491b6f24f791ee6046",
         "graph-raw.svg": "d1c4374ffc70cf6e6257cf4e8758979b4b8ec94c53d54b4abe5d04c277dad3c2",
         "graph-robot.svg": "dd71763dbbe0c6d1c4f5ff98d78b723ef401132d54384dc9505ae4ddffd5d353"
       },
@@ -61029,7 +61171,7 @@
         "mjcf_ms": 5.646706093102694,
         "compile_ms": 28.548867907375097,
         "graph_ms": 86.01802075281739,
-        "render_total_ms": 1707.6140050776303
+        "render_total_ms": 1525.5882432684302
       },
       "mesh_preparation": {
         "status": "complete",
@@ -61090,16 +61232,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.267019048333168,
-        "render_ms": 1573.0363600887358,
-        "compose_ms": 41.22051130980253,
-        "write_ms": 53.28218825161457,
-        "foreground_fraction": 0.1243
+        "compile_ms": 13.842761982232332,
+        "render_ms": 1404.8001780174673,
+        "compose_ms": 40.29717668890953,
+        "write_ms": 54.166257847100496,
+        "foreground_fraction": 0.1243,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "43eb4c721c398ebc2cc53492268666ce941aee1e143ea718fc1f518b72f73303",
         "meshes.tar": "e545d2c0259deedcccc5bfb08226e765a3f33298d3541cb3118e078f5f3f0444",
-        "render.png": "ee78bc76976eaa934d4a88f69a89cf18ee6ed28199048e7dabe5d17e155e6d04",
+        "render.png": "d58e631ebc4052f67b6406ff373a3753c8b6c4b65000dcc9eaba1445497b4b18",
         "graph-raw.svg": "3f07c279ebcf7d8175899ca18c3c9b9106cae797dcd8ce3260a3019ebb1fcf23",
         "graph-robot.svg": "4d39bd75a519762d30b7971d11134b7e809d70837de462e86bb160bc76ec2c30",
         "robot.urdf": "e6b0e0171bca0d35596ba5cdef64dcb245a0e42eacba5d22f70b6a6288bb2bcb"
@@ -61142,7 +61286,7 @@
         "mjcf_ms": 6.9670951925218105,
         "compile_ms": 88.98034784942865,
         "graph_ms": 165.372003801167,
-        "render_total_ms": 1918.6783703044057
+        "render_total_ms": 1590.2009583078325
       },
       "mesh_preparation": {
         "status": "complete",
@@ -61203,16 +61347,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 75.41272044181824,
-        "render_ms": 1675.1622944138944,
-        "compose_ms": 77.88376603275537,
-        "write_ms": 72.57128832861781,
-        "foreground_fraction": 0.5225
+        "compile_ms": 43.128360994160175,
+        "render_ms": 1393.12613196671,
+        "compose_ms": 68.34011804312468,
+        "write_ms": 73.31850472837687,
+        "foreground_fraction": 0.5225,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "180add69a9d12c358f73777f3bbe7eb90dae1084304ef7e3f4fdc4caf1c4288d",
         "meshes.tar": "ffb693986839e33ff4789a889db4719ca74dd29d285ef51d431ec735ff5bf958",
-        "render.png": "23b0958be29b8df5616e07660e5f39103a18cfcc47e9af5a56b1348f24e50830",
+        "render.png": "dd974434cae475be8d77f2e32c6487650cbf3d2ac30e87fb9264416276e2b244",
         "graph-raw.svg": "0a6adf9ccf512cbc5921436ca86b0c81767a517c1bb9fd2219b1cd3c3a71e681",
         "graph-robot.svg": "14a9da0bb8fae0d4817121c3fbb6008291d6abeb563cc18179fe93b6598b4ba7"
       },
@@ -61251,7 +61397,7 @@
         "mjcf_ms": 4.32769488543272,
         "compile_ms": 110.42415862902999,
         "graph_ms": 112.79511032626033,
-        "render_total_ms": 2337.067754007876
+        "render_total_ms": 1718.146510887891
       },
       "mesh_preparation": {
         "status": "complete",
@@ -61299,16 +61445,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 107.3942193761468,
-        "render_ms": 1786.108777858317,
-        "compose_ms": 64.72024321556091,
-        "write_ms": 363.7467403896153,
-        "foreground_fraction": 0.44
+        "compile_ms": 92.66265202313662,
+        "render_ms": 1444.3160030059516,
+        "compose_ms": 53.99709194898605,
+        "write_ms": 114.44667121395469,
+        "foreground_fraction": 0.44,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "94063b3792057469f153188d3211b35d69a60c154c8ede8b7c1b1ed3f5cdc946",
         "meshes.tar": "e7ca327d3775519825f6e05e8eae9e71e5656fa594f43f7118fa51e9468077bc",
-        "render.png": "7d1025bac33a5bb04c70e4e5963bb1437190b06ad259203d5227639159023c2e",
+        "render.png": "55927013edb29c9f54230cd04c10221fb04e11a47034e86a9c5fc85934b0adce",
         "graph-raw.svg": "42259b3428a9267de3190543493fae1b0487ffd7505cc2b6c3a7300be17c371b",
         "graph-robot.svg": "56010e71f6c286660398905b1afb835d6ca19273e14ecff2acaafa84ac3e47ce"
       },
@@ -61358,7 +61506,7 @@
         "mjcf_ms": 8.33663297817111,
         "compile_ms": 106.778918299824,
         "graph_ms": 762.0752868242562,
-        "render_total_ms": 2383.663551416248
+        "render_total_ms": 1625.2287761308253
       },
       "mesh_preparation": {
         "status": "complete",
@@ -61431,16 +61579,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 121.35549634695053,
