diff --git "a/onshape/shard-01149.report.json" "b/onshape/shard-01149.report.json"
--- "a/onshape/shard-01149.report.json"
+++ "b/onshape/shard-01149.report.json"
@@ -224,7 +224,7 @@
         "mjcf_ms": 3.257474396377802,
         "compile_ms": 310.01018919050694,
         "graph_ms": 233.89387410134077,
-        "render_total_ms": 1849.159674718976
+        "render_total_ms": 2570.4382681287825
       },
       "mesh_preparation": {
         "status": "complete",
@@ -272,16 +272,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 43.28932426869869,
-        "render_ms": 1620.7184484228492,
-        "compose_ms": 79.00113519281149,
-        "write_ms": 90.29110008850694,
-        "foreground_fraction": 0.44165
+        "compile_ms": 342.8445691242814,
+        "render_ms": 2008.1643308512866,
+        "compose_ms": 88.8447011820972,
+        "write_ms": 106.26526409760118,
+        "foreground_fraction": 0.44165,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "7512c88a9024f903cdee4493d9e4f1058c5fa34a95f2ddcf60f898bba9dc87a6",
         "meshes.tar": "0a581adfd0b0533404d13398e83874c12cc2329470e8b531cd99ca9ca8ad44ce",
-        "render.png": "64914f1f0dfe823a6660b6c322b364242f2b193291da0819b0293bad0fcf92ed",
+        "render.png": "ee81ecdf3730d3ce47403c8e63ef573a53f30a7f384e0e6539632239e5d43e9d",
         "graph-raw.svg": "67e160224e64350427f60e52c53dae09d53d1b125f24ffb93216e46bce9442bc",
         "graph-robot.svg": "ea0231bf9f1ecc095051614a45d91de6cb31b30081995961ef0e7695c12438af"
       },
@@ -313,7 +315,7 @@
         "mjcf_ms": 2.9697520658373833,
         "compile_ms": 136.4276553504169,
         "graph_ms": 179.65353280305862,
-        "render_total_ms": 1614.0715251676738
+        "render_total_ms": 2086.2020310014486
       },
       "mesh_preparation": {
         "status": "complete",
@@ -374,16 +376,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.357661802321672,
-        "render_ms": 1464.0647983178496,
-        "compose_ms": 45.68687733262777,
-        "write_ms": 77.63459393754601,
-        "foreground_fraction": 0.2035
+        "compile_ms": 152.57664769887924,
+        "render_ms": 1709.4077188521624,
+        "compose_ms": 58.186974842101336,
+        "write_ms": 147.8222319856286,
+        "foreground_fraction": 0.2035,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "04fb49e6d62d7ea1b69fcff9439a7017b7f4f204cf84904b62bdf1fceb40390a",
         "meshes.tar": "73d02c675905a680b04482d35b2dcf70d99911539efe4da7b4fd6f93e8bf16b6",
-        "render.png": "6d386cab176b905b8ff2872d980e71b5b1f3d455111ae765d5690db77f139faa",
+        "render.png": "b4d85b055fe77c3ce474ddbc1e34d5df047db6e8945f0628abaa6efbc705c955",
         "graph-raw.svg": "17b7481e95481874b36291b5bd06bea5b2d1dee9bb43abb22ffdb284efaae1cc",
         "graph-robot.svg": "78094be9e8b4126532e3a493cdff23bb91e6f1ed6f712509c1ea611c1ff021b8",
         "robot.urdf": "202aa16ba72546d619a9249480d5c249d05b51119bbbccb63ec7e69f3db9e3d6"
@@ -423,7 +427,7 @@
         "mjcf_ms": 3.599573392421007,
         "compile_ms": 1115.2454470284283,
         "graph_ms": 143.4204140678048,
-        "render_total_ms": 2026.0598636232316
+        "render_total_ms": 3938.803465105593
       },
       "mesh_preparation": {
         "status": "complete",
@@ -508,16 +512,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 161.39363823458552,
-        "render_ms": 1720.6941000185907,
-        "compose_ms": 60.873222071677446,
-        "write_ms": 62.469901982694864,
-        "foreground_fraction": 0.341
+        "compile_ms": 1507.564736995846,
+        "render_ms": 2275.801733136177,
+        "compose_ms": 64.7889981046319,
+        "write_ms": 65.534139983356,
+        "foreground_fraction": 0.341,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "2aa9d86828a1a82e1370e738163551b409e403d26a84673fd12caec0cd19b939",
         "meshes.tar": "60739de31a36037facef99ed2b7fe26a1b6296bc76e994389db9cb526ddaf5c0",
-        "render.png": "5ddc164b7b519dbb23e1ba54b17505ba9a3aa8548b6c9b76e95ea20944edbefd",
+        "render.png": "956b6722bd80607bcd950cd9867e1a8bd9c7ad606e45e33953021da38a7258cf",
         "graph-raw.svg": "c3463c3c497a8bc9407f757d14fb1b48edb68fe1e213efcde4c5359a05dd3133",
         "graph-robot.svg": "f2f68be1c04ba47c6f2085a621e364426dff4a1c45710bc12c71d07612a03110"
       },
@@ -548,7 +554,7 @@
         "mjcf_ms": 3.1125801615417004,
         "compile_ms": 177.637557964772,
         "graph_ms": 66.43299199640751,
-        "render_total_ms": 1625.5414728075266
+        "render_total_ms": 2197.7634597569704
       },
       "mesh_preparation": {
         "status": "complete",
@@ -609,16 +615,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.498787190765142,
-        "render_ms": 1449.5040522888303,
-        "compose_ms": 49.95714779943228,
-        "write_ms": 93.72540190815926,
-        "foreground_fraction": 0.2805
+        "compile_ms": 195.29500743374228,
+        "render_ms": 1790.647968184203,
+        "compose_ms": 63.46815591678023,
+        "write_ms": 129.2993938550353,
+        "foreground_fraction": 0.2805,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "5be2b4a28341659148c1ccb387481741c548fe7c7a706cb29f64c7f5cb10caa4",
         "meshes.tar": "75b39c8eb43fae3ff44080dd4ba9066398cb026fbaaa290d297d5fa9a708e9a2",
-        "render.png": "f0e73c1eef9e14dc68081f4686e9f1dff5e97629769436653d0ab752930a1705",
+        "render.png": "7b9d387c7983f7343c1d5aefb063495dcb121644a6193874c7c7ed6896055c85",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "527ae469a9e2d380aa8abe5decced5395140674f62c58eb1e45adc45da0c9878"
@@ -654,7 +662,7 @@
         "mjcf_ms": 3.4025958739221096,
         "compile_ms": 15.256567858159542,
         "graph_ms": 144.97852930799127,
-        "render_total_ms": 1602.1887068636715
+        "render_total_ms": 2386.2890717573464
       },
       "mesh_preparation": {
         "status": "complete",
@@ -715,16 +723,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.350258968770504,
-        "render_ms": 1447.965478990227,
-        "compose_ms": 65.71815209463239,
-        "write_ms": 70.1023330911994,
-        "foreground_fraction": 0.698425
+        "compile_ms": 20.027970429509878,
+        "render_ms": 2104.0032911114395,
+        "compose_ms": 140.92704933136702,
+        "write_ms": 82.54954824224114,
+        "foreground_fraction": 0.698425,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "92e73af9c3c4324b9af76b4c87e308cd7446541864078a818e9317f0e9431363",
         "meshes.tar": "cfc48a455a14408381dec2e96c9abab55c9e24cce05dfd732ff4fa26a4945599",
-        "render.png": "2b993df38bf8f0228a992c31f113b09a105ffe5a7181b0d9e56a89dd3933aecb",
+        "render.png": "8fb503275e695101c03bc8d941468b5efc4aae356a6b4cfcf0b2fbf28a13b573",
         "graph-raw.svg": "578f6d3312aca1517280e82b4f3d1acfe43f1f978a6e8cb8a41cc93ac7a4f4ca",
         "graph-robot.svg": "e46924b5ffd6be20adc2e59dd3a102a30d6950dbaa9b8fcee338156308d05282",
         "robot.urdf": "d86b0acd0e86d3b589b87d44c1b1a5b337454041fb3b8c4f6b73411f5d43e246"
@@ -756,7 +766,7 @@
         "mjcf_ms": 2.783904317766428,
         "compile_ms": 11.974564287811518,
         "graph_ms": 107.59731894358993,
-        "render_total_ms": 1550.8707128465176
+        "render_total_ms": 2006.255887914449
       },
       "mesh_preparation": {
         "status": "complete",
@@ -817,16 +827,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.333378117531538,
-        "render_ms": 1408.656980842352,
-        "compose_ms": 59.35520492494106,
-        "write_ms": 66.44600629806519,
-        "foreground_fraction": 0.6635416666666667
+        "compile_ms": 22.802234161645174,
+        "render_ms": 1817.857694812119,
+        "compose_ms": 72.84828182309866,
+        "write_ms": 70.4165450297296,
+        "foreground_fraction": 0.6635416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "61cd1b027c9280198c623ad89973a4ffc0228fc1d551ec4cb7076ed412ad37f2",
         "meshes.tar": "92990733852a218a53e6cf4da6c7cb3ce03bfa8b480e0d95c4deb3cfe64c1774",
-        "render.png": "ea7c5524cb77a61cec1f397c113c94b8e32c426588804a1fd01f7d6eb3ebc042",
+        "render.png": "da2e9af501136be06f62f0f4d8855f2024691f492fed9251b4dbb891bb3b0e33",
         "graph-raw.svg": "cac6d76aa8eb19eb4266f29ec03b86fe75e7d2ca3bf825cc807f6d61bc6540ac",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "61ad478358bef1440f0de1a59122d777f3f8c77d4cc0d766324ee4ec505a7cce"
@@ -871,7 +883,7 @@
         "mjcf_ms": 3.3236099407076836,
         "compile_ms": 622.7159099653363,
         "graph_ms": 173.0515663512051,
-        "render_total_ms": 2117.162031121552
+        "render_total_ms": 2976.231871638447
       },
       "mesh_preparation": {
         "status": "complete",
@@ -932,16 +944,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 162.41443995386362,
-        "render_ms": 1762.0946327224374,
-        "compose_ms": 58.0141912214458,
-        "write_ms": 116.90369201824069,
-        "foreground_fraction": 0.712075
+        "compile_ms": 625.8078957907856,
+        "render_ms": 2133.307820186019,
+        "compose_ms": 64.46522986516356,
+        "write_ms": 136.783080175519,
+        "foreground_fraction": 0.712075,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "8ec1fa388510825f161dd1aacd670de0bc114cd1d2e0420e936e6312e8de5a27",
         "meshes.tar": "1e18e59a0c8c81038a78c4486e4290def86a3162d013c8cbd9d1ff9f208d4a75",
-        "render.png": "e63a2da808247c924ea36b380cb52cbd26f85c9f9fa8fd76ea6384e16d195b22",
+        "render.png": "526bf89650722d57ec342bfdea5b6dd47d44123c062659ebd4e520b45aaed564",
         "graph-raw.svg": "4aa55a3882f6b563d756b9ecfbab5ef46592c6787ccfda1ff8e064dd30f516cc",
         "graph-robot.svg": "6ba82015982e80e21f014cc69916abab3a7d29056fcc59f93a6cd71dfba750ea"
       },
@@ -979,7 +993,7 @@
         "mjcf_ms": 2.3742346093058586,
         "compile_ms": 7.170637603849173,
         "graph_ms": 102.62167686596513,
-        "render_total_ms": 1525.959680788219
+        "render_total_ms": 2287.8242819570005
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1027,16 +1041,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.3025317825376987,
-        "render_ms": 1368.2208769023418,
-        "compose_ms": 70.64406992867589,
-        "write_ms": 67.90035171434283,
-        "foreground_fraction": 0.62315
+        "compile_ms": 10.67139208316803,
+        "render_ms": 2079.0175069123507,
+        "compose_ms": 96.12884372472763,
+        "write_ms": 73.79983318969607,
+        "foreground_fraction": 0.62315,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d67624fe73f7c3421a70273957674331a4ebbe64599d433df8f6df01db5d2285",
         "meshes.tar": "dea65ec6fddb9535b42737fef1d6ae89315fa0a0dd500019bd22e2bf5df9c5d6",
-        "render.png": "177229de30704307c8cf8a02ace92893a8950f0680bd5982bf82bb1c8bdb17ce",
+        "render.png": "fa90f39ac30083e5211e6f92b427d78d60ed244875fc6a8ed0f7d9fb40da36c5",
         "graph-raw.svg": "425c749f87768f5cff8685060f41b97c3f5594cd2362bcf71563e8bdcb57611a",
         "graph-robot.svg": "83b6c21e3ca14c2a4b00626fe6446aed7a830d0c7344b63b90a64a09f2773429"
       },
@@ -1080,7 +1096,7 @@
         "mjcf_ms": 3.2318769954144955,
         "compile_ms": 62.75325594469905,
         "graph_ms": 124.6361299417913,
-        "render_total_ms": 1490.0809032842517
+        "render_total_ms": 2233.612478710711
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1128,16 +1144,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.233062949031591,
-        "render_ms": 1357.6470967382193,
-        "compose_ms": 36.92085901275277,
-        "write_ms": 70.8977016620338,
-        "foreground_fraction": 0.088
+        "compile_ms": 46.99460603296757,
+        "render_ms": 2014.375715982169,
+        "compose_ms": 62.707179225981236,
+        "write_ms": 81.14245487377048,
+        "foreground_fraction": 0.088,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "445b7a7d035b281355cd47d1554ea39dca0865da8a422884c32e0695b8ee5f7e",
         "meshes.tar": "c014c79c97018d0a0c60959dd6a13cd0cbfc1cc63cf1d963c846d7e0213f4057",
-        "render.png": "85e745a0c877be37cbd22bc15c117686fe7bb9f5edaa881f1a66e41af14f483a",
+        "render.png": "3d1fe026936d8fa40602ce98beb87ebd029bad5890ecbcdcf7e4191bd35554c5",
         "graph-raw.svg": "b2418504c057795e6bcc897adc075313cd2d09599a2ff7da4486eac2714d15b9",
         "graph-robot.svg": "1e67bba58329d70915086546c3ad54c102afa1982ea353ae5cb08d97d6de8892"
       },
@@ -1177,7 +1195,7 @@
         "mjcf_ms": 2.7513792738318443,
         "compile_ms": 104.93941325694323,
         "graph_ms": 130.8546308428049,
-        "render_total_ms": 1642.9260619916022
+        "render_total_ms": 2710.8115679584444
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1274,16 +1292,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 27.939533349126577,
-        "render_ms": 1473.9973391406238,
-        "compose_ms": 48.89464704319835,
-        "write_ms": 76.26173505559564,
-        "foreground_fraction": 0.5577
+        "compile_ms": 166.53421567752957,
+        "render_ms": 2228.359139058739,
+        "compose_ms": 94.22029089182615,
+        "write_ms": 198.50570242851973,
+        "foreground_fraction": 0.5577,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "043e47572c7a034fb3bd880fe43f1b14b712307d1b18dca3aa3ad7c3ffdb9222",
         "meshes.tar": "00a085159a524aa209c2e8ff7525ac8594125303ce14c4afcc2eb06a8b5d027b",
-        "render.png": "1ac8b6f2cae3978e391a240a4b9b4471cb16d3107d575d9996574ae57f997286",
+        "render.png": "2e98d18379443bc939288f5b84249ca71093626585faa7ea4c07ed9470735999",
         "graph-raw.svg": "e0a6ea4a0d006304f2fa2992cd11cbae30cbd7addb8b7f0e06fb81f5f22910aa",
         "graph-robot.svg": "a8757aa7cd37bb07afa7d6d3f4d26c1d8f505983d28ff7ef24339fbf864dd436"
       },
@@ -1344,7 +1364,7 @@
         "mjcf_ms": 11.95228984579444,
         "compile_ms": 529.0155601687729,
         "graph_ms": 494.8276560753584,
-        "render_total_ms": 2588.25388783589
+        "render_total_ms": 2865.493908058852
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1399,16 +1419,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 635.1590058766305,
-        "render_ms": 1793.9434740692377,
-        "compose_ms": 60.07460784167051,
-        "write_ms": 82.47474068775773,
-        "foreground_fraction": 0.37015
+        "compile_ms": 660.6581900268793,
+        "render_ms": 2004.124809987843,
+        "compose_ms": 92.21094707027078,
+        "write_ms": 81.18375018239021,
+        "foreground_fraction": 0.37015,
+        "style": "link-palette-v1",
+        "colored_bodies": 60
       },
       "artifacts": {
         "robot.mjcf": "0e52d61f6cbdc65530514bb37abaebda9f6e855dc7c601d0e251cf8291cb35ba",
         "meshes.tar": "4ce323dbb2dfe085256bf2d4f4b998116cb955bcb53b333e0c27762e51988011",
-        "render.png": "c66b97dfe78717a043ce4bde8319ec29554c58aa2b42aa9af50b7640e5600a7d",
+        "render.png": "4a836449f4bb5c390779884ff0d22603e1662f6405131c4ecb94df7dd078209a",
         "graph-raw.svg": "35abcb495d74a2d173cae7316e992fa823c82725139f489b0beee91b39ba7ec9",
         "graph-robot.svg": "0a989c08741424d4b628208d53cb2c13210fe97a219fcb170d89cbc19da35bc4"
       },
@@ -1440,7 +1462,7 @@
         "mjcf_ms": 2.9806457459926605,
         "compile_ms": 81.03675721213222,
         "graph_ms": 89.85765790566802,
-        "render_total_ms": 1537.4180977232754
+        "render_total_ms": 2408.2038518972695
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1501,16 +1523,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.6309689320623875,
-        "render_ms": 1385.7565228827298,
-        "compose_ms": 61.072811018675566,
-        "write_ms": 69.93103586137295,
-        "foreground_fraction": 0.55965
+        "compile_ms": 71.57331565394998,
+        "render_ms": 2125.8830283768475,
+        "compose_ms": 86.87022002413869,
+        "write_ms": 80.01152658835053,
+        "foreground_fraction": 0.55965,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "909387a4132f5d94947be4e6df96b396f6105d0d30ea56d066e6a3a1ba5832aa",
         "meshes.tar": "87dd2ad00b3ba92bd57a7d8df89affaaf5fd6dd89430ccfc60e090dfcba07d63",
-        "render.png": "813f38c5e8659faa2665581a43c67f856001593cf912e861440216606e2bb7b2",
+        "render.png": "5d14da60ec46a66c71fafb1c77da39437e25f6673bed57acde54896a978a0963",
         "graph-raw.svg": "121551ba84346ac22b9c0ce41781161accb6fea0b860a2e66b216552e5584859",
         "graph-robot.svg": "4d39bd75a519762d30b7971d11134b7e809d70837de462e86bb160bc76ec2c30",
         "robot.urdf": "c9afc626c23fb5e1e35a47c93417f08781ff8a7bad23d35d22e7856f57f10645"
@@ -1552,7 +1576,7 @@
         "mjcf_ms": 3.1801341101527214,
         "compile_ms": 130.57007594034076,
         "graph_ms": 116.20326107367873,
-        "render_total_ms": 1606.3314653001726
+        "render_total_ms": 2146.709449123591
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1631,16 +1655,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.78638368099928,
-        "render_ms": 1415.755175985396,
-        "compose_ms": 61.81089812889695,
-        "write_ms": 92.5511559471488,
-        "foreground_fraction": 0.6006
+        "compile_ms": 150.86972760036588,
+        "render_ms": 1797.9545583948493,
+        "compose_ms": 71.81246438995004,
+        "write_ms": 106.61747306585312,
+        "foreground_fraction": 0.6006,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "26d86edba2c86da6ade13ad14b2f98a55ae112dd2a0aa60e6951620b44e8ca36",
         "meshes.tar": "3184a4d8f7e0ecec6be68a8bd549aea324cbaa80f14cfb52746d9ccfa18fb76b",
-        "render.png": "c381a34f16d6f4115dbd01f165d1ff0c85d62074ae8ca201c220d7cd29c1a9ad",
+        "render.png": "124837be3a3d59f5495f60ae13318e05f0a573cdb746630fc937f3e36a94361a",
         "graph-raw.svg": "04a53ea5a3bc7be07db9366136e1d88a0a148017bd289c11455624d90c4d0124",
         "graph-robot.svg": "cf05ff8c0400c03c98053fcdec6b12b011528d0979075c5359c73a3e59f1b4aa"
       },
@@ -1684,7 +1710,7 @@
         "mjcf_ms": 3.014788031578064,
         "compile_ms": 22.26520422846079,
         "graph_ms": 138.86687206104398,
-        "render_total_ms": 1606.1122249811888
+        "render_total_ms": 1857.9778289422393
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1751,16 +1777,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.343605764210224,
-        "render_ms": 1428.0615798197687,
-        "compose_ms": 64.93958598002791,
-        "write_ms": 94.6253570728004,
-        "foreground_fraction": 0.6999416666666667
+        "compile_ms": 35.96098395064473,
+        "render_ms": 1606.7601288668811,
+        "compose_ms": 72.08303594961762,
+        "write_ms": 125.60256058350205,
+        "foreground_fraction": 0.6999416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d4fe1233afd71a3e089658dd64c3403afc09fc18fc0b38956212c07cc7c3a1f2",
         "meshes.tar": "a509d86d2a622433f219e0f409123e3de89b66439865bfc10fed0fc943096c53",
-        "render.png": "1cec18b08da723503c01a404a6cc52a635159c61debc265f8f7fd3d28b54d884",
+        "render.png": "0cc82648b825e661fc697f5b4c92deeea338de6b71c2dd7a86fafc59e46411a7",
         "graph-raw.svg": "8f64bae14fbdd160df10fe27f32b5da3002273b7fa0916cc6eb4ab5adc16ca08",
         "graph-robot.svg": "356d119a6a5b5555c85eadf1128629045f6d89cc3cf2295d661748c584b5fbd4"
       },
@@ -1831,7 +1859,7 @@
         "mjcf_ms": 7.915034890174866,
         "compile_ms": 180.11277308687568,
         "graph_ms": 302.95298993587494,
-        "render_total_ms": 2069.872577674687
+        "render_total_ms": 2094.6782589890063
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1886,16 +1914,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 108.267264906317,
-        "render_ms": 1587.6171640120447,
-        "compose_ms": 62.089611776173115,
-        "write_ms": 298.84697729721665,
-        "foreground_fraction": 0.52325
+        "compile_ms": 206.98392810299993,
+        "render_ms": 1708.3887588232756,
+        "compose_ms": 69.76750213652849,
+        "write_ms": 91.59977827221155,
+        "foreground_fraction": 0.52325,
+        "style": "link-palette-v1",
+        "colored_bodies": 37
       },
       "artifacts": {
         "robot.mjcf": "8dd302d1e7c093559c25c8007ad9cc7f8980234b0b9f8ceb7e573f15914c7db1",
         "meshes.tar": "8f7ac2d4a523d72c38cdaa48f3380bea384da0233ff84669f96bffaafa937b0d",
-        "render.png": "74f9e30108582a56debac6e94d67f0eb9a3492f216d54a6d719fcad03c75f8e0",
+        "render.png": "7cac093fb22e7b125a5270ce801b2e0ed24ce06e9e42e1f0816eec1c469ccb09",
         "graph-raw.svg": "b967d62ae251b8b44525f9cf7691d1542f342aef93691ac6697d8253c7cd658e",
         "graph-robot.svg": "cb0ee7ed14fe69e36c2f8eee435da785ac5cd9c3da1a469741323783152a2a9a"
       },
@@ -1970,7 +2000,7 @@
         "mjcf_ms": 10.784510988742113,
         "compile_ms": 178.8440551608801,
         "graph_ms": 1048.5322228632867,
-        "render_total_ms": 1957.8436240553856
+        "render_total_ms": 2285.01935582608
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2025,16 +2055,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 230.13178585097194,
-        "render_ms": 1570.8027789369226,
-        "compose_ms": 62.51444295048714,
-        "write_ms": 79.75991303101182,
-        "foreground_fraction": 0.5467
+        "compile_ms": 251.56822567805648,
+        "render_ms": 1860.9221819788218,
+        "compose_ms": 71.05217687785625,
+        "write_ms": 84.17756762355566,
+        "foreground_fraction": 0.5467,
+        "style": "link-palette-v1",
+        "colored_bodies": 15
       },
       "artifacts": {
         "robot.mjcf": "82ed1f409b5b3b5199f39d937e1aff0ce471d56affdc8a47eec7f271b25955e4",
         "meshes.tar": "cbf04540af62d37dd040d35c81f967c490b0f1e928094172e7823a99133d864f",
-        "render.png": "7f89d502a336c1ef86b1387ab662a21aef226405993a61781ec9294562fe1f03",
+        "render.png": "16f1e5df4c2aff46d88147c58a04a483c70ee1871fb528f9ea418b535a7be78b",
         "graph-raw.svg": "3254c4096ce2e373b5ec7446f93ece71f7967285825f35ad5466b652816ac076",
         "graph-robot.svg": "60ab59b87a1944e482471602b5e4b002a637d2cd2fd35892f22bcc1102f29854"
       },
@@ -2065,7 +2097,7 @@
         "mjcf_ms": 3.043297678232193,
         "compile_ms": 6.411463022232056,
         "graph_ms": 67.76634603738785,
-        "render_total_ms": 1506.1981710605323
+        "render_total_ms": 1715.6865918077528
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2126,16 +2158,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.783125128597021,
-        "render_ms": 1344.9000869877636,
-        "compose_ms": 68.0180168710649,
-        "write_ms": 72.65480980277061,
-        "foreground_fraction": 0.75845
+        "compile_ms": 13.073587324470282,
+        "render_ms": 1533.6973620578647,
+        "compose_ms": 77.1202058531344,
+        "write_ms": 73.83508095517755,
+        "foreground_fraction": 0.75845,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "4f6a5399425ac69d41149a82eeb28eae1fabee9f41ce911774b226b3de651071",
         "meshes.tar": "86cb2a04dc055294f817d6652fdd8036d471ebb396f4d67268998f1eb6465f04",
-        "render.png": "43790b7fc19d85a8dfa3eb6246f47ce9c6e113a379ec06c6d64df95cf9713dbc",
+        "render.png": "fd3d46db57db5d9908a230cb12e6cc149df95bc8e183727d1f4923bffa34aac9",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "117f7ab438091fd60e86dc13783abf85aeafb3f38e5fba849204288413d3e6d8"
@@ -2209,7 +2243,7 @@
         "mjcf_ms": 12.071899138391018,
         "compile_ms": 192.12636910378933,
         "graph_ms": 839.4682728685439,
-        "render_total_ms": 1911.5812527015805
+        "render_total_ms": 2444.5517230778933
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2270,16 +2304,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 202.1213942207396,
-        "render_ms": 1558.600990101695,
-        "compose_ms": 60.5314583517611,
-        "write_ms": 77.26877927780151,
-        "foreground_fraction": 0.54505
+        "compile_ms": 312.3929710127413,
+        "render_ms": 1965.2042631059885,
+        "compose_ms": 72.10139883682132,
+        "write_ms": 76.76615891978145,
+        "foreground_fraction": 0.54505,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "9062267cbc28e0b9cbc81f2bb3f5bb9a81ed8aecfa63cb0fb271ac425799f643",
         "meshes.tar": "3245d864c1e6ddc1480f4a6f1e040d5d175fa5eb56bf80c438f984ed7a6eb957",
-        "render.png": "f622c581ade6369e80b3cb2e55c01f82908970b85d064920087aaafae7fc08ab",
+        "render.png": "37dc247a1eab06b9015310863edf9265324dc3e88f27a38c837f52ea1f4f93b0",
         "graph-raw.svg": "b575c0e76d7b8161e5f5a592e7a46c03497bc96c26b47217f4d17bef456ce8a5",
         "graph-robot.svg": "de58c055e6fa872d11e1bbaf4084ef087622f13604dbc91f3567a45a3db82bed"
       },
@@ -2317,7 +2353,7 @@
         "mjcf_ms": 2.978338859975338,
         "compile_ms": 29.5506389811635,
         "graph_ms": 97.58833516389132,
-        "render_total_ms": 1591.9360099360347
+        "render_total_ms": 2087.86160685122
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2365,16 +2401,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 52.262899931520224,
-        "render_ms": 1398.3037900179625,
-        "compose_ms": 61.81917991489172,
-        "write_ms": 65.79818669706583,
-        "foreground_fraction": 0.6468583333333333
+        "compile_ms": 36.73293860629201,
+        "render_ms": 1885.5580291710794,
+        "compose_ms": 77.12389389052987,
+        "write_ms": 67.68822483718395,
+        "foreground_fraction": 0.6468583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "451b997f22f6c6eb497bcd7bac3b65b7a128f93b408aad1314e6526f33c992cf",
         "meshes.tar": "6ed03f0d1e909d49d45c16ee0762707307d3c0f6c4ed26ebf3079b1338950e09",
-        "render.png": "4693a30068b0e1dc9a3a5ac1a65c828fa02ce9f3da0a672cd1a6704f105ef9b3",