-        "render_ms": 2083.829189185053,
-        "compose_ms": 83.5706228390336,
-        "write_ms": 72.1419220790267,
-        "foreground_fraction": 0.6734
+        "compile_ms": 73.3317001722753,
+        "render_ms": 1403.563593979925,
+        "compose_ms": 66.54875865206122,
+        "write_ms": 68.81511211395264,
+        "foreground_fraction": 0.6734,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "b02809684a9ecaa2ebc9c6eeaae92099f7ebef80fae76d9873b1c3e164365266",
         "meshes.tar": "701228b31a540e51b8603299aa1c37e53c8343e7bec4d4fb1e592448784f3908",
-        "render.png": "75b0315edd7440a698cf7366d345c5e45dc17a79a6a5db94e5e1429dc492d1ac",
+        "render.png": "87412ab0bb002c960aae8a120b25fd1c66e9b76e3b92b59f30d85679fb16a73b",
         "graph-raw.svg": "43a2f3a9969b3d8312e7a737991b8c5d8ce4c50bdbe4f710ae00ba7e1c8b7709",
         "graph-robot.svg": "fe96bd3a6581d181175a8217ae975ef757daee2177376f278349732b762fbdaa"
       },
@@ -61502,7 +61652,7 @@
         "mjcf_ms": 230.67333083599806,
         "compile_ms": 1559.6069018356502,
         "graph_ms": 1438.0586971528828,
-        "render_total_ms": 4201.171006076038
+        "render_total_ms": 3413.0804580636322
       },
       "mesh_preparation": {
         "status": "complete",
@@ -61671,16 +61821,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1413.2390599697828,
-        "render_ms": 2631.078523118049,
-        "compose_ms": 62.590775080025196,
-        "write_ms": 78.07467505335808,
-        "foreground_fraction": 0.59675
+        "compile_ms": 1260.499207302928,
+        "render_ms": 2000.9137196466327,
+        "compose_ms": 62.52567609772086,
+        "write_ms": 76.39680476859212,
+        "foreground_fraction": 0.59675,
+        "style": "link-palette-v1",
+        "colored_bodies": 55
       },
       "artifacts": {
         "robot.mjcf": "e313629f68b7348af45dd1c56103697b43abb7c94cc956a4a19ea7e3972e5e25",
         "meshes.tar": "8808b63d429b759d2bcab72a659d62d04e0931947d9d6792abfbebff581fff1c",
-        "render.png": "0ccf1357c4177140c0aa718cef21591d162607cb6b8357845265f0c400c24693",
+        "render.png": "8223f43b03c2289607525c21514cc8935cfa164d9c6e54779ce886f891a8aa31",
         "graph-raw.svg": "aeace34ad8fd0b84525e2462757036836e7efb57708692a0ed928bb9cfc07d49",
         "graph-robot.svg": "68b78341df31cab52f8bb7b9e9c7a0665489930df4ce672476e187b4871e7b42"
       },
@@ -61718,7 +61870,7 @@
         "mjcf_ms": 3.9738998748362064,
         "compile_ms": 44.02421321719885,
         "graph_ms": 82.34999934211373,
-        "render_total_ms": 2071.0877180099487
+        "render_total_ms": 1601.3725409284234
       },
       "mesh_preparation": {
         "status": "complete",
@@ -61773,16 +61925,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.607772205024958,
-        "render_ms": 1845.6727699376643,
-        "compose_ms": 80.65373869612813,
-        "write_ms": 115.00698514282703,
-        "foreground_fraction": 0.7098
+        "compile_ms": 15.251365024596453,
+        "render_ms": 1417.6351609639823,
+        "compose_ms": 65.2125459164381,
+        "write_ms": 91.20663395151496,
+        "foreground_fraction": 0.7098,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a912aeb723b8b3becbf0da8e7ecf5157a529d43496c4c697460167f41a9daa0d",
         "meshes.tar": "341947d94aedfb542418ea11caf031736ed31975448af05fda96d276f8bf72f0",
-        "render.png": "5ab360436c80ed45855e2d7d2341fe04b5f9ca61da4316bb2a7d3bc7b912dc9d",
+        "render.png": "94459f7e63f56858f5715f83828f7195c56cd4e4dbf6171be8b5090ff3fe30ab",
         "graph-raw.svg": "81e040088e28bf75eeca4615947f662ee3bec1c15d6c0774f61a7f2b5cde9a6e",
         "graph-robot.svg": "8417cb830a8e6535cc2566bd1db58ca00b54f510e25c04295c1131bb0598187e"
       },
@@ -61835,7 +61989,7 @@
         "mjcf_ms": 7.592771667987108,
         "compile_ms": 102.15274477377534,
         "graph_ms": 397.06949004903436,
-        "render_total_ms": 2337.336857803166
+        "render_total_ms": 1667.5496469251812
       },
       "mesh_preparation": {
         "status": "complete",
@@ -61883,16 +62037,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 107.34603879973292,
-        "render_ms": 2022.1081101335585,
-        "compose_ms": 76.6492411494255,
-        "write_ms": 108.37937192991376,
-        "foreground_fraction": 0.62205
+        "compile_ms": 57.20621673390269,
+        "render_ms": 1409.494305960834,
+        "compose_ms": 57.66608798876405,
+        "write_ms": 130.4859919473529,
+        "foreground_fraction": 0.62205,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "c62650506837d9a6c9efeab7e583f447f55ad6c6cebefafab2aec60399e689b1",
         "meshes.tar": "27c09e94372b52c9a652dec799c465ae2968f0261fff95c0084c45f4692a70c8",
-        "render.png": "3d6885a3624bd555e31854defdf451f20dddd4d1707793ec886c7d14bb8b424d",