+        "render.png": "b5182b11f8b8f53ba67792e4d2c9ecd84a9e7cd752640b9bae515d26f6578f03",
         "graph-raw.svg": "6c064eaba959aa21a96c6619ed1b15868d64d678b788e4014620e30d35d5f038",
         "graph-robot.svg": "f91871f7ba74d0338d8482fcec5d5d5194509826d860e48774a539a507016432"
       },
@@ -2457,7 +2495,7 @@
         "mjcf_ms": 11.410459410399199,
         "compile_ms": 185.4875572025776,
         "graph_ms": 1248.8112542778254,
-        "render_total_ms": 1862.5443978235126
+        "render_total_ms": 2455.225395038724
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2536,16 +2574,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 175.8272279985249,
-        "render_ms": 1531.2856058590114,
-        "compose_ms": 55.03701092675328,
-        "write_ms": 86.85445878654718,
-        "foreground_fraction": 0.5555
+        "compile_ms": 325.6782479584217,
+        "render_ms": 1861.964125186205,
+        "compose_ms": 67.80086597427726,
+        "write_ms": 179.21635834500194,
+        "foreground_fraction": 0.5555,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "b98497b22a8769ebbb932c1e5fdcbe186b57ea90f3725027389c2ba3faa9e92a",
         "meshes.tar": "89f98da0c2abd0679f21239b7ea04dc32a7f64539afd1c52e6b7054bdda903b5",
-        "render.png": "e53db57476b6ebecb0be9b9c4186d634b7b256ccdb7db7795308b03f6edb5922",
+        "render.png": "e1371140e10de7d82ee30d7af25e43c343d7e66329cd098d9bbaf47521b25cd7",
         "graph-raw.svg": "accf8535a4fe1d0247943bbac7a5fdefc13fa681f7a3e3d68acee83c47273653",
         "graph-robot.svg": "b272894f7add81c5d75bda5684c55ad52636968ed10ff9d8792bea4487e867d5"
       },
@@ -2576,7 +2616,7 @@
         "mjcf_ms": 3.2645007595419884,
         "compile_ms": 23.46550766378641,
         "graph_ms": 111.34251393377781,
-        "render_total_ms": 1452.3070151917636
+        "render_total_ms": 1902.6995939202607
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2637,16 +2677,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.158776108175516,
-        "render_ms": 1338.1003178656101,
-        "compose_ms": 36.29389405250549,
-        "write_ms": 40.86036002263427,
-        "foreground_fraction": 0.04675
+        "compile_ms": 34.313892014324665,
+        "render_ms": 1750.386386178434,
+        "compose_ms": 49.99814322218299,
+        "write_ms": 46.58063920214772,
+        "foreground_fraction": 0.04675,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "73352aa86d94739e3de8c6b4cf92a5b0d409bda0811b130c30ffed582852b206",
         "meshes.tar": "f764286b109608df35cef73df81b5004332bc8550578cca45b8adebb5d5575da",
-        "render.png": "f5c7891bc05fc109e898fd27e018c4ed9090d2645ff4c6e9f17357e1d4e4fc34",
+        "render.png": "a29c7e3db378e1911f177e0878281a3c4fc32dcbaccdb73665ba897a38a22d12",
         "graph-raw.svg": "84b3c579d3c5a3da579a8e48ccb536d646b386b6d76cc08892e79794b38c1e77",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "9217aafeabaa5d33f474ee03db4fab807ecd6f3f1fc2b3fc5c30f2d4f2ff1de9"
@@ -2686,7 +2728,7 @@
         "mjcf_ms": 2.5946367532014847,
         "compile_ms": 36.247669253498316,
         "graph_ms": 105.22939311340451,
-        "render_total_ms": 1780.6256236508489
+        "render_total_ms": 2390.519340056926
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2741,16 +2783,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 52.01809434220195,
-        "render_ms": 1455.8808910660446,
-        "compose_ms": 52.61915689334273,
-        "write_ms": 204.29831137880683,
-        "foreground_fraction": 0.45155
+        "compile_ms": 47.80149273574352,
+        "render_ms": 2001.1239796876907,
+        "compose_ms": 72.2387870773673,
+        "write_ms": 245.20152807235718,
+        "foreground_fraction": 0.45155,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "329f5ea810541f4d098427397476413975fdf64ee3ef580772fb11e57ab8bcbd",
         "meshes.tar": "aad39d50ce76a446f0fb98e269c9f2bbfc9f63cb3a1a23750040768a3fded609",
-        "render.png": "c143d13784a5bee102816f44d9cde423db1cc3c50aadd611e5a34e24546036d0",
+        "render.png": "c772c3f674fdb318702ba7e1187ddb31cbb6fda27bbe23f3588a8c50fe0c46b4",
         "graph-raw.svg": "79e771d1d21ceaf3b32b791f9a831b3e756a6a68a6bc1e2cc6e9842db623a4ba",
         "graph-robot.svg": "0e61a3203d93caba29ad0786d5a4368e5993e97901d53bbc15f319beecac4931"
       },
@@ -2812,7 +2856,7 @@
         "mjcf_ms": 52.511106710880995,
         "compile_ms": 110.80735130235553,
         "graph_ms": 427.9967122711241,
-        "render_total_ms": 1746.0330938920379
+        "render_total_ms": 2457.0020479150116
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2860,16 +2904,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 126.92445609718561,
-        "render_ms": 1444.721391890198,
-        "compose_ms": 63.01949033513665,
-        "write_ms": 96.73395426943898,
-        "foreground_fraction": 0.62535
+        "compile_ms": 357.09928069263697,
+        "render_ms": 1895.6716069951653,
+        "compose_ms": 81.97807287797332,
+        "write_ms": 106.47575091570616,
+        "foreground_fraction": 0.62535,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "0b888688ba7f6ff0c446bcd1fdf2218433971156ae3db2238969617a1003d518",
         "meshes.tar": "a6838c5298b295d09e583dbb2bf7852c060f675f341e4347abfd3123cde614d8",
-        "render.png": "0731c9f326c20a94ae223e780984a081cd0e1e74c55bc83e528c0daeac637e7a",
+        "render.png": "259114321d001aa10dd007a723be62806026873ff9ddfb26cc82d58a1975dfe6",
         "graph-raw.svg": "f72fc41e525ca8360b2514227995a766bb575cf7c2d46b711ea6509c73a870f0",
         "graph-robot.svg": "d710189e0c8a26c48b4f9673e889a9c0556d573cb869f524c2e363ddf4893b7d"
       },
@@ -2907,7 +2953,7 @@
         "mjcf_ms": 2.7282279916107655,
         "compile_ms": 7.217251695692539,
         "graph_ms": 90.48733301460743,
-        "render_total_ms": 1571.8270186334848
+        "render_total_ms": 2029.7861308790743
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2980,16 +3026,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.164160721004009,
-        "render_ms": 1412.303141783923,
-        "compose_ms": 51.27721792086959,
-        "write_ms": 88.01451371982694,
-        "foreground_fraction": 0.26455
+        "compile_ms": 8.206991944462061,
+        "render_ms": 1641.202230937779,
+        "compose_ms": 69.56447614356875,
+        "write_ms": 286.6627932526171,
+        "foreground_fraction": 0.26455,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "b42d318d42e01d6937f5b232a088147dc56152c689f409296be894f5f9e2c1be",
         "meshes.tar": "0c08797ecc5d930cddae2abdd2d77dc09f38138030a67ac0cf91cfbf58e47405",
-        "render.png": "2e42aaa892c7044a34d776cad90642ddc7a64c2c903598d1e64d7093bec329d8",
+        "render.png": "0333b0595da496e8b880a70a5c1d1992e2420d5fa0dff28c6a282a22d361c877",
         "graph-raw.svg": "ca3ec6dde08e6b9e1dc856e192edeb5670624139c6a79a25c45ef42814840351",
         "graph-robot.svg": "905e3036f120642d42634ac7a1af5aaf7a86ffd9753ae55b7cbc12e7a7514f24"
       },
@@ -3030,7 +3078,7 @@
         "mjcf_ms": 2.515772357583046,
         "compile_ms": 31.7334639839828,
         "graph_ms": 98.64105982705951,
-        "render_total_ms": 1558.546869084239
+        "render_total_ms": 2289.063385222107
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3078,16 +3126,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.346405994147062,
-        "render_ms": 1383.375947829336,
-        "compose_ms": 56.24341918155551,
-        "write_ms": 76.76647510379553,
-        "foreground_fraction": 0.34375
+        "compile_ms": 50.16228184103966,
+        "render_ms": 2056.2060102820396,
+        "compose_ms": 73.18026479333639,
+        "write_ms": 95.38192301988602,
+        "foreground_fraction": 0.34375,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "3f8b98dc926668882ba25802ed723edab7aa73ca8c303051e3cbfa621feac30f",
         "meshes.tar": "72afaa804e12dae68950b1476be0922b66dcae31c66d2d6df883a3ee33edcd75",
-        "render.png": "61da49909073f5dab398d3a0e3862c1e181d54fc847ff31ecaf2272ffae0dd21",
+        "render.png": "c8dda9168e9c28547fde176bcb826c5153b62cce473c878b8fa3d4f63debb528",
         "graph-raw.svg": "5756dca42745407a9302203aae001e191fbdce16d33a7bb9a0b228059a7cea72",
         "graph-robot.svg": "6e853210f3ed0b320ebf0fa391959f611c1ee1af19e80ac6533b0026f4397bf8"
       },
@@ -3125,7 +3175,7 @@
         "mjcf_ms": 3.6245686933398247,
         "compile_ms": 121.62929959595203,
         "graph_ms": 125.70662004873157,
-        "render_total_ms": 1764.2777631990612
+        "render_total_ms": 2291.1445912905037
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3192,16 +3242,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 133.50851414725184,
-        "render_ms": 1470.6516577862203,
-        "compose_ms": 64.02325816452503,
-        "write_ms": 79.89472104236484,
-        "foreground_fraction": 0.5027
+        "compile_ms": 208.89071095734835,
+        "render_ms": 1887.6149379648268,
+        "compose_ms": 86.83205908164382,
+        "write_ms": 87.4932399019599,
+        "foreground_fraction": 0.5027,
+        "style": "link-palette-v1",
+        "colored_bodies": 13
       },
       "artifacts": {
         "robot.mjcf": "bfd89ecf46b7f7cfc16b4102a1dcbe623677b3bdebb9d7a5973691d8eff60bed",
         "meshes.tar": "9f7eb72ba2cfcb42208f42a424994f9d3d775ad58db87f9f0284b483eebc8631",
-        "render.png": "10e7ccb5a1d461ac655cc2e4575a4289448f167bb961363f3f814cf9714b25a0",
+        "render.png": "2523a5fed27cea69f8a587c03f002e37a725b3d30933faa57dda015ddcd19830",
         "graph-raw.svg": "61a4e4cd3e9fc1f782cd21f682a98d6c37cb959f028c7f60637ccdbe9f551eb4",
         "graph-robot.svg": "c22fb2b6f5fe348e0188125c3faf5343a5af1e396df527b0eb2a51496e120594"
       },
@@ -3239,7 +3291,7 @@
         "mjcf_ms": 2.2416161373257637,
         "compile_ms": 5.005442071706057,
         "graph_ms": 149.01129994541407,
-        "render_total_ms": 1522.8621531277895
+        "render_total_ms": 1832.829168997705
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3306,16 +3358,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.451443906873465,
-        "render_ms": 1385.6760612688959,
-        "compose_ms": 60.17248099669814,
-        "write_ms": 59.37093077227473,
-        "foreground_fraction": 0.36135
+        "compile_ms": 11.29377307370305,
+        "render_ms": 1657.888330053538,
+        "compose_ms": 74.0934950299561,
+        "write_ms": 67.30957794934511,
+        "foreground_fraction": 0.36135,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "a6f902a8df639bb80cdc1b5e2491aa02bebdad399da0f7402c810c16f4ee4cf7",
         "meshes.tar": "a40764fa0553969603248911e09d04b962c91799fb0b54f88c8c525ac1ffc864",
-        "render.png": "82511622a1c608c881dfdb89fe24769b350abd5fb9f65d04f4f7d8a9238df27a",
+        "render.png": "e3085cf033de30432cd16352bc0bb433ca7277a55d0450d46f7a55e564d19472",
         "graph-raw.svg": "90180bddbb5ee81a23e43e1622f2e94d2073c5453473f5a014eccef969ef2266",
         "graph-robot.svg": "905e3036f120642d42634ac7a1af5aaf7a86ffd9753ae55b7cbc12e7a7514f24"
       },
@@ -3354,7 +3408,7 @@
         "mjcf_ms": 2.5996947661042213,
         "compile_ms": 7.596699986606836,
         "graph_ms": 90.99663700908422,
-        "render_total_ms": 1577.5469280779362
+        "render_total_ms": 2000.1464001834393
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3402,16 +3456,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.343244902789593,
-        "render_ms": 1409.9140246398747,
-        "compose_ms": 58.35676472634077,
-        "write_ms": 87.8114178776741,
-        "foreground_fraction": 0.5621
+        "compile_ms": 10.915197897702456,
+        "render_ms": 1766.9210168533027,
+        "compose_ms": 86.62587916478515,
+        "write_ms": 108.94742282107472,
+        "foreground_fraction": 0.5621,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "17e419246f3932b35b8e4ccef981b17a84ab00b4b04c290baa6c7a5e32ce7f4d",
         "meshes.tar": "ef77ae9163c90fe5a4091547e9f4063833e40163a42a51a046729b6cb17569c1",
-        "render.png": "2e7796d7202c3a4c2b4c433487a1e29950616ab6d7a34bc352368efbf6be0c08",
+        "render.png": "a0c1ce8c05498ca02622c3d665941e997675c227312f3fa495e55c35c4dd9931",
         "graph-raw.svg": "64b08307c4679e4c185aa6becb9e1d3709b055891b0831f9fe8bfb4e3e0c80a5",
         "graph-robot.svg": "675b40537042af6ca4c213b4d6f10d27c91da21356a587e97cec902d0b76b1e3"
       },
@@ -3449,7 +3505,7 @@
         "mjcf_ms": 2.6524062268435955,
         "compile_ms": 143.3080448769033,
         "graph_ms": 80.37981111556292,
-        "render_total_ms": 1691.9458229094744
+        "render_total_ms": 2156.2290280126035
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3497,16 +3553,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 133.98169074207544,
-        "render_ms": 1408.6512429639697,
-        "compose_ms": 52.36920341849327,