+        "render.png": "d3b79b7ca708bdf230e6a20135792f6d4de2a5f613ce1c2afccf6448b9510bab",
         "graph-raw.svg": "c951010c3016737e70b7f281995e9a276112fcdfca4a26b4f5aafabf6414cf4a",
         "graph-robot.svg": "d894ded5ef13484818b689dc981abeec58355c3f70ae10f74c47f37420d06e43"
       },
@@ -61951,7 +62107,7 @@
         "mjcf_ms": 8.990811184048653,
         "compile_ms": 252.42390763014555,
         "graph_ms": 1271.3942402042449,
-        "render_total_ms": 2293.7645320780575
+        "render_total_ms": 1868.5663500800729
       },
       "mesh_preparation": {
         "status": "complete",
@@ -63074,16 +63230,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 290.0629532523453,
-        "render_ms": 1856.1999341472983,
-        "compose_ms": 49.29911671206355,
-        "write_ms": 80.37314424291253,
-        "foreground_fraction": 0.49665
+        "compile_ms": 169.8303520679474,
+        "render_ms": 1567.9767751134932,
+        "compose_ms": 35.97845323383808,
+        "write_ms": 82.32444664463401,
+        "foreground_fraction": 0.49665,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "f2551a4598708d16cdc8f0b450f0b015fd3cea524cfb1541c1c973915cea63ee",
         "meshes.tar": "27aa510c13fb44e0b7ced950f1e4d8ff7d10ce417682012f5862b7c31ec5bcbe",
-        "render.png": "c110f1a867fd116c6f1eac78b77d1a947edc39870ec6abfb8aee45bbb947168c",
+        "render.png": "7ee8b65ce0a57e6c5999cdf3004143a20c10bfaca7a5aab4e4847ee5f66a6593",
         "graph-raw.svg": "aa7b265a121861800330fc2dfb78d0e242fccc573f6b187ac15c7339c5a3149e",
         "graph-robot.svg": "48ff47c92035cc9523ebea1018279d06cded171c61454682e2e028d0b673bd2c"
       },
@@ -63121,7 +63279,7 @@
         "mjcf_ms": 4.486782941967249,
         "compile_ms": 35.00912897288799,
         "graph_ms": 78.3557640388608,
-        "render_total_ms": 1992.410372942686
+        "render_total_ms": 1516.4617663249373
       },
       "mesh_preparation": {
         "status": "complete",
@@ -63169,16 +63327,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.36777313798666,
-        "render_ms": 1825.986959040165,
-        "compose_ms": 66.23035483062267,
-        "write_ms": 57.53950588405132,
-        "foreground_fraction": 0.36020833333333335
+        "compile_ms": 22.793733049184084,
+        "render_ms": 1373.0512051843107,
+        "compose_ms": 50.8202500641346,
+        "write_ms": 57.52625223249197,
+        "foreground_fraction": 0.36020833333333335,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d2ad69c73affbe12e2c59b8cf44af80238cfd45a20767fed8ca98d070e04aefa",
         "meshes.tar": "68f9cadfa25ae3ccf28d1c81201ad44970c2867a5ccabbe3eca4dc63f48fa1b0",
-        "render.png": "9c5cab896b8f9b08a613958a72e4a648219030f6cb712077b276053914efdacf",
+        "render.png": "556dd54f918c8019ee0aae34e67c798ae23c9d967c383b2bd342189c415cb884",
         "graph-raw.svg": "b07d954ef2b3307d9fe2796aa95b57cb15b6ea74fb01563a318de652b5049bbb",
         "graph-robot.svg": "3dc0efc934cab511d554b87a6c1b0a9abdb6453a6a28f751e328e45a73f6225c"
       },
@@ -63218,7 +63378,7 @@
         "mjcf_ms": 3.199951257556677,
         "compile_ms": 135.68948209285736,
         "graph_ms": 289.7879299707711,
-        "render_total_ms": 2099.243015050888
+        "render_total_ms": 1806.0853113420308
       },
       "mesh_preparation": {
         "status": "complete",
@@ -63537,16 +63697,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 133.6789228953421,
-        "render_ms": 1783.8890799321234,
-        "compose_ms": 74.22410231083632,
-        "write_ms": 90.2903713285923,
-        "foreground_fraction": 0.6589916666666666
+        "compile_ms": 119.4312209263444,
+        "render_ms": 1456.2369133345783,
+        "compose_ms": 59.86148165538907,
+        "write_ms": 157.8696882352233,
+        "foreground_fraction": 0.6589916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "6d020f40a04a61cb113a751bddb27b37f4a20bd76d3dba92be5ce9357c023919",
         "meshes.tar": "5cb31fc0f518226e0cd2733b527c53f379bb5850dac31ab24a04f5b833ccbb9c",
-        "render.png": "58be4d1b65337c9b1392b00f1df59a44aeefd35d5ed87d803db3d51d3be44f9e",
+        "render.png": "f9a2e3d874b209770ef35cf6f4fb3ce74ba97b2669b210fa28fb68c9303eb611",
         "graph-raw.svg": "68bf9581748e4fc16dc048f5992c2443ab8718538255bb90de7c7142b93c66d6",
         "graph-robot.svg": "35eaaaae3b0b98385a9a04fef479094d73d3d42b35ecedf61a706eb4592bf828"
       },
@@ -63577,7 +63739,7 @@
         "mjcf_ms": 5.020367912948132,
         "compile_ms": 5477.094154804945,
         "graph_ms": 93.73241709545255,
-        "render_total_ms": 7801.811293233186
+        "render_total_ms": 7488.730017095804
       },
       "mesh_preparation": {
         "status": "complete",
@@ -63651,16 +63813,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5801.111668813974,