-        "write_ms": 83.71626911684871,
-        "foreground_fraction": 0.39765
+        "compile_ms": 150.8474750444293,
+        "render_ms": 1830.1817439496517,
+        "compose_ms": 62.640085350722075,
+        "write_ms": 93.04854506626725,
+        "foreground_fraction": 0.39765,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "433cfd5f3647bece66a997b3d74c6211aadb51ccf233588022d94e86ed9b613e",
         "meshes.tar": "335b060f4b76104ae728ff753733362e6c466113733ca174522c9cadfb976596",
-        "render.png": "8c0ada85a12399e919e1c79eca670d3ec7de1efa737664f09084a67bf0efe06b",
+        "render.png": "5543d47243f56bc50ee3cd5abdf5a51a87a69f5f081548123d8d38670def30b4",
         "graph-raw.svg": "dc9d6f1f50a64ac572a4c14dc7548cff4e554eab9d4740b0a4c50e6d63cbf3b1",
         "graph-robot.svg": "8417cb830a8e6535cc2566bd1db58ca00b54f510e25c04295c1131bb0598187e"
       },
@@ -3536,7 +3594,7 @@
         "mjcf_ms": 3.0718743801116943,
         "compile_ms": 5.213864613324404,
         "graph_ms": 98.92664011567831,
-        "render_total_ms": 1514.9023258127272
+        "render_total_ms": 2076.920730061829
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3597,16 +3655,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.8143591955304146,
-        "render_ms": 1381.7655257880688,
-        "compose_ms": 62.18757713213563,
-        "write_ms": 53.750347811728716,
-        "foreground_fraction": 0.3773
+        "compile_ms": 10.208726860582829,
+        "render_ms": 1923.415762372315,
+        "compose_ms": 70.30010689049959,
+        "write_ms": 56.936115957796574,
+        "foreground_fraction": 0.3773,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "82b0b0e494713482296c31070b9a8bd2b69b41dc654056af9e6d2ffa564f2f6c",
         "meshes.tar": "a78ab17de27a9c14b349a488f9723422d2797e650dde6fab485ecb82f76dab93",
-        "render.png": "f9ae3ed0db43972107374fe7a906c7bf09f83cfb865f69daf4d7f6596a170a6d",
+        "render.png": "0e479a9e44aa118eab394fb208433b2394bd372a402e805348cf94eaa53af63e",
         "graph-raw.svg": "bacc742c72657348726eed463b4bf3324011eb8bf58bfff045ae13136ac60bde",
         "graph-robot.svg": "824850e02f0ebbc399d7655897eef0b1baf1d363790124fa79f9b6fd6c0516e0",
         "robot.urdf": "5e56ed5c547c5f4e863cda69b4e6b77dfa3f0d99d3f0bc36e8b2462f52acba78"
@@ -3648,7 +3708,7 @@
         "mjcf_ms": 2.929563168436289,
         "compile_ms": 8.182509802281857,
         "graph_ms": 100.9250059723854,
-        "render_total_ms": 1581.8746914155781
+        "render_total_ms": 2223.893219139427
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3696,16 +3756,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.719108860939741,
-        "render_ms": 1417.6104990765452,
-        "compose_ms": 69.71587287262082,
-        "write_ms": 70.47669123858213,
-        "foreground_fraction": 0.7408916666666666
+        "compile_ms": 11.02258637547493,
+        "render_ms": 2004.551117774099,
+        "compose_ms": 106.8988973274827,
+        "write_ms": 77.2261992096901,
+        "foreground_fraction": 0.7408916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "c84992e7db0111bda589059108319f5e925ec48f166e91b91a507d0360ceba10",
         "meshes.tar": "4c0f6cdbe2e3df9cfccd5f016b786464ed26dd581fbbe4a6e98cd602066a88b6",
-        "render.png": "5ebb81fff19b11fe38a6873abfc282abed081f189087ccc732e4346ff9505e3e",
+        "render.png": "df5f1265fac00cf111c99456c52a7e3fd73ca390750d3233218a8cf3cdf087fd",
         "graph-raw.svg": "79cf4ce53461b4f66ecb4f94068a5d7157d6ac8ac36d5f5b187de756a81476b7",
         "graph-robot.svg": "d41df412c1a75d4a9b14fcd1d583e7504b1630b88575ed121465a7904ed0cf8c"
       },
@@ -3737,7 +3799,7 @@
         "mjcf_ms": 3.823269158601761,
         "compile_ms": 2.1663829684257507,
         "graph_ms": 244.67993900179863,
-        "render_total_ms": 1494.0017159096897
+        "render_total_ms": 2245.1633107848465
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3847,16 +3909,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.6843417435884476,
-        "render_ms": 1363.2161593995988,
-        "compose_ms": 57.63826426118612,
-        "write_ms": 57.10922600701451,
-        "foreground_fraction": 0.54945
+        "compile_ms": 5.656341090798378,
+        "render_ms": 2083.5477747023106,
+        "compose_ms": 81.25936333090067,
+        "write_ms": 59.37673710286617,
+        "foreground_fraction": 0.54945,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a0abe1a0958f4421b6c8387415e3399489fc6692c386ba2113c474bc788b610b",
         "meshes.tar": "27b4228bc2ef171816aed0d3dc380277f66cbd144ea28a67c56f6fb5ae80dfe9",
-        "render.png": "efd38a8eb183a50d7451e1dc6c06721b64d447d99cf9770f7358c9042f2564af",
+        "render.png": "0c6a31a43e4058125148fc7a3b3eeac2773f15dfe707eec10cb27c6583dfe18d",
         "graph-raw.svg": "285e2a63a305e99a31efe94ffcb6bfaf020e4646d9918c5f419da29e39e2e3bf",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "33fb3d9543b1c382f8b0a9e1572a933dfddee72f2dd2d18eaeca0311ab0c1917"
@@ -3896,7 +3960,7 @@
         "mjcf_ms": 4.093374125659466,
         "compile_ms": 66.30426272749901,
         "graph_ms": 198.12175491824746,
-        "render_total_ms": 1698.358481284231
+        "render_total_ms": 2266.9031717814505
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3957,16 +4021,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 76.45802013576031,
-        "render_ms": 1437.8185458481312,
-        "compose_ms": 61.43348291516304,
-        "write_ms": 109.0351128950715,
-        "foreground_fraction": 0.6039
+        "compile_ms": 81.79934741929173,
+        "render_ms": 1954.2954307980835,
+        "compose_ms": 77.45305495336652,
+        "write_ms": 131.2895379960537,
+        "foreground_fraction": 0.6039,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "bd6db90fde86cb203d3846e900f89f7bdece92c4216e1a0fc5356dd629d4a82e",
         "meshes.tar": "d5d2640dc64502024881070026c51e8e383db198132a3471de7266669a17b707",
-        "render.png": "773157bec53182af3a1b45b36170ea2115b4f835bda2cb46fc9269528a06a315",
+        "render.png": "7d30516dd5359e9ee0177dfc5d39b72b2e9292ae51b3818e664a897dc5f5bf99",
         "graph-raw.svg": "8a5c800920b09a5565a0431dc9666d5af9cda71b7f0013105735875459f99bea",
         "graph-robot.svg": "4bd42b11df8293825d9d12d7ee5e22073893787a45e437ecb43b3964cd6c9fad",
         "robot.urdf": "e7def069b64b98686ec8ac59345787cc9b788823770da9d1519298c3f97ad590"
@@ -3998,7 +4064,7 @@
         "mjcf_ms": 3.188189584761858,
         "compile_ms": 3.139703068882227,
         "graph_ms": 73.56296200305223,
-        "render_total_ms": 1486.0148327425122
+        "render_total_ms": 2029.6398331411183
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4059,16 +4125,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.489011898636818,
-        "render_ms": 1337.3081153258681,
-        "compose_ms": 60.6660358607769,
-        "write_ms": 70.87456714361906,
-        "foreground_fraction": 0.49885
+        "compile_ms": 6.027179770171642,
+        "render_ms": 1828.6631307564676,
+        "compose_ms": 92.72256912663579,
+        "write_ms": 82.2930121794343,
+        "foreground_fraction": 0.49885,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "bc973d99cb865eea0c7e1b394453b33f75a25a51b84a26ed78d3d870f07c6710",
         "meshes.tar": "8aea069738b9da3e5494b61db87ff75048fb4fc367f099140bf0da4436d0c009",
-        "render.png": "509b66ed27c87c2d1b50df3fdab35ec06d41872a2151c9bfa77d35c6af7cf312",
+        "render.png": "2a8d2c840652be708dd64c71ac7bd7d898f09f28bfd63dda56739807c4617cc6",
         "graph-raw.svg": "03f7a148afa9f75e2700ef267584004951329172f30eb8dde48fec2e4a5bc2bd",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "2c84af074eff59981a0f5a372bb7386bc1e7f68c4766c3a0b94412fde5083753"
@@ -4109,7 +4177,7 @@
         "mjcf_ms": 2.503578085452318,
         "compile_ms": 65.20754005759954,
         "graph_ms": 87.69368985667825,
-        "render_total_ms": 1639.3223144114017
+        "render_total_ms": 2633.04027216509
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4157,16 +4225,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 59.48561290279031,
-        "render_ms": 1465.7620741054416,
-        "compose_ms": 39.274503011256456,
-        "write_ms": 61.747778207063675,
-        "foreground_fraction": 0.13585
+        "compile_ms": 661.8461348116398,
+        "render_ms": 1803.0101549811661,
+        "compose_ms": 60.63903542235494,
+        "write_ms": 74.62067203596234,
+        "foreground_fraction": 0.13585,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "f8f965609ccf553307abd3092e28444fc2289b120615e60d899c35edbbabcdb5",
         "meshes.tar": "dc6e4d584d7f24ceab4800c82f24fe287f19858f8ef83e45f57df47d4aaf3c75",
-        "render.png": "8419807f6e77162456e68de619f96392e43cefb1799ec06ad9989428c229d91c",
+        "render.png": "97abbb5de4b76657ef61466fa6ee55a88d8af4ef0539d996eb2a31be95efd397",
         "graph-raw.svg": "0b0f30e4deab92735e687b1a43ea8e4080c41a9710066110b2f2809f0ab127f3",
         "graph-robot.svg": "76de645f369d4aee43e0f5bd444ebe487274442b3dc89885234c34b4624bc1c6"
       },
@@ -4197,7 +4267,7 @@
         "mjcf_ms": 3.0936826951801777,
         "compile_ms": 8.94376402720809,
         "graph_ms": 107.95813519507647,
-        "render_total_ms": 1521.334388293326
+        "render_total_ms": 2106.7584920674562
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4258,16 +4328,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.428613353520632,
-        "render_ms": 1368.7688526697457,
-        "compose_ms": 59.38795581459999,
-        "write_ms": 70.08379371836782,
-        "foreground_fraction": 0.4499
+        "compile_ms": 10.45674504712224,
+        "render_ms": 1909.2928310856223,
+        "compose_ms": 77.6392761617899,
+        "write_ms": 85.64516576007009,
+        "foreground_fraction": 0.4499,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "b4b1b8afd437a3f717d952d6687379dc31b1fd3fe8242adb50c0805303d53362",
         "meshes.tar": "e3e7084da1425847f26d88bcd1e4d405410e0559c3b2d7853347f630bfe11945",
-        "render.png": "bef5e7f1eebfe97eaace83396a9c18b71e37587ecd2074e1feb8b22b45be4ff9",
+        "render.png": "3b97737e582e030c70625130d5a0bbb6d39fab62c119f14a626f2d67aa3ebeff",
         "graph-raw.svg": "bddd4b559f49daaadb7cda86a3a45d6e8f458cbb3001dcc9bd920ef5175bd9fb",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "6df39c860e93d90378a52db0876b5235d5f0cf3d0ab0ac01fa577ab689a1ca84"
@@ -4311,7 +4383,7 @@
         "mjcf_ms": 3.1865090131759644,
         "compile_ms": 53.631415124982595,
         "graph_ms": 167.19598835334182,
-        "render_total_ms": 1567.3045148141682
+        "render_total_ms": 2023.6978400498629
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4359,16 +4431,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 56.19643023237586,
-        "render_ms": 1363.2164928130805,
-        "compose_ms": 58.73846681788564,
-        "write_ms": 75.69771306589246,
-        "foreground_fraction": 0.6423083333333334
+        "compile_ms": 77.86970492452383,
+        "render_ms": 1732.1897149085999,
+        "compose_ms": 76.407206710428,
+        "write_ms": 111.85026820749044,
+        "foreground_fraction": 0.6423083333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "d8fda65580a846cb417a1397025673de387681f27c763c68be9ca92d145ddfb5",
         "meshes.tar": "a601da16c870a3b935436e78c18913b891024bc486845b433490f8d068274487",
-        "render.png": "c8ea1da3c624f3dfc4028a88ef91e756d578b02503234acd68ecdbcd38128281",
+        "render.png": "1b4e6fdae258b756c06edaa82dbaed16deb6fd05094fddd0183e243feec16589",
         "graph-raw.svg": "c7dcc4e89b6926f2c2a1ac8cfe792a1cc45269a64603b70d5862bdbf4ae33bb8",
         "graph-robot.svg": "9747eb25f8f0d96eaa8b74dad956e4e596b3e250210346894d58def681115775"
       },
@@ -4408,7 +4482,7 @@
         "mjcf_ms": 2.7680941857397556,
         "compile_ms": 10.656394995748997,
         "graph_ms": 112.64448100700974,
-        "render_total_ms": 1549.2738988250494
+        "render_total_ms": 3045.2659279108047
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4487,16 +4561,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.369531206786633,
-        "render_ms": 1398.9302851259708,
-        "compose_ms": 51.95862939581275,
-        "write_ms": 70.55454794317484,
-        "foreground_fraction": 0.31075
+        "compile_ms": 13.928115367889404,
+        "render_ms": 2114.309827797115,
+        "compose_ms": 75.86349127814174,
+        "write_ms": 813.6492916382849,
+        "foreground_fraction": 0.31075,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "71aaf37f8979b363d0a71530a1461f01519808effd1be442e06aa6dd7132db9a",
         "meshes.tar": "fb2b77f210c3262eab54fba136fa54b4ab23234376b3076b4e96a43c5199015a",
-        "render.png": "c7f5c97380d8d52d73aa2d6961cc4840d96cde1965a1bf8b6825f7136598eed2",