-        "render_ms": 1817.0331581495702,
-        "compose_ms": 67.70075112581253,
-        "write_ms": 99.8963019810617,
-        "foreground_fraction": 0.66165
+        "compile_ms": 5678.542100824416,
+        "render_ms": 1624.0823068656027,
+        "compose_ms": 59.87369269132614,
+        "write_ms": 114.21809997409582,
+        "foreground_fraction": 0.66165,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2d1272361763e9e62a2d1b471a7325d524822e6437df3f833cb253e6ae63a406",
         "meshes.tar": "b1311ab7db75c709cd6372eff302e969b0eabb73595727879cec98da8924211b",
-        "render.png": "04d7ed06bf75c9eca978e17b19748a911a85661ed05bccbfbdeea53704281a7a",
+        "render.png": "dae2926188e805839f0069aeeda0982b69fcd9db33ba2b9acd6ea67e8d690035",
         "graph-raw.svg": "16e29a5296ac135c031e87d3a2fe157126c68ad2db3c331d7c87149481e0df0e",
         "graph-robot.svg": "2944d9ad98c97721cb8dd2dc9b0139afe37eec19da3ce93d8431a677a7c8fcd6",
         "robot.urdf": "434d7ef9979d5c41d24a15de0181d750a12549217216a179be61492ac6727151"
@@ -63692,7 +63856,7 @@
         "mjcf_ms": 4.805380944162607,
         "compile_ms": 5452.293294016272,
         "graph_ms": 350.3883262164891,
-        "render_total_ms": 8330.056365113705
+        "render_total_ms": 7746.962832286954
       },
       "mesh_preparation": {
         "status": "complete",
@@ -63760,16 +63924,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6165.099441073835,
-        "render_ms": 1984.0394770726562,
-        "compose_ms": 69.17256535962224,
-        "write_ms": 95.72533797472715,
-        "foreground_fraction": 0.66165
+        "compile_ms": 5756.054842844605,
+        "render_ms": 1790.1646038517356,
+        "compose_ms": 61.91929196938872,
+        "write_ms": 123.30716289579868,
+        "foreground_fraction": 0.66165,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "eb799daa5924c591d753f5d9862ec94e11432c9340cbc3229bf9cf9698a65781",
         "meshes.tar": "9c5ec72a035dca986fac492121dc09be457f699e83e7e197de297ded92a6a532",
-        "render.png": "c8ac25e1cfcbb0ffc7fbaaba0c51e1fa648d8c88166ecd41245ce046df7676bf",
+        "render.png": "491514e0a940402d4b22b57d472341eadb3a767e7a3da88fc8315772b844f341",
         "graph-raw.svg": "e40badda279acf6914fc98418aced3912290c3b130b37ee0676d307022ee20ed",
         "graph-robot.svg": "7aecfbeeaddcdd0a45f37bb6c945c01725d75c9a5db3708e441e1ecd964eabdb",
         "robot.urdf": "5dd5c0be5a43525154031705f0adaf67b82924f7d866111fae3ea0d063542bb6"
@@ -63818,7 +63984,7 @@
         "mjcf_ms": 12.689312919974327,
         "compile_ms": 621.6801460832357,
         "graph_ms": 871.5780260972679,
-        "render_total_ms": 3033.304546959698
+        "render_total_ms": 2567.1124537475407
       },
       "mesh_preparation": {
         "status": "complete",
@@ -63873,16 +64039,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 727.012924849987,
-        "render_ms": 2075.738972052932,
-        "compose_ms": 83.27104104682803,
-        "write_ms": 111.39127891510725,
-        "foreground_fraction": 0.45265
+        "compile_ms": 514.8094249889255,
+        "render_ms": 1882.3703960515559,
+        "compose_ms": 52.80301906168461,
+        "write_ms": 104.99826399609447,
+        "foreground_fraction": 0.45265,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "73760af40142fba17d9121a1e34838b978e6a81d767e172b43a4ceb9e2965376",
         "meshes.tar": "df54cbcad27993123dae62f6765823e30c215eb1c46b26c370fafe7515c36ef5",
-        "render.png": "0c18fa1c5c27a892c3c5eb9c0723f9bf28f0c6e8e2502539e1a5f4133b1ad321",
+        "render.png": "24934bcab7a569f96566026a86c397eb06298f09f03133cef39cfc23a6b62a56",
         "graph-raw.svg": "7dce691d1f3d769ad9a24fd7380443a8e767dec6808f18a1c8a2d01de1d0fbb0",
         "graph-robot.svg": "e486a4e8c352ecaad66710b3961709eb375c36f26ab62735bec8c036126b2e09"
       },
@@ -63919,7 +64087,7 @@
         "mjcf_ms": 2.976160030812025,
         "compile_ms": 23.206189274787903,
         "graph_ms": 75.07167803123593,
-        "render_total_ms": 1767.7700030617416
+        "render_total_ms": 1525.3230426460505
       },
       "mesh_preparation": {
         "status": "complete",
@@ -63967,16 +64135,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.3537051640450954,
-        "render_ms": 1571.4280777610838,
-        "compose_ms": 104.00774329900742,
-        "write_ms": 61.76342070102692,
-        "foreground_fraction": 0.6908416666666667
+        "compile_ms": 8.84236628189683,
+        "render_ms": 1364.898249041289,
+        "compose_ms": 82.5701248832047,
+        "write_ms": 56.84848874807358,
+        "foreground_fraction": 0.6908416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "d5f6c14910099b7440f8e87cec3cfa5fa74d53bdb9a6273afa2179eae477136a",