+        "render.png": "7ee18062dfeb769d656642d56a4c71565d522503bc7e246079b86b79c09c9349",
         "graph-raw.svg": "b94a928d9eaeb65fa756ee7d6d444da41ca0c1a7be97a6f057af2cbccc9738ef",
         "graph-robot.svg": "8b72fc9364df892c14fc12933bd998dee8f481665b4bc94800f8ceb9c9c83fdf"
       },
@@ -4534,7 +4610,7 @@
         "mjcf_ms": 6.700111087411642,
         "compile_ms": 54.69490122050047,
         "graph_ms": 249.7064988128841,
-        "render_total_ms": 1653.4286490641534
+        "render_total_ms": 2134.11274459213
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4582,16 +4658,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 56.66544707491994,
-        "render_ms": 1427.9634938575327,
-        "compose_ms": 79.1788031347096,
-        "write_ms": 75.82223927602172,
-        "foreground_fraction": 0.589225
+        "compile_ms": 85.21649381145835,
+        "render_ms": 1834.603553172201,
+        "compose_ms": 84.41822417080402,
+        "write_ms": 114.43600989878178,
+        "foreground_fraction": 0.589225,
+        "style": "link-palette-v1",
+        "colored_bodies": 40
       },
       "artifacts": {
         "robot.mjcf": "1985f2ed79d8256057932e997cf33eaa63b434515667b73c6febf9d0f0a9bbed",
         "meshes.tar": "a2a27ea13c89ee419189b26c7c86a1a6f801ce77b6733fc9454701ed99be0587",
-        "render.png": "bd8b3b0602aa2a2cae83ed999488de7e28380eaf691b65589e8e113fa13dd8df",
+        "render.png": "438414ec6d7dda19b62ca1c4f37ba5c9a15ce5ce495b3dff91232c35b5ca063e",
         "graph-raw.svg": "2f29a779358f26d75e265a4dbc939512106e987991d84e1ae2defa2d8428035d",
         "graph-robot.svg": "7036470dca310a7235ddb18a6601c36f426306a101484838f5c0b8908503725d"
       },
@@ -4629,7 +4707,7 @@
         "mjcf_ms": 2.1956684067845345,
         "compile_ms": 12.335208710283041,
         "graph_ms": 93.97462289780378,
-        "render_total_ms": 1495.7913481630385
+        "render_total_ms": 1735.2497708052397
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4696,16 +4774,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.775975607335567,
-        "render_ms": 1349.049473181367,
-        "compose_ms": 50.09851511567831,
-        "write_ms": 68.04306479170918,
-        "foreground_fraction": 0.2453
+        "compile_ms": 17.338508274406195,
+        "render_ms": 1553.7765212357044,
+        "compose_ms": 62.51073582097888,
+        "write_ms": 73.61044781282544,
+        "foreground_fraction": 0.2453,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "501398fae198a093e8fb462a4243ebe22af656496d86ab6709fc97563176e32e",
         "meshes.tar": "9c6d4a2b858ee054c90922d79f706b32791f32e27270f68cba4a824836306445",
-        "render.png": "e25206373c5706482f45ce91c28848dd82866492d9018364d8a83dcfeda11c9c",
+        "render.png": "e0fcbf487e98a5768a8f1f23d3b000239f6b72ee9d917e439dff551aeb578c25",
         "graph-raw.svg": "b584b6bc1afcfef92ba5b9067be81f90f28e084f3c3dbee66d71d65e78403686",
         "graph-robot.svg": "14f80d33b44535442c923b319f3e5c86a034d46cba94e446399db7520195af0a"
       },
@@ -4743,7 +4823,7 @@
         "mjcf_ms": 2.234390936791897,
         "compile_ms": 10.938278865069151,
         "graph_ms": 85.77782800421119,
-        "render_total_ms": 1590.151822194457
+        "render_total_ms": 1835.1733670569956
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4798,16 +4878,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.471308957785368,
-        "render_ms": 1393.3162577450275,
-        "compose_ms": 82.35273929312825,
-        "write_ms": 80.60160558670759,
-        "foreground_fraction": 0.65615
+        "compile_ms": 14.234645757824183,
+        "render_ms": 1636.613701004535,
+        "compose_ms": 77.63695996254683,
+        "write_ms": 93.70797406882048,
+        "foreground_fraction": 0.65615,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "d91bf789fb938f540c8ccf72ba494fe860048a8907c8a91116506ef200bd565f",
         "meshes.tar": "716600863cd75eaf367da8fbe9f75c4286942f8829dbaa44b653a8729bf04172",
-        "render.png": "99a1ab01117a468ef5eac26790dd8cde01dcaa4bffa52107ea0db9401474d580",
+        "render.png": "2602cbbbcaeea6d5d6659a85a9a2082198177a0893af73000e7b642ecd137674",
         "graph-raw.svg": "e4edf2cc0a5bb71aec3394755a0446bbf1f92253bb7e6838ab8c6804bee06f92",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -4845,7 +4927,7 @@
         "mjcf_ms": 2.4552540853619576,
         "compile_ms": 3.8113081827759743,
         "graph_ms": 80.42991813272238,
-        "render_total_ms": 1532.8327408060431
+        "render_total_ms": 1834.0895310975611
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4893,16 +4975,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.01094788685441,
-        "render_ms": 1378.4034382551908,
-        "compose_ms": 70.32036688178778,
-        "write_ms": 66.32821541279554,
-        "foreground_fraction": 0.48675
+        "compile_ms": 4.68270992860198,
+        "render_ms": 1671.4225388132036,
+        "compose_ms": 71.91833294928074,
+        "write_ms": 73.40858224779367,
+        "foreground_fraction": 0.48675,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "93d66fbf8e73242a88502dfa8468e0750f54875c28001214326af7a7e9e83137",
         "meshes.tar": "0544cf0e1b84cff90c5df0311c1b34a894f2a5f7989eef5a973a3e8e46d9616a",
-        "render.png": "925440ff473b990e05b37a9c174c66472e5c802f31a48ae4542fca01da51f78d",
+        "render.png": "6920ff0915714b1bd943ac247094f330fbe3a6c1e7cd68811edbbb7d7c9856d3",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -4940,7 +5024,7 @@
         "mjcf_ms": 2.4396241642534733,
         "compile_ms": 9.78647219017148,
         "graph_ms": 86.01533621549606,
-        "render_total_ms": 1527.4068722501397
+        "render_total_ms": 1806.521276012063
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4995,16 +5079,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.626559611409903,
-        "render_ms": 1351.8978469073772,
-        "compose_ms": 63.20543959736824,
-        "write_ms": 88.36069330573082,
-        "foreground_fraction": 0.5742
+        "compile_ms": 7.202942855656147,
+        "render_ms": 1608.3130459301174,
+        "compose_ms": 65.48436498269439,
+        "write_ms": 112.60629119351506,
+        "foreground_fraction": 0.5742,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "7544e54e0b1339b05813da3c1afa6ba6233a979740c477e58ef2c2e06086718b",
         "meshes.tar": "4c4550c8b2177d57276b54453cc7ba7e513fd9c40f0d8982c9ea7eae311f57e2",
-        "render.png": "317e8d72f541f9e30fc462aa6aae6f00b618a6a8a42d3ab659da50b0066e8ea5",
+        "render.png": "b3d44263abfb1573bb3a984a2cb57dc76bc8f9c8c339cd5df1a221d2acd621ab",
         "graph-raw.svg": "e35b1fce971abe505dc10ae150175d3917bc79ce72afba617d1c64aa5792d92c",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -5042,7 +5128,7 @@
         "mjcf_ms": 4.6418108977377415,
         "compile_ms": 55.6394481100142,
         "graph_ms": 148.72589893639088,
-        "render_total_ms": 1633.282234892249
+        "render_total_ms": 1943.470676895231
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5090,16 +5176,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 64.88512502983212,
-        "render_ms": 1422.2819251008332,
-        "compose_ms": 61.50026200339198,
-        "write_ms": 71.30059087648988,
-        "foreground_fraction": 0.63305
+        "compile_ms": 114.77120406925678,
+        "render_ms": 1659.4827021472156,
+        "compose_ms": 61.75734708085656,
+        "write_ms": 93.21016911417246,
+        "foreground_fraction": 0.63305,
+        "style": "link-palette-v1",
+        "colored_bodies": 19
       },
       "artifacts": {
         "robot.mjcf": "93c92890848daf3b8ac98f391ecb639c0265c10c0c9cf827842a86fb58362f09",
         "meshes.tar": "75426fee1324207b4eb8791db4d10cd7bf47bd51328fd3b4aaf2b206153abbfc",
-        "render.png": "0a4a46163c880317ca27ca9f1fcf8340809b3e0e5567703878e092d5d8aafc44",
+        "render.png": "d5b99b2d29260736aad91982da067b45aee9db7257dee5c513a0935035d17639",
         "graph-raw.svg": "995017fb0811a710e9b29f3a236081df5c0aa688200ea847cf284d6e243ff422",
         "graph-robot.svg": "70c4118133e61f7041e1e43f2257c35b1f5346fdcf5ab11f20e517eb35bb408b"
       },
@@ -5130,7 +5218,7 @@
         "mjcf_ms": 3.290168009698391,
         "compile_ms": 700.5746313370764,
         "graph_ms": 78.28172296285629,
-        "render_total_ms": 2414.9900190532207
+        "render_total_ms": 2890.9233529120684
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5191,16 +5279,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 683.7140242569149,
-        "render_ms": 1552.906125318259,
-        "compose_ms": 65.86958607658744,
-        "write_ms": 99.36873614788055,
-        "foreground_fraction": 0.6534
+        "compile_ms": 727.6127929799259,
+        "render_ms": 1927.3291928693652,
+        "compose_ms": 83.14375812187791,
+        "write_ms": 135.02107514068484,
+        "foreground_fraction": 0.6534,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d7d52c304218fbae15d14f99fcfba2dc5208add5de6edc494eced35e4f342ccc",
         "meshes.tar": "d968f9aa811129f4ccd811da4bfc8b74bc473ec2912c01d35caf525d3d9556af",
-        "render.png": "7f720d654dfdb8156a31db57d2a7f37fdf33f62d9a7dcb5561854e6378597269",
+        "render.png": "4f318cfaace9f94c43617483eba4935e623ef38717afdd35cb10f27b3e59997e",
         "graph-raw.svg": "8ab7b84565fa729adf3f9115e1caf3b038edb485d56151810f588f74bfc6be14",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "045503e07d50502d5d06982c96ecba3cb6dc3fee4d3d9672884ccc90e93aac01"
@@ -5262,7 +5352,7 @@
         "mjcf_ms": 14.425968751311302,
         "compile_ms": 41.044017765671015,
         "graph_ms": 1205.957941710949,
-        "render_total_ms": 1633.637531194836
+        "render_total_ms": 1956.487299874425
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5437,16 +5527,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.24263783544302,
-        "render_ms": 1433.5439391434193,
-        "compose_ms": 65.50511717796326,
-        "write_ms": 79.16802307590842,
-        "foreground_fraction": 0.7947333333333333
+        "compile_ms": 61.95382308214903,
+        "render_ms": 1719.683920033276,
+        "compose_ms": 75.24288911372423,
+        "write_ms": 81.91028283908963,
+        "foreground_fraction": 0.7947333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 19
       },
       "artifacts": {
         "robot.mjcf": "5086f7c760d382107dd85678b72c99f7278d345e144e093bdabf7a4c1dac3c64",
         "meshes.tar": "130b72f00ac653085359c320518b21b78b3cbc071ec2faf7c14db0fa8cec08a2",
-        "render.png": "a7402c0cffd0a210587ec4868cb6a6ae41a7a43fc542b5f7e50cc59d492adbfc",
+        "render.png": "cfd8a9829d0ad1cef392fb7718390927517cfee89723999c5dd99fee31a567f7",
         "graph-raw.svg": "b5ae4be73df2ba440ea04ce0084300d43818fc2896ed656ee6b00d97de2e5617",
         "graph-robot.svg": "677becd44a21b578c4fe03d76ee7b5790edc87f62606fa098b4447531cfbdafc"
       },
@@ -5490,7 +5582,7 @@
         "mjcf_ms": 3.4021148458123207,
         "compile_ms": 372.2577281296253,
         "graph_ms": 786.8150868453085,
-        "render_total_ms": 2183.2440169528127
+        "render_total_ms": 2628.370609600097
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6523,16 +6615,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 326.5218990854919,
-        "render_ms": 1692.3833237960935,
-        "compose_ms": 58.714441023766994,
-        "write_ms": 89.18773708865047,
-        "foreground_fraction": 0.48345
+        "compile_ms": 375.3101481124759,
+        "render_ms": 2074.6081210672855,
+        "compose_ms": 66.32833322510123,
+        "write_ms": 94.7440261952579,
+        "foreground_fraction": 0.48345,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "78413cc06ae7d233a9375c7ba319af841f1199abfeec5cd4d5b414eed1ab075b",
         "meshes.tar": "a902d12249a53aa3968d05cfc0bec8637e2f04b542c04e714857f67c47459bd1",
-        "render.png": "d12062aaeebd4b92351965fb192ea4f0c57f9a5a7afcf77bd57779734bd90ab0",
+        "render.png": "0e4a5ab2f9f6736e0a27b07338bbfef990ce7686af7b02beeb07402d1f3b739e",
         "graph-raw.svg": "6dc559189a9337a0ea924b74f1302bbebb929e85b55c6dd3d04fdc512d74dac0",
         "graph-robot.svg": "1a007b6c57c0f6f3ca2e666574199eee393c3b050ed36bf69ca9390572e7f3d7"
       },
@@ -6563,7 +6657,7 @@
         "mjcf_ms": 2.734648995101452,
         "compile_ms": 49.366182181984186,
         "graph_ms": 136.32595026865602,
-        "render_total_ms": 1689.6367841400206
+        "render_total_ms": 1972.2733846865594
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6631,16 +6725,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 50.84399692714214,
-        "render_ms": 1481.0557579621673,
-        "compose_ms": 66.75659911707044,
-        "write_ms": 77.59935688227415,
-        "foreground_fraction": 0.689325
+        "compile_ms": 64.64374111965299,
+        "render_ms": 1736.0514900647104,
+        "compose_ms": 70.43108809739351,
+        "write_ms": 87.62509794905782,
+        "foreground_fraction": 0.689325,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "5a7c54b555f7bf98d93f1a6b4dd6af45fa8db5c19067353b50157d1cb2a2c2d4",
         "meshes.tar": "750d75896d40b4b9428d978bd15d7f7caaa0f24677438bd5ae8922ab1d260f4d",
-        "render.png": "753e095e5388c7948760df8d56b9a2853ef1c3a3a76ac9737d7fb73109984e92",
+        "render.png": "7ab7210035f06db289eba521e698d6e040fdcba61c14b3d3c8e7b4c96707e5ba",
         "graph-raw.svg": "8dc166ac6c60806e51c6164c136c3fa8a7c51a9161e9206da33511fa1ef28c70",
         "graph-robot.svg": "7313c4c9d05fe8f66e8e5046340aa7bc1d54e3462a91edd76d58b2efa7ffccac",
         "robot.urdf": "5240616dac1cbf31547b5febcbd78c31716c64b61cd68bd6cc0ade07e81fcec6"
@@ -6681,7 +6777,7 @@
         "mjcf_ms": 2.400127239525318,
         "compile_ms": 10.985449887812138,
         "graph_ms": 93.94503897055984,
-        "render_total_ms": 1548.3071091584861
+        "render_total_ms": 1854.4040280394256
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6736,16 +6832,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.02779633179307,
-        "render_ms": 1403.035449795425,
-        "compose_ms": 56.5140419639647,
-        "write_ms": 66.04991806671023,
-        "foreground_fraction": 0.46695
+        "compile_ms": 9.66207217425108,
+        "render_ms": 1701.0917202569544,
+        "compose_ms": 58.851598761975765,
+        "write_ms": 71.93264085799456,
+        "foreground_fraction": 0.46695,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "896754671dc539c49f7c41b7f9090efb15216a8b6066877ecb565c9026e7e1c1",
         "meshes.tar": "ab984082d88b5f5b8d98038c89e96ed400bd5b5e96121e337ed9432384043385",
-        "render.png": "e54722f33e2b77ff0382152ffdcf5116c1279714fa5d16620c7c39e130a19aa3",
+        "render.png": "51f0717a47979c31ae45a151f2c3c986d4206cc5d03c68ae82a3f965df5cf567",
         "graph-raw.svg": "00711ca8d97d2a793798d2aaf3a17963339332942294d8e36396cbba4ec4406b",
         "graph-robot.svg": "ac92b67b92f4100da357e990443f403cedff969667572d6fe8035cfef4739db0"
       },
@@ -6799,7 +6897,7 @@
         "mjcf_ms": 5.004979204386473,
         "compile_ms": 184.06040593981743,
         "graph_ms": 647.4390118382871,
-        "render_total_ms": 1911.7367030121386
+        "render_total_ms": 2150.975522119552
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6866,16 +6964,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 217.79085462912917,
-        "render_ms": 1543.8690762966871,
-        "compose_ms": 59.694766998291016,
-        "write_ms": 77.45378697291017,
-        "foreground_fraction": 0.7117
+        "compile_ms": 202.03555282205343,
+        "render_ms": 1784.8977129906416,
+        "compose_ms": 69.34811919927597,
+        "write_ms": 82.0019580423832,
+        "foreground_fraction": 0.7117,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "960982b0f86d51f0c52517bd471db05ec2bf662bcfd1b00f37ff4678de545e95",
         "meshes.tar": "d69e94fdd3876c2f3cdc8dd745bc7c211fd00a08f697ce2d1b5a69fcd705c24b",
-        "render.png": "c853bdba8d0fb149487f82948968a92228239758d2b17ace07f6776b32a9c095",
+        "render.png": "711887558b2c9ff9fe67c18bb7ed8155ddb23999dd44080076559106916eb7f6",
         "graph-raw.svg": "3edb7a3fded052c3b91c8e528308938225efb94bafd28364f5622a5a215f5df9",
         "graph-robot.svg": "99d97763bbd765275abeb59958404fa18f00de91faacbba9bb3aa7fb1f5dcdfc"
       },
@@ -6906,7 +7006,7 @@
         "mjcf_ms": 2.943543717265129,
         "compile_ms": 163.6210442520678,
         "graph_ms": 190.990773960948,
-        "render_total_ms": 1767.8160150535405
+        "render_total_ms": 2150.706607848406
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6967,16 +7067,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 166.5184199810028,
-        "render_ms": 1437.5266679562628,
-        "compose_ms": 62.73823790252209,
-        "write_ms": 87.60394807904959,
-        "foreground_fraction": 0.737
+        "compile_ms": 214.9112420156598,
+        "render_ms": 1737.1402359567583,
+        "compose_ms": 79.475955106318,
+        "write_ms": 100.16675340011716,
+        "foreground_fraction": 0.737,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a0ca3d9b74caa19c886bf9b7821ec5406bc377bebe6d56a05915876b61d01663",
         "meshes.tar": "bfe99e02891e99acb40417a1103bb9df76f56e84948dc88ebcd58079f10a3bc8",
-        "render.png": "1887ad6878951b791feb3be7e3268210a195a9f8bfb8388ee88d4a8c3dd2e35d",
+        "render.png": "c8130f7ec71b7805c6f07f04fd666e7198900d1515adf74d27941580803fb4ed",
         "graph-raw.svg": "7bd127c924c83c626db1282e26d6d8022e3784775ef16fba88f50a8fd7bf99fa",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "e11dae3866c331c0fa2d9e8bc1e2f3df6ec0e5f55cfa1c248c6cbeb862f72ef7"
@@ -7021,7 +7123,7 @@
         "mjcf_ms": 3.3679092302918434,
         "compile_ms": 583.7894608266652,
         "graph_ms": 162.47711703181267,
-        "render_total_ms": 2537.281632889062
+        "render_total_ms": 2922.601468861103
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7082,16 +7184,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 584.8321197554469,
-        "render_ms": 1760.315515100956,
-        "compose_ms": 58.5229117423296,
-        "write_ms": 115.72910007089376,
-        "foreground_fraction": 0.68705
+        "compile_ms": 602.1196679212153,
+        "render_ms": 2104.306337889284,
+        "compose_ms": 60.17966289073229,
+        "write_ms": 142.85685308277607,
+        "foreground_fraction": 0.68705,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "932525f2ba50f1972c2f93ba8d86cf44678530e2d147f84b7a17109578de29a8",
         "meshes.tar": "7248c2968714bb9037e084e34b4bc5dab3de31bd37f23dafc5eed63d2a4601ff",
-        "render.png": "80eef476902fdfd4dd1ec46de2c3b6dd646437e156ce6f4fc950bfe87abb827d",
+        "render.png": "6655c81a6dd0a5ec208af3084d3bd0109acfceec43568ba2d954c2916dbef3ce",
         "graph-raw.svg": "9871f396edf8fb1b0428ccc115825598df064276623917e27df9af2f2de8dcf5",
         "graph-robot.svg": "0b3bd96a2da6f0ee4c01e3392abf6c531016933ca4a40d9c1759afd5e72dcd3c"
       },
@@ -7132,7 +7236,7 @@
         "mjcf_ms": 2.84640584141016,
         "compile_ms": 49.46319805458188,
         "graph_ms": 146.75910444930196,
-        "render_total_ms": 1560.4142867960036
+        "render_total_ms": 2087.745430879295
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7180,16 +7284,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 57.739595882594585,
-        "render_ms": 1400.7141441106796,
-        "compose_ms": 38.64379692822695,
-        "write_ms": 49.767402932047844,
-        "foreground_fraction": 0.1122
+        "compile_ms": 61.77529413253069,
+        "render_ms": 1756.4249839633703,
+        "compose_ms": 40.68923415616155,
+        "write_ms": 215.10200714692473,
+        "foreground_fraction": 0.1122,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "db8742dcdbd2696a0e9872ee274dd0ed0a29e66f37363c8c3ae17469ad962e2c",
         "meshes.tar": "6ddf381704787cee640d50a1ae574a6e356113244b7b2ebae79083543d0d6baf",
-        "render.png": "d6b469eb2d44dfa8dfe224fb96b4780edfeaed5756fc0d7eb591a3d2478a4c40",
+        "render.png": "458ee7b83ffa3a47dbe1246b52862312118f67e536bce38a0b8b67cb376d8f6e",
         "graph-raw.svg": "0d4f60e43a94752daae35e9e4bed58a2ecbd73b6a7bb584de0c8552e357daca9",
         "graph-robot.svg": "504c0fbffa8bdd4c79f7c5172f2669274d8c1dcd61a106348fc9edd63cc7e086"
       },
@@ -7251,7 +7357,7 @@
         "mjcf_ms": 8.20237398147583,
         "compile_ms": 371.6182420030236,
         "graph_ms": 879.1267313063145,
-        "render_total_ms": 2330.047521740198
+        "render_total_ms": 2956.2847455963492
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7858,16 +7964,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 420.0088083744049,
-        "render_ms": 1745.1757350936532,
-        "compose_ms": 55.3336963057518,
-        "write_ms": 91.03786200284958,
-        "foreground_fraction": 0.4125
+        "compile_ms": 443.4692757204175,
+        "render_ms": 2304.3766133487225,
+        "compose_ms": 86.41825476661325,
+        "write_ms": 98.06256787851453,
+        "foreground_fraction": 0.4125,
+        "style": "link-palette-v1",
+        "colored_bodies": 25
       },
       "artifacts": {
         "robot.mjcf": "fbd05701821085e3f4372ce33431b02f231a2d24c67c972b2bc2278f4f8223de",
         "meshes.tar": "b64a6440527a8de6a56e4e42a63209feeaade34b66b1110b9c16fa26e17fc05f",
-        "render.png": "1b00a33cff35049f553f0c4b4b45ff420ff72eed9b6aa4035758458979d038d8",
+        "render.png": "1fc8008505e1a67a923136cffc96d6ffa629e7b6f4b9dec66fe84df27649e659",
         "graph-raw.svg": "76785f2f3f2de14a40aed9e2e821ab017fdbc7bc4a387be6dcf326acc57c366b",
         "graph-robot.svg": "35ffa29b25d426a65f37a1e2fd9b86bc9c3e9da192add2116fea61862178cc0e"
       },
@@ -7926,7 +8034,7 @@
         "mjcf_ms": 7.881203666329384,
         "compile_ms": 377.53567937761545,
         "graph_ms": 632.4935439042747,
-        "render_total_ms": 2262.291850987822
+        "render_total_ms": 3269.327519927174
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8311,16 +8419,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 357.3773051612079,
-        "render_ms": 1742.518460843712,
-        "compose_ms": 56.65329145267606,
-        "write_ms": 89.08819407224655,
-        "foreground_fraction": 0.41195
+        "compile_ms": 581.1745612882078,
+        "render_ms": 2493.8683910295367,
+        "compose_ms": 76.40288909897208,
+        "write_ms": 97.13008999824524,
+        "foreground_fraction": 0.41195,
+        "style": "link-palette-v1",
+        "colored_bodies": 24
       },
       "artifacts": {
         "robot.mjcf": "748f758e3f3590d45fad5fc6c2a7093b3b968e05512f70cdfb795e4cbacb6de0",
         "meshes.tar": "35cec026aca09f99b77bb83720aa9cc6bfdd613c29863e947893c5c8bcb67266",
-        "render.png": "20a1160153f12de6fe2c97dd5d001cf10a4043acda98ee54551344d11b4f07e3",
+        "render.png": "6cfa3ecefc069c6eb47bb30b15a593a2ac6fa17ea7990ee5b3124d15fcc544ca",
         "graph-raw.svg": "f9dceb9fa78eaad64ef0c18bb0d0d02eb2135338ab8abcd6ede3d8e6c55fdc16",
         "graph-robot.svg": "49fdc1482a06a8728a57ff45c8b5bdfcef3a586bc80e181f4f4c17e73299b20b"
       },
@@ -8362,7 +8472,7 @@
         "mjcf_ms": 3.9845751598477364,
         "compile_ms": 39.56926520913839,
         "graph_ms": 472.8291342034936,
-        "render_total_ms": 1687.779838219285
+        "render_total_ms": 2053.0966031365097
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8783,16 +8893,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 46.02402728050947,
-        "render_ms": 1456.3022502698004,
-        "compose_ms": 79.06939787790179,
-        "write_ms": 91.30742307752371,
-        "foreground_fraction": 0.7469583333333333
+        "compile_ms": 57.72737506777048,
+        "render_ms": 1780.3904549218714,
+        "compose_ms": 87.5777741894126,
+        "write_ms": 112.43013013154268,
+        "foreground_fraction": 0.7469583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "2ee03715c9d5894f61b6fb4e1196dc2f273bb43926edb266fe7e4464814b1b53",
         "meshes.tar": "d9cbd2e304e208b60c2bc7f1ffb409a5e3f38884a120aec30eed28ea7241ebc5",
-        "render.png": "b177b3932d200b07cf406ca9bb4bbc8d8bcf8daca4208f5ab2474c4d73c8da96",
+        "render.png": "8b33e40b84ed566e57565e6c2d09944a348a9f54891e0ae38900e28f286caaa4",
         "graph-raw.svg": "4a1c93b67a933876c73ad3e41a6cedb043d498fe864d406e8afed121cf7a8fc9",
         "graph-robot.svg": "fe36c76416db6fb7585e89f4e4df1565f2de8edd0aab6381a22a52236a4c500c"
       },
@@ -8832,7 +8944,7 @@
         "mjcf_ms": 2.546431962400675,
         "compile_ms": 10.883366223424673,
         "graph_ms": 344.3282409571111,
-        "render_total_ms": 1576.6960610635579
+        "render_total_ms": 1804.615182802081
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8911,16 +9023,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.820724043995142,
-        "render_ms": 1411.305953282863,
-        "compose_ms": 73.50836833938956,
-        "write_ms": 70.66482491791248,
-        "foreground_fraction": 0.7454416666666667
+        "compile_ms": 11.19709713384509,
+        "render_ms": 1627.271020784974,
+        "compose_ms": 74.59245715290308,
+        "write_ms": 77.91712693870068,
+        "foreground_fraction": 0.7454416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "2d296198c73d47a2f133588870d436c89df07e5e145ba11dfd3fa9feb8c4afa3",
         "meshes.tar": "05611f04c35b7d6246679e0e430cca766a8ad92a9a0d02a4f6d0f06c3ff4d512",
-        "render.png": "b25f17531c4e8ca3c15c28512166e8cca50b2b839eda528d77738e00ab996eee",
+        "render.png": "29b09763bb251c0aa276316446f5335730c910a385f50029cf4286add0f7f7d5",
         "graph-raw.svg": "920d59a84303099ddcee66d46d0eccd30480964ff5c3fa71464d7f2844b342f0",