         "meshes.tar": "b2a84ebbc3fe2db88a8048c9e60be3fa9069479e01c2cc7bbe4efb6b259730f0",
-        "render.png": "a03c731ea4f5445cbf2c7b0e3207997a28189e8543997fe27baddf954b66618d",
+        "render.png": "bfea6e6b232db48bbdd0e07e78aae352f926b013b2c02183d0969b8e69449ac4",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -64008,7 +64178,7 @@
         "mjcf_ms": 4.487114027142525,
         "compile_ms": 41.10397817566991,
         "graph_ms": 77.70874258130789,
-        "render_total_ms": 1848.569713998586
+        "render_total_ms": 1564.5062141120434
       },
       "mesh_preparation": {
         "status": "complete",
@@ -64069,16 +64239,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.154049396514893,
-        "render_ms": 1642.9677158594131,
-        "compose_ms": 80.18124522641301,
-        "write_ms": 79.26960522308946,
-        "foreground_fraction": 0.748475
+        "compile_ms": 27.447326108813286,
+        "render_ms": 1373.1230068951845,
+        "compose_ms": 69.38973581418395,
+        "write_ms": 82.5558858923614,
+        "foreground_fraction": 0.748475,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ec11667af8b11c298553f50e64544b7ba21280f54d47db5240b76b6522ae7a23",
         "meshes.tar": "b0be2af1ac39b69cd8ca408e4ddc5e73bb6eb7e3106498c3e1c9cf670a1a0fb3",
-        "render.png": "ab584b4b6f16a6d38d25e0c852de121399a584d675c97023fcc186918475ed71",
+        "render.png": "c7d12661dfaf1dd0fe5ca5de528309b0b72e7c7e89b0950b7ef1be06eabee52b",
         "graph-raw.svg": "116f53c2210c9d230b12ea66c399f4111c04880bbf99bfb536072e4243a84ceb",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "55f0c1abf4c4d3a1e1f31389baeb0948492aae1fd12e6cb5b55e2b8540dfa7f9"
@@ -64117,7 +64289,7 @@
         "mjcf_ms": 4.334227181971073,
         "compile_ms": 102.32935613021255,
         "graph_ms": 355.487328954041,
-        "render_total_ms": 1956.0939818620682
+        "render_total_ms": 1597.037814091891
       },
       "mesh_preparation": {
         "status": "complete",
@@ -64400,16 +64572,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 74.01235634461045,
-        "render_ms": 1708.19734595716,
-        "compose_ms": 75.01899683848023,
-        "write_ms": 72.25418416783214,
-        "foreground_fraction": 0.7408916666666666
+        "compile_ms": 75.16278978437185,
+        "render_ms": 1382.28145474568,
+        "compose_ms": 57.909609749913216,
+        "write_ms": 68.7496680766344,
+        "foreground_fraction": 0.7408916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "fd7ae2515909b3958b1cec00956e064b07c4174482fcf29694bf915c5e395347",
         "meshes.tar": "0d60757e8ee20062ebde0447452c28b274fe1d818ff69b120860df1244feb307",
-        "render.png": "f7a52a75739bcd1a35b1029e111fd6d536afd88cd59ef7ca371356c7902516e1",
+        "render.png": "4e8c4d7f65ac448372bcc326ef40b950b5803f46a233b8b5d603fc54b1b024ae",
         "graph-raw.svg": "2058ded0bd9b01912db2e0d521a9450a814c66363e360aa0cd509933dbb0f398",
         "graph-robot.svg": "3fbf6133513d9ec37d77de93be91405f870913bb4030c580a88c198fe3fb5e75"
       },
@@ -64454,7 +64628,7 @@
         "mjcf_ms": 5.748329684138298,
         "compile_ms": 94.27318209782243,
         "graph_ms": 222.09804598242044,
-        "render_total_ms": 2022.0914306119084
+        "render_total_ms": 1671.8292469158769
       },
       "mesh_preparation": {
         "status": "complete",
@@ -64502,16 +64676,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 88.13508180901408,
-        "render_ms": 1745.4987289384007,
-        "compose_ms": 77.28886883705854,
-        "write_ms": 91.10722877085209,
-        "foreground_fraction": 0.60005
+        "compile_ms": 68.95232573151588,
+        "render_ms": 1431.8406409583986,
+        "compose_ms": 64.79857116937637,
+        "write_ms": 93.59178692102432,
+        "foreground_fraction": 0.60005,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "984489f3e0fe62f4baeb8dbe94b3596e8b7a5d7875fc1a72be17d8a811cdcfc3",
         "meshes.tar": "4321fde609beac8357f29e32069a36d82301df1415cf967a3f6798b5650d2644",
-        "render.png": "6ff5709dedc86418c19e433a6df7879ea10d805552652998fce78e27b44fd4f3",
+        "render.png": "42a01eaa5452a2ded77c0b65406157363cf3307ab6d7e2e5248e7aab9f0d121b",
         "graph-raw.svg": "9d582292300d6dbfbd7668eafc98a70097c12e956391729b337b2b1136eb764f",
         "graph-robot.svg": "5691a126955d6cb20d17edfe24e361faddfacf8d3ca6231bef65aceb38b18a61"
       },
@@ -64549,7 +64725,7 @@
         "mjcf_ms": 4.92777768522501,
         "compile_ms": 14.485638123005629,
         "graph_ms": 151.4822798781097,
-        "render_total_ms": 1804.8853538930416
+        "render_total_ms": 1517.9567970335484
       },
       "mesh_preparation": {
         "status": "complete",
@@ -64610,16 +64786,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.506300065666437,
-        "render_ms": 1628.562951926142,
-        "compose_ms": 82.65184983611107,
-        "write_ms": 69.12295008078218,
-        "foreground_fraction": 0.71555
+        "compile_ms": 7.563387975096703,
+        "render_ms": 1361.024002544582,
+        "compose_ms": 65.61612384393811,
+        "write_ms": 70.95422828570008,
+        "foreground_fraction": 0.71555,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "b1b9c0594e295563f0569ba9ca586aae427708188b83f892527aaa517a351dfb",
         "meshes.tar": "10712e5fd609628987abe7636b9e7b005b6fcf08d1d07cec349c48862d47d624",
-        "render.png": "68ab0cc7a7b30fa116efda06f04a22f62bd94c00a2a8f12d5a62e7d64624f975",
+        "render.png": "4ec1db2a567c69b8cdde661be4e8ec219812a2ed5633421682c7b4ba56d7ef18",
         "graph-raw.svg": "5aa0ee067b566f32e40eae7c7787b2d8ef579f8007d5baf2b3071743fe756a30",
         "graph-robot.svg": "1333f1dbe39e3cbb9f78cac05a1ccaa193bb3362217d38af09573c782494be7c",
         "robot.urdf": "effdbe680b696d2e480e33cd5b51913038b164498f7ab4d07373670570fa17d7"
@@ -64650,7 +64828,7 @@
         "mjcf_ms": 4.283642396330833,
         "compile_ms": 16.353261191397905,
         "graph_ms": 73.58721178025007,
-        "render_total_ms": 2061.4193798974156
+        "render_total_ms": 1617.346468847245
       },
       "mesh_preparation": {
         "status": "complete",
@@ -64711,16 +64889,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.206559974700212,
-        "render_ms": 1879.0045627392828,
-        "compose_ms": 87.9597207531333,
-        "write_ms": 66.65118597447872,
-        "foreground_fraction": 0.6271416666666667
+        "compile_ms": 8.29611485823989,
+        "render_ms": 1459.3030461110175,
+        "compose_ms": 68.97569820284843,
+        "write_ms": 68.57653614133596,
+        "foreground_fraction": 0.6271416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "56e13fd88e09b8b7a5ee93c8b1098fc3e3b4a6e736ca0fdc207765c0f9a10e58",
         "meshes.tar": "0d4e0631f1dce074d565b9c89d4a1ec955bd99ed526c9d85dda8c0b1cec98462",
-        "render.png": "e7597b57e86e1878bd7d3b69dfae6a25724757e6a1c33dc3cd79953b963cadc0",
+        "render.png": "4318625551ee7e4b8e34f92105478f9b9e2c3914313dd2d20d4d7f62b4f74fa2",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "74ec996693c810fd0c604ce6e7520c462ded6c74a68def90638309836f4c1313"
@@ -64759,7 +64939,7 @@
         "mjcf_ms": 4.213873762637377,
         "compile_ms": 28.321095276623964,
         "graph_ms": 75.44284826144576,
-        "render_total_ms": 2052.3691377602518
+        "render_total_ms": 1607.0594429038465
       },
       "mesh_preparation": {
         "status": "complete",
@@ -64814,16 +64994,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.156114991754293,
-        "render_ms": 1827.6334730908275,
-        "compose_ms": 91.40868810936809,
-        "write_ms": 89.60359916090965,
-        "foreground_fraction": 0.7841166666666667
+        "compile_ms": 22.02551206573844,
+        "render_ms": 1411.6746601648629,
+        "compose_ms": 62.85439617931843,
+        "write_ms": 98.18783402442932,
+        "foreground_fraction": 0.7841166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "14ca56e2bdc982fc7fee1c9e25a4837be70829c9a719d085ddfb908a2f846da5",
         "meshes.tar": "5ba50c3e2bdf57de723ed068a77c02a7e60a78a03cd6f355ea9a30eff8036de2",
-        "render.png": "e08eb94ff02cb481d4e2733c4e7347b3e9a7c69ac930a7b6586b892d16fc7df6",
+        "render.png": "a436dcbc838e54326bea08dddf230ddce5939c5d15426d82d1d5d46845b8958e",
         "graph-raw.svg": "3c96088693037aaf59bd59bd8a9fc4e2562d3c94f4f71b5daec1e87565e33f3c",
         "graph-robot.svg": "6616b64aaa2d117e8cce991de1f91cd9f93d74c01cbb6559dafe29f48602369a"
       },
@@ -64857,7 +65039,7 @@
         "mjcf_ms": 5.866414401680231,
         "compile_ms": 886.8297268636525,
         "graph_ms": 141.38481114059687,
-        "render_total_ms": 2799.514153972268
+        "render_total_ms": 2535.951870959252
       },
       "mesh_preparation": {
         "status": "complete",
@@ -64918,16 +65100,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 654.2597617954016,
-        "render_ms": 1942.4991887062788,
-        "compose_ms": 74.7950067743659,
-        "write_ms": 111.38748517259955,
-        "foreground_fraction": 0.5181
+        "compile_ms": 635.075889993459,
+        "render_ms": 1663.3764980360866,
+        "compose_ms": 76.94442430511117,
+        "write_ms": 144.77555360645056,
+        "foreground_fraction": 0.5181,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "62c626206e73d88bc7cda0c313fd0158901bab9092d63fa2f3d5804455dfcae6",
         "meshes.tar": "cbdaf9f41113c9b67a5787f8a306bc1ea00279239e27296e4f431af22c71a238",
-        "render.png": "3a2ab83977c758a1835558c4972fcbcc9b928f7c5f717e609a557d5ee35c60c4",