         "graph-robot.svg": "41d91c0a1c785050c851b7895ed4c4675a99c5f9490c49db48b192b3cc3b2ea0"
       },
@@ -8951,7 +9065,7 @@
         "mjcf_ms": 2.6353057473897934,
         "compile_ms": 463.94206723198295,
         "graph_ms": 74.05030401423573,
-        "render_total_ms": 2126.003898214549
+        "render_total_ms": 2600.700148846954
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9019,16 +9133,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 416.80538933724165,
-        "render_ms": 1570.02484658733,
-        "compose_ms": 54.418937768787146,
-        "write_ms": 71.35578338056803,
-        "foreground_fraction": 0.3322
+        "compile_ms": 448.49494379013777,
+        "render_ms": 1999.521222896874,
+        "compose_ms": 60.63169287517667,
+        "write_ms": 77.83911423757672,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e324843e4b4625d1bf84164682711073b3ff137f0e16ef5d6e9dd57514fb0e5b",
         "meshes.tar": "7d46c55065f413007a76fc12305ca107a83c0903ff8afc1531917a03d92c2771",
-        "render.png": "596c52e3e6f7476b8d980eda250eea5c8b2ca4fbbf2c8fb120a1b164e047f694",
+        "render.png": "bb673b5dc1621a467fe2fadb0de9c1cd1579b791e9e8954325df86469fc17be7",
         "graph-raw.svg": "aee321fd40423ac7128b39335eafa6345dced954e890358fcffe907d0ce0a7bb",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "0b40372caf5a2fe41b013b97d434daed700f445c80a9a4da2748980bbb8d3636"
@@ -9068,7 +9184,7 @@
         "mjcf_ms": 2.844898961484432,
         "compile_ms": 20.71659965440631,
         "graph_ms": 281.0896993614733,
-        "render_total_ms": 1597.0251932740211
+        "render_total_ms": 2095.2740190550685
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9116,16 +9232,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.947021078318357,
-        "render_ms": 1413.934560958296,
-        "compose_ms": 76.26813184469938,
-        "write_ms": 74.32509120553732,
-        "foreground_fraction": 0.775775
+        "compile_ms": 20.70030616596341,
+        "render_ms": 1892.3521088436246,
+        "compose_ms": 81.91442815586925,
+        "write_ms": 77.05786218866706,
+        "foreground_fraction": 0.775775,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "ea37f7ebd568e7f43b75a32c033139da95f1001884404cfc180b3418653544ba",
         "meshes.tar": "7be572fab7fe0f81535d585e03e8580411c6592a4bd6f611930c94426f637bd4",
-        "render.png": "09fcc917cda3299a976dde6e76b77aa41dccfacf2732aa9db5d1969d7ab25ccf",
+        "render.png": "643b76cd7af658e75cb43f9a6457117636adabd71a06d1c18feca25087978566",
         "graph-raw.svg": "3e2482c474750ac14f6ed788dc46e045ca094f391c0e645d124251542598459c",
         "graph-robot.svg": "da4934e44c730432c2b8ae219f2c4650061e338b33737938607615b3f7a216bf"
       },
@@ -9164,7 +9282,7 @@
         "mjcf_ms": 74.84062714502215,
         "compile_ms": 241.82889005169272,
         "graph_ms": 148.2894578948617,
-        "render_total_ms": 1914.8780470713973
+        "render_total_ms": 2791.554602328688
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9255,16 +9373,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 240.9308534115553,
-        "render_ms": 1529.5327510684729,
-        "compose_ms": 52.6236561127007,
-        "write_ms": 75.8107053115964,
-        "foreground_fraction": 0.40425
+        "compile_ms": 284.69899483025074,
+        "render_ms": 2349.568139296025,
+        "compose_ms": 54.556958843022585,
+        "write_ms": 80.62546467408538,
+        "foreground_fraction": 0.40425,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "abc60ca6811f30944502912f4711e26f379a43a7b09a01f7bd87b21fb42a244a",
         "meshes.tar": "f65f9527cfbbad918e8126de61597dfaa82fceb23467294d668d759ebf5852bb",
-        "render.png": "4dfd0997fdec087f4333bbda6ebd0ff9b1dcdf04817f574df22a8710319b1b37",
+        "render.png": "9f476683b8f9727ea338a0c1667114929db137b765dc69792b0904e622d87508",
         "graph-raw.svg": "6bc794785bb4b294ed5246ff3346ab7fe1d04e473c63165a7f49e4638da2fd97",
         "graph-robot.svg": "7217f5516dc2137cda88295c3ba220a7b8b6f7981e788263337d50b463d0822b"
       },
@@ -9298,7 +9418,7 @@
         "mjcf_ms": 3.022181335836649,
         "compile_ms": 6.724375765770674,
         "graph_ms": 587.0358077809215,
-        "render_total_ms": 1546.1782198399305
+        "render_total_ms": 1998.3978630043566
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9359,16 +9479,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.045399069786072,
-        "render_ms": 1391.5275796316564,
-        "compose_ms": 65.90134324505925,
-        "write_ms": 70.11393597349524,
-        "foreground_fraction": 0.7744
+        "compile_ms": 7.4472990818321705,
+        "render_ms": 1800.6043410860002,
+        "compose_ms": 65.99926808848977,
+        "write_ms": 110.22714804857969,
+        "foreground_fraction": 0.7744,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "c7ba850baa15b06a3f6a2f5a28cdbcc937577469c8ef48ce27aaae8692a63d08",
         "meshes.tar": "b95915ef70e4d5a9d08e2b306f2e3ef5aa3e5a19c49e893c054a0f8c82d069b7",
-        "render.png": "b394b50b6d08fe1a21a1f7944340b40d2826e269349bb0964ea9fa1782c04d5a",
+        "render.png": "5da6b7e86c1033a62ee00114452bcd7cccae63afaa3282f69566f839899f4f88",
         "graph-raw.svg": "b4f23d0ac85480ea40e7bc059bb9e7a7e9ad966c5537adbf74274d2af26cb5d5",
         "graph-robot.svg": "626035d4f1847a5451ff60addd68a5bccbc19c7a3a3cd25a7e8fc1aad48db656",
         "robot.urdf": "c46046aba818cd81720aa4d073fdb1dce6157a5b73fc6c284a76df281673bb4c"
@@ -9447,7 +9569,7 @@
         "mjcf_ms": 3.462572116404772,
         "compile_ms": 34.03850831091404,
         "graph_ms": 107.43765812367201,
-        "render_total_ms": 1673.8187330774963
+        "render_total_ms": 1808.3526608534157
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9508,16 +9630,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 34.88581161946058,
-        "render_ms": 1477.7303049340844,
-        "compose_ms": 78.34327034652233,
-        "write_ms": 69.5888395421207,
-        "foreground_fraction": 0.7964
+        "compile_ms": 38.8077269308269,
+        "render_ms": 1598.690580110997,
+        "compose_ms": 83.39763758704066,
+        "write_ms": 73.28033819794655,
+        "foreground_fraction": 0.7964,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "fc3bada613d1040c6b0a3d840008aa700c868edf07e20054d164d4e0d0ed7d41",
         "meshes.tar": "af05645ea1775ca602685f3bd051585c903f49774f17142ce480a6d23d01253b",
-        "render.png": "5a94f40d34e935d8b41b203724406ff63a0022d1d701914d5f6ed96ee358d885",
+        "render.png": "73dc544854f54cc2a18d8ef70610fdb5203a02366546265a9ad22028dcdee1a0",
         "graph-raw.svg": "b1f89f2b49a1447806cea63b6b7e89342e043e1a80ea1d6c6f0cd7d7b800dd7f",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "365d2adfc3f155a5854292077874843a5d40b6c6a6c8474b10ab23dbdcb11790"
@@ -9558,7 +9682,7 @@
         "mjcf_ms": 4.0962668135762215,
         "compile_ms": 19.596838392317295,
         "graph_ms": 162.31762478128076,
-        "render_total_ms": 1575.80079510808
+        "render_total_ms": 1873.8611941225827
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9606,16 +9730,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.332025311887264,
-        "render_ms": 1409.399766009301,
-        "compose_ms": 66.18157029151917,
-        "write_ms": 72.75201519951224,
-        "foreground_fraction": 0.6688
+        "compile_ms": 15.399897936731577,
+        "render_ms": 1646.3976749219,
+        "compose_ms": 100.89078126475215,
+        "write_ms": 80.02356719225645,
+        "foreground_fraction": 0.6688,
+        "style": "link-palette-v1",
+        "colored_bodies": 17
       },
       "artifacts": {
         "robot.mjcf": "fdac4d62253ed5a44ed2a3874e5872efc3b32af5750568e26140fd7a5e0f2a85",
         "meshes.tar": "98f3874a71a20c70022407f76ea34180b1d6f847d2e4511a3e973036abf7288a",
-        "render.png": "540963dcc7b9158d9cb6dc0525fa1d79dce1e9216db448cd931a8383cd86f75a",
+        "render.png": "4a82dfa3844ab2bec1098c9e26ce666c5488349943b6406f2b28e7136dd7dfce",
         "graph-raw.svg": "b5fe06d31a799700cd6fb3bd0ff9dc38e9f14bd91e5a5c3d7caa7fc984e338ef",
         "graph-robot.svg": "3b79a9f035f7e85e7f0463fbcecb3ca7375fa11fb6bb1edc107e9ab3bef0ffdf"
       },
@@ -9655,7 +9781,7 @@
         "mjcf_ms": 435.6234949082136,
         "compile_ms": 13.755104038864374,
         "graph_ms": 154.18038284406066,
-        "render_total_ms": 1575.0002171844244
+        "render_total_ms": 2583.0269320867956
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9703,16 +9829,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.007697813212872,
-        "render_ms": 1409.85616017133,
-        "compose_ms": 67.3410058952868,
-        "write_ms": 70.49330230802298,
-        "foreground_fraction": 0.6688
+        "compile_ms": 19.581636879593134,
+        "render_ms": 2330.8036499656737,
+        "compose_ms": 120.24390045553446,
+        "write_ms": 78.4832900390029,
+        "foreground_fraction": 0.6688,
+        "style": "link-palette-v1",
+        "colored_bodies": 17
       },
       "artifacts": {
         "robot.mjcf": "ce68688269edc260aeef45c4240f95ab4526b8b49bad0364e08611b248069258",
         "meshes.tar": "98f3874a71a20c70022407f76ea34180b1d6f847d2e4511a3e973036abf7288a",
-        "render.png": "540963dcc7b9158d9cb6dc0525fa1d79dce1e9216db448cd931a8383cd86f75a",
+        "render.png": "06670e83a383b819e9fe9a24575b32389a7d8215fe9ee6c0e8030c3ce5a303c5",
         "graph-raw.svg": "b5fe06d31a799700cd6fb3bd0ff9dc38e9f14bd91e5a5c3d7caa7fc984e338ef",
         "graph-robot.svg": "3b79a9f035f7e85e7f0463fbcecb3ca7375fa11fb6bb1edc107e9ab3bef0ffdf"
       },
@@ -9750,7 +9878,7 @@
         "mjcf_ms": 2.8629391454160213,
         "compile_ms": 76.6497254371643,
         "graph_ms": 77.80581573024392,
-        "render_total_ms": 1676.1562498286366
+        "render_total_ms": 2264.431490097195
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9798,16 +9926,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 73.64452024921775,
-        "render_ms": 1470.1978410594165,
-        "compose_ms": 59.06970985233784,
-        "write_ms": 59.79177029803395,
-        "foreground_fraction": 0.43945
+        "compile_ms": 93.90679793432355,
+        "render_ms": 2013.2982460781932,
+        "compose_ms": 77.73277210071683,
+        "write_ms": 63.22068767622113,
+        "foreground_fraction": 0.43945,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "5f509944ad6304681d1bd7c1a8bf328c32b71a180c021b10e48a43b776fd9c2b",
         "meshes.tar": "b911960c05057c53f4372b80d0a56d6a94f87d14ea8c83593fb501661dd7478c",
-        "render.png": "2bb21aadfe8c313509ba4676d910cdbd7791c5ceeef5cea2ee134a7b4693028c",
+        "render.png": "b8687324fe4fef07e4fd424473b2bb36f05cd8f6cba83ec483565189e49e5269",
         "graph-raw.svg": "e356da25bd20026f913e4ecbe9a27a1774e80585b4e6069d547676f0943f3b51",
         "graph-robot.svg": "3cc22834ff211aa7f6c7cdd631ef7a72cbc4420dfabda7fd5a5694dd51eeda60"
       },
@@ -9846,7 +9976,7 @@
         "mjcf_ms": 2.6633930392563343,
         "compile_ms": 48.43621328473091,
         "graph_ms": 111.33807711303234,
-        "render_total_ms": 1659.4182820990682
+        "render_total_ms": 2255.0793481059372
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9901,16 +10031,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 45.544941909611225,
-        "render_ms": 1444.411969743669,
-        "compose_ms": 59.89057989791036,
-        "write_ms": 96.00476920604706,
-        "foreground_fraction": 0.6259
+        "compile_ms": 58.3976493217051,
+        "render_ms": 1933.5438958369195,
+        "compose_ms": 80.40557568892837,
+        "write_ms": 165.94662377610803,
+        "foreground_fraction": 0.6259,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "6855a8ff9a915c85041fd6608047f70da1ecebbf4d5655d9e357ceb65a581f7e",
         "meshes.tar": "15aacb5fcb57f990f74e9fc32142e57b7e1bd6942b1f2ab3677670418762a5fe",
-        "render.png": "376995ba000efa6ddc77c37be275d71dfff4720743327d28563af5acb24040e4",
+        "render.png": "638ee8885d5973de40f3307c16b3d8f939544a1a5f84f9c6a5841a6f24cad126",
         "graph-raw.svg": "720a3df7e08abb7fe45ad1602e51276b076af50b419fbfcf70a457c7475fd271",
         "graph-robot.svg": "dd026df1ddc1d1eb37740260c2ad5275f452aaa4c47452bdf9aee5e5a9aabe73"
       },
@@ -10053,7 +10185,7 @@
         "mjcf_ms": 327.27339677512646,
         "compile_ms": 4863.434276077896,
         "graph_ms": 9252.732788212597,
-        "render_total_ms": 9607.443307992071
+        "render_total_ms": 12082.218647934496
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10540,16 +10672,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5218.33537099883,
-        "render_ms": 4192.710277158767,
-        "compose_ms": 60.58425176888704,
-        "write_ms": 90.1257568039,
-        "foreground_fraction": 0.757575