+        "render.png": "703607f71de837d2f1bce762292f180f7fd4f4d001bc032a2d2c294af2b09522",
         "graph-raw.svg": "ef606d1447332442cab668012de1d809105fb872f9471d4fecc288fc2a3c23a7",
         "graph-robot.svg": "7fc3baa28d0aec0aa639578850270880142f3cccd0bf11e767c724ceecc201f4",
         "robot.urdf": "f977742c46cdc112b5304addba83b1568b1aa5714fd904f6f48d6c4a1354df65"
@@ -64971,7 +65155,7 @@
         "mjcf_ms": 5.565782077610493,
         "compile_ms": 421.6019050218165,
         "graph_ms": 109.73456082865596,
-        "render_total_ms": 2462.8298077732325
+        "render_total_ms": 2247.1160776913166
       },
       "mesh_preparation": {
         "status": "complete",
@@ -65019,16 +65203,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 422.98321099951863,
-        "render_ms": 1882.4160075746477,
-        "compose_ms": 59.68689592555165,
-        "write_ms": 76.95258688181639,
-        "foreground_fraction": 0.2739
+        "compile_ms": 542.4101371318102,
+        "render_ms": 1568.6499690636992,
+        "compose_ms": 40.77690280973911,
+        "write_ms": 82.59907318279147,
+        "foreground_fraction": 0.2739,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "48e4889206078a5039b8604e1415ac39486a164ff0083359b9fbc162ebe0c34f",
         "meshes.tar": "7deec809d843f79293406da38a3d6902d3c33a16e14037194b6fe565f7c8cffb",
-        "render.png": "b4b16a0b34a47d7ca8ddd7181c5f548782b9ec254e9301d40bc26392ec4dbc8c",
+        "render.png": "d6b990fb270bcf4a8b93173d073b93e50dea635b3011590f0524f71854f1f40a",
         "graph-raw.svg": "431380ae92d48465fe10d47004b23718c3e88c51640ed679765ee8ad6819c6f9",
         "graph-robot.svg": "d0e21042384ff2eac72a38cbc10399b4ffddf5280a081614cbc1cdee32bbe51f"
       },
@@ -65068,7 +65254,7 @@
         "mjcf_ms": 3.745684865862131,
         "compile_ms": 7.231171242892742,
         "graph_ms": 190.660173073411,
-        "render_total_ms": 1752.9054819606245
+        "render_total_ms": 1582.9041069373488
       },
       "mesh_preparation": {
         "status": "complete",
@@ -65129,16 +65315,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.548148088157177,
-        "render_ms": 1586.7072842083871,
-        "compose_ms": 78.32880970090628,
-        "write_ms": 64.14832826703787,
-        "foreground_fraction": 0.6658166666666666
+        "compile_ms": 7.67742982134223,
+        "render_ms": 1433.7824978865683,
+        "compose_ms": 63.144087325781584,
+        "write_ms": 66.1524049937725,
+        "foreground_fraction": 0.6658166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "cad9512f11c52a267bd6a3aa3f20b6f24cc29ecfd94cb68f049979c4358e4f13",
         "meshes.tar": "10b7a513d83cac814038385fa6efbd11114fc183832e9d14c3154b3d4406d027",
-        "render.png": "70245901c6fc22c6133cf30e009dda41595eda1679ec31888f64f9125ad6ee72",
+        "render.png": "4a05a24e88144dd3db6ead74f6bdbd6c58099632100044fad3fc66d3bfb6542a",
         "graph-raw.svg": "a611bfbe9546c59d5d8f0387096ec8d77cd1274dd5cff9f43f78e8b9e6dddb0e",
         "graph-robot.svg": "3590ae8f8b9b59fb1f8bcca0f72faea326ce8f04d29727cdc193e0274d112655"
       },
@@ -65171,7 +65359,7 @@
         "mjcf_ms": 4.936423152685165,
         "compile_ms": 23.377893026918173,
         "graph_ms": 128.67470271885395,
-        "render_total_ms": 1903.8164387457073
+        "render_total_ms": 1584.6464931964874
       },
       "mesh_preparation": {
         "status": "complete",
@@ -65232,16 +65420,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.96797863021493,
-        "render_ms": 1731.3435929827392,
-        "compose_ms": 76.00288093090057,
-        "write_ms": 62.428458128124475,
-        "foreground_fraction": 0.6468
+        "compile_ms": 11.496403254568577,
+        "render_ms": 1427.3659018799663,
+        "compose_ms": 64.25151275470853,
+        "write_ms": 68.72554775327444,
+        "foreground_fraction": 0.6468,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "5daf8a5f8abe062811274f7d7984b5a23282a1d5fa54c9456f37c2b95f788a77",
         "meshes.tar": "c1c247ff9805f3394195eb35cf63215ef7126d6592ea2888bfa949dbba3ee8d8",
-        "render.png": "939ac3341c0b3365f41a8652bfa78dcbf9e92385b98c12ef2e5eda0857245c43",
+        "render.png": "28c03c7d49e59c4e4de9be6a090ce022c7d6ab50db8c5e2030544cb1d219d085",
         "graph-raw.svg": "163a6cba1a670b17deefab8601a90d41d4feee04d48c929749e8bf4d03908044",
         "graph-robot.svg": "12bc2e64ad96a25b1447b75fc170c434261e50792871bbba9000a193092bd637",
         "robot.urdf": "eda2ea7aa7f46109a83fb9eb7c2a2b14484ecf69ef000571387b27fc3cb69d5d"
@@ -65281,7 +65471,7 @@
         "mjcf_ms": 4.335662815719843,
         "compile_ms": 16.62155706435442,
         "graph_ms": 108.05034823715687,
-        "render_total_ms": 1679.7287380322814
+        "render_total_ms": 1578.1955909915268
       },
       "mesh_preparation": {
         "status": "complete",
@@ -65336,16 +65526,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.547500871121883,
-        "render_ms": 1511.5810837596655,
-        "compose_ms": 68.48663836717606,
-        "write_ms": 71.56462408602238,
-        "foreground_fraction": 0.572
+        "compile_ms": 9.71219502389431,
+        "render_ms": 1413.0233419127762,
+        "compose_ms": 58.56120167300105,
+        "write_ms": 83.93968921154737,
+        "foreground_fraction": 0.572,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "476c061543c84376abe3953d8d7765fa49fec80f8f4a15cee73e91e2d73e6fdc",
         "meshes.tar": "7e077ae61d982351c7e368cb4fa54eba5ec244dae20a08fa37ca8088376bc4b6",
-        "render.png": "7310cb973cf3578844c8992ca35ac377646df2aeee26b85ba0c9ff3412813e8e",
+        "render.png": "f6c6029bd4d61c4d99c149c487dd3b12bc5fcd68ecaf9a563e5150c6ef9f5276",
         "graph-raw.svg": "f551d4803e432b26bf5e4de3467da9769212b0840b67ee6e63a7505466f1c7a0",
         "graph-robot.svg": "a2d3e8531036fb221e77251eb8d48c5b9a97a6b51871517aedfb7ead70952c3c"
       },
@@ -65378,7 +65570,7 @@
         "mjcf_ms": 5.677182227373123,
         "compile_ms": 43.83918782696128,
         "graph_ms": 107.30476630851626,
-        "render_total_ms": 2333.4263348951936
+        "render_total_ms": 1686.8916382081807
       },
       "mesh_preparation": {
         "status": "complete",
@@ -65439,16 +65631,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 36.423359997570515,
-        "render_ms": 1629.1283364407718,
-        "compose_ms": 76.37996692210436,
-        "write_ms": 573.535252828151,
-        "foreground_fraction": 0.60005
+        "compile_ms": 31.118550337851048,
+        "render_ms": 1440.0962321087718,
+        "compose_ms": 59.32274693623185,
+        "write_ms": 143.75977078452706,
+        "foreground_fraction": 0.60005,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "04eb19d987508fba655d1422db309f7f150e8c90eb4f424c4c950bce59a73d97",
         "meshes.tar": "57862307e8c4c50fe3e3d18a5daf51ff76acefe2aa742a20e02e2261fe000e1f",
-        "render.png": "5f3217fef932184e42ad852e5c8686f40e3f5f6a74b745e2581672dd77295173",
+        "render.png": "a6bb6c8c1e0bdeeab4402ff3c85aa883a4588d995236eca7476d24bbb75b2a07",
         "graph-raw.svg": "7eec4b79b807f15054d0ce74ddc8016f4caf581b4e1d9d3e60a018319456df62",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "4b3779493f45c1f540f9dd1416bd44d2342ec4b1b8d818409458b369a5b786a2"
@@ -65488,7 +65682,7 @@
         "mjcf_ms": 4.01266198605299,
         "compile_ms": 37.98794420436025,
         "graph_ms": 7123.007652815431,
-        "render_total_ms": 1944.521438330412
+        "render_total_ms": 1628.2970262691379
       },
       "mesh_preparation": {
         "status": "complete",
@@ -74003,16 +74197,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 34.46894930675626,
-        "render_ms": 1735.0012199021876,
-        "compose_ms": 84.5863139256835,
-        "write_ms": 76.03962114080787,
-        "foreground_fraction": 0.7183
+        "compile_ms": 25.33851098269224,
+        "render_ms": 1438.5627740994096,
+        "compose_ms": 69.57516400143504,
+        "write_ms": 81.80532231926918,
+        "foreground_fraction": 0.7183,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "22460f3312ef77ebf7d9528e93c06f50fa59b639a0c240fba03d9bc16be93254",
         "meshes.tar": "44c94aec15899d23d65f0ef8208f08da339f475ad570fd7ff5d32af41031b94c",
-        "render.png": "060e81047496d0c6733ffedd6ecf337d493db56341e79a4a2b5f8740495ccc48",
+        "render.png": "c649d01b3967cc67efa9c9df4375633d806d2cccfa0aa8cb8504c8866e24a052",
         "graph-raw.svg": "919852c13a494d75f9f86fd66a84426dec091697c96e53cea2946f4645b9ffa6",
         "graph-robot.svg": "a2842f1aa507d8c558956fa336ae51fe20d7c1eb39262b0740a6aaa073e6beab"
       },
@@ -74024,12 +74220,89 @@
   ],
   "output": {
     "archive": "shard-01137.tar",
-    "archive_sha256": "bf1e7402cbcc4cb9a98bb18abf4dff5afd04d4d6ad5bcb791eeafba7665c2300",
+    "archive_sha256": "ede2df680455919b73bb12b94d3a757e2251cbe4e52e54e9263f96bb843a1413",
     "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": "bf1e7402cbcc4cb9a98bb18abf4dff5afd04d4d6ad5bcb791eeafba7665c2300",
+      "report_sha256": "08b8a8270ab30befa5f4b450f7ae375b217d58db021baecf8a4c5901c10f237a"
+    },
+    "scheduler": {
+      "job_id": "60317288",
+      "array_job_id": "60313720",
+      "array_task_id": "1137",
+      "node": "gl3039",
+      "host": "gl3039.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 98,
     "compiled_models": 98,
-    "archive_sha256": "bf1e7402cbcc4cb9a98bb18abf4dff5afd04d4d6ad5bcb791eeafba7665c2300"
+    "archive_sha256": "ede2df680455919b73bb12b94d3a757e2251cbe4e52e54e9263f96bb843a1413"
   }
 }