+        "compile_ms": 6304.8921236768365,
+        "render_ms": 5552.8162540867925,
+        "compose_ms": 79.69577191397548,
+        "write_ms": 90.5292653478682,
+        "foreground_fraction": 0.757575,
+        "style": "link-palette-v1",
+        "colored_bodies": 493
       },
       "artifacts": {
         "robot.mjcf": "cfb2cddf024979af34c24f79cc667707b8b22513109e574b62caf42154890a84",
         "meshes.tar": "7e0fe90a7389f587016bc12245f24aff9c6c19016b3622c83f1c7efe2b26d56e",
-        "render.png": "1352779b75d61ad5f3418296691d52515ee2c6cdd21a352574ab9b98d3d23091",
+        "render.png": "1663423ffcc1a2e13c7ba1444773d010ded21cf022f44eda79f5cf03a4a3d8b0",
         "graph-raw.svg": "3141dacf231bbe0f7e45d141da9296275cf26205b0663bbe56207d360cf7f6bb",
         "graph-robot.svg": "0d854cb182aee3daf3b2db0db768562c7f46432f0e5bad3a097126fb801d86b8"
       },
@@ -10646,7 +10780,7 @@
         "mjcf_ms": 3.6438978277146816,
         "compile_ms": 583.1574960611761,
         "graph_ms": 242.89706908166409,
-        "render_total_ms": 1921.113891992718
+        "render_total_ms": 2759.8246028646827
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10749,16 +10883,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 298.9564249292016,
-        "render_ms": 1457.0901077240705,
-        "compose_ms": 64.83003217726946,
-        "write_ms": 84.14315478876233,
-        "foreground_fraction": 0.50435
+        "compile_ms": 517.7944386377931,
+        "render_ms": 2042.675538919866,
+        "compose_ms": 82.94775523245335,
+        "write_ms": 96.65549406781793,
+        "foreground_fraction": 0.50435,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "c0dd91cd20c5d07308f31d653a92cb5716492c25cb40bb8c9072d09e71b1ad35",
         "meshes.tar": "92c3d372241c4971e964e72c7635ae9995ef3d0dbbd3fb163083509987c92bd5",
-        "render.png": "1a3d6239c3062515349ad6a398420e22b715d12286391a8b0065d069535fae8e",
+        "render.png": "b295833588c3843944adc8b144cf25ed917a702adc6fb101073404f6c7db60e2",
         "graph-raw.svg": "5b22ec8544553c1ce96f7cefbe265f2c4085b702585e6153809d2a60d74dc6af",
         "graph-robot.svg": "2520ff7f41b3e0a6a2cef0a4f111af8b24d4fd75142f269f057791b6c15dd79e"
       },
@@ -10806,7 +10942,7 @@
         "mjcf_ms": 4.477711860090494,
         "compile_ms": 171.61437077447772,
         "graph_ms": 248.15507093444467,
-        "render_total_ms": 1670.2324538491666
+        "render_total_ms": 2287.4194807372987
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10867,16 +11003,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 213.05882185697556,
-        "render_ms": 1295.8559431135654,
-        "compose_ms": 61.98556674644351,
-        "write_ms": 85.67550638690591,
-        "foreground_fraction": 0.7469
+        "compile_ms": 289.09893659874797,
+        "render_ms": 1804.238101001829,
+        "compose_ms": 81.26978296786547,
+        "write_ms": 91.70328779146075,
+        "foreground_fraction": 0.7469,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "2621eb390383dec798747ecafa4f7b710637490b468bec6de44f31288651caff",
         "meshes.tar": "90ab96ae499cc48e0505102984930d89c9e1fad2235062fa2de6c5d98f7e71a6",
-        "render.png": "596bb9bd9d7362bd233c0c3e076eec1fad7666225079a99129ea5ef5c75ac598",
+        "render.png": "1e71a29de400bf72e5d9ee2a17a6a7ab92f2e6072b481e62475b731579b7a0d8",
         "graph-raw.svg": "35915098938c5234dd8220fcdc93695c47dc095973d5098f834376c6cd79a765",
         "graph-robot.svg": "7da9626c6664be3e318310757b9d2152456f8fb455967fe84b2d9e95fb0af07c"
       },
@@ -10982,7 +11120,7 @@
         "mjcf_ms": 83.14981078729033,
         "compile_ms": 20.846843719482422,
         "graph_ms": 187.54534190520644,
-        "render_total_ms": 1337.9072467796504
+        "render_total_ms": 2025.5358694121242
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11043,16 +11181,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.986212011426687,
-        "render_ms": 1191.6116196662188,
-        "compose_ms": 56.2019981443882,
-        "write_ms": 67.17029307037592,
-        "foreground_fraction": 0.30525
+        "compile_ms": 33.469974994659424,
+        "render_ms": 1708.216886036098,
+        "compose_ms": 81.19930187240243,
+        "write_ms": 179.94388798251748,
+        "foreground_fraction": 0.30525,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "bba30dc6dc807c8c178d032c4fb13cbfaa94e743176936b398384b8081e57750",
         "meshes.tar": "434c1a0a69b60042db6c22ff5763be42113b2e9d5bff0bd61c8a4f0666e083b3",
-        "render.png": "976cc6927b3cd149f74ed1b176937cd7ff7ada61bbbc8407953517a2eb37fc82",
+        "render.png": "1ff9f9aa63622401a33a025c8b85fcd732b0f56ad19120d1a576c7cd5a7fd376",
         "graph-raw.svg": "ec33569aec1b6dd16e02b4c7468ee9e336180bb95a5229684747b6c4bc9bfdca",
         "graph-robot.svg": "2e345390af41bd8c402d356dae32c45bed0ed6a8e5c117d5dd705f99b54b9888",
         "robot.urdf": "f7943aa28cfd64eb28d9a1dfd3612c1b4e2b8c8b4b8bb16f84329f9f5802a2a7"
@@ -11088,7 +11228,7 @@
         "mjcf_ms": 5.673575215041637,
         "compile_ms": 81.41792099922895,
         "graph_ms": 358.5348520427942,
-        "render_total_ms": 1416.3264497183263
+        "render_total_ms": 2313.0525341257453
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11222,16 +11362,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 69.58341272547841,
-        "render_ms": 1185.1908811368048,
-        "compose_ms": 70.38861978799105,
-        "write_ms": 78.02180200815201,
-        "foreground_fraction": 0.77055
+        "compile_ms": 84.80673097074032,
+        "render_ms": 2043.2862020097673,
+        "compose_ms": 88.44484761357307,
+        "write_ms": 80.65941324457526,
+        "foreground_fraction": 0.77055,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "20245964c55e2683f6809a8da1a54c799524b050f3f73787fbd528ea88bb46d9",
         "meshes.tar": "ace0f881e7299cf8d4c9e670cfb6585c8b9002d184a78117188d31e9b810a31e",
-        "render.png": "04cd2d28a78f38616477c64aa28b63423cd2ec41b30c6ac7bfefa83556bb5acd",
+        "render.png": "42d3ae7de6bb97667f5044e4c3563a4c65f41eb047264a178c78bd1e71a5033b",
         "graph-raw.svg": "8a6e79ef730cda9611a66acdb330f66d5b78a3fdfee3a036d2d5f6f45191dc65",
         "graph-robot.svg": "d486fd7fb249f7df368c770edb24eaae125a063b74ab55a11efbbf4b98232ee7",
         "robot.urdf": "8111394d9c3559b0242b35c078637aa148c0eaee2cfe3cb0aff22f2bb6c2d163"
@@ -11264,7 +11406,7 @@
         "mjcf_ms": 2.775746863335371,
         "compile_ms": 13.281185179948807,
         "graph_ms": 85.5592880398035,
-        "render_total_ms": 1309.1778098605573
+        "render_total_ms": 2048.6953570507467
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11325,16 +11467,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.84034114703536,
-        "render_ms": 1144.8479983955622,
-        "compose_ms": 61.963988933712244,
-        "write_ms": 78.04619800299406,
-        "foreground_fraction": 0.50325
+        "compile_ms": 23.233599960803986,
+        "render_ms": 1855.446354020387,
+        "compose_ms": 66.72620680183172,
+        "write_ms": 88.23210559785366,
+        "foreground_fraction": 0.50325,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "4fc0f844f9cf65d389f3b4e0a498d39916a66defd066dddbeef0e16c9a877731",
         "meshes.tar": "e6929989c3a66d9e67deb6a3a7d268d8eb9f8b14df1667154a52df7e0cf1e2b9",
-        "render.png": "ebd12e72ffe7757d1640dbcfd2f1743fb391423ecce2863618615af7980f66b7",
+        "render.png": "aba90d2de66afc9e346f1cbe0b4f6065ee0c5a1c9afe20e47f2adaea1b195624",
         "graph-raw.svg": "0ec6099c18e7a3f87300896dc77ece43cd3cb444739e4da69f4c28714bbbfb8c",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "ea6e856e69b0d7240297cc3fe504358a583139b068f0a875bd2915f8e18e73e9"
@@ -11368,7 +11512,7 @@
         "mjcf_ms": 5.0632283091545105,
         "compile_ms": 30.040917918086052,
         "graph_ms": 334.7627520561218,
-        "render_total_ms": 1551.5718436799943
+        "render_total_ms": 2163.3191658183932
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11429,16 +11573,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 31.11594682559371,
-        "render_ms": 1355.3363387472928,
-        "compose_ms": 65.6939959153533,
-        "write_ms": 86.11531276255846,
-        "foreground_fraction": 0.6633
+        "compile_ms": 38.64836506545544,
+        "render_ms": 1932.3968421667814,
+        "compose_ms": 82.27027719840407,
+        "write_ms": 91.94710804149508,
+        "foreground_fraction": 0.6633,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "580312ea3e091de9c82a15f7fd31ba62c13c9a171aca3215f13f1b7cb3c9a66b",
         "meshes.tar": "079dac75e10ed45e1f93b6f5396269b6588c7a17412733ca5f5e14b7b0883852",
-        "render.png": "ed1a78daf051a0ed5d182ca35c2c0dea13046aa87d37bba4064536a842bc10ff",
+        "render.png": "9d59cf9c8f9bf878ce99b25b450479255ac71c06e2fa07aea4089547765e0db9",
         "graph-raw.svg": "cb20a80ee92a29917a49d07ba1bed72c1228e3cea90422d68db02da3dc64fc70",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "dd72880b20de02560176e7486bf0c2ee71800586c6f3dd7668c1fb0d7292ac5f"
@@ -11477,7 +11623,7 @@
         "mjcf_ms": 7.303588557988405,
         "compile_ms": 130.81481074914336,
         "graph_ms": 541.5107347071171,
-        "render_total_ms": 1904.258094727993
+        "render_total_ms": 2328.1354662030935
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11647,16 +11793,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 105.59145035222173,
-        "render_ms": 1629.4592339545488,
-        "compose_ms": 71.65032718330622,
-        "write_ms": 84.44138988852501,
-        "foreground_fraction": 0.7492333333333333
+        "compile_ms": 122.60023225098848,
+        "render_ms": 2026.5412391163409,
+        "compose_ms": 74.2171248421073,
+        "write_ms": 89.11914611235261,
+        "foreground_fraction": 0.7492333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "141ba8af591e5c0f5ed99089545893bdc2f915831de884e68e660809c297958d",
         "meshes.tar": "f76bfa6db0d9b51abf5818b96e6a970d9424c49fb22ae85f24afccb07167dedd",
-        "render.png": "1486eef582919696a9547d72e017a5b3770d6e1ea00d81a722d1c1b1580feb1d",
+        "render.png": "91bb037f10dfb32bf6810eb6f941fbb8540777e33130384cd3b5fadde105a631",
         "graph-raw.svg": "23cd77924ff68c9844a2fac156ff99d60d9e6bbc965f364e3e5c5c2c90a0b61e",
         "graph-robot.svg": "6d4e1becb3168b178bf5cd9d5d55512e5e80f400c1e73e180b33180626899ffe",
         "robot.urdf": "f9515f25c387cf59afa6873ca374ba586e63d131ce3ea3e788d448cefb9ea5dc"
@@ -11690,7 +11838,7 @@
         "mjcf_ms": 3.2981480471789837,
         "compile_ms": 12.695361860096455,
         "graph_ms": 588.0184778943658,
-        "render_total_ms": 1577.6658891700208
+        "render_total_ms": 1869.7708225809038
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11751,16 +11899,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.158353812992573,
-        "render_ms": 1408.413379918784,
-        "compose_ms": 63.65201575681567,
-        "write_ms": 78.3861088566482,
-        "foreground_fraction": 0.4752
+        "compile_ms": 20.288961939513683,
+        "render_ms": 1651.0602268390357,
+        "compose_ms": 90.74620204046369,
+        "write_ms": 82.82257709652185,
+        "foreground_fraction": 0.4752,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "8e986fb21b9c61932cb025a30fcfae737fc52777b8320b0ed163b20c3f83698f",
         "meshes.tar": "e8134c8f03a4b1f5fa0c1285deaa08b704847e31ff15688dfb05705d2b004fa4",
-        "render.png": "805d959fec67a81db0838254f2f8106db8ee3550ddff89c480e579e9d836b268",
+        "render.png": "b8f54867a69dfa6924474f3f3c17caf9e5bacb286a5cd1e484ea4630210a29da",
         "graph-raw.svg": "4ded95f9c8ba86f4ae2470c06e192ea4c94178f9712284490d5f6a3e50f84df3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "889db2cbefef70c7d887c48acdb9b8a35667aec55603e3fcfb8c12f306a67ed1"
@@ -11801,7 +11951,7 @@
         "mjcf_ms": 7.276672869920731,
         "compile_ms": 83.58078496530652,
         "graph_ms": 613.7784137390554,
-        "render_total_ms": 1798.721294850111
+        "render_total_ms": 2558.680030051619
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11935,16 +12085,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 93.51249411702156,
-        "render_ms": 1507.971519138664,
-        "compose_ms": 87.31968514621258,
-        "write_ms": 96.80611174553633,
-        "foreground_fraction": 0.7018
+        "compile_ms": 128.67053179070354,
+        "render_ms": 2186.3542208448052,
+        "compose_ms": 99.84447713941336,
+        "write_ms": 121.09856260940433,
+        "foreground_fraction": 0.7018,
+        "style": "link-palette-v1",
+        "colored_bodies": 33
       },
       "artifacts": {
         "robot.mjcf": "053a64a1392c53aa5202da40b9a2567d7b813a64996b78f0c17e25a7d82e4914",
         "meshes.tar": "a0c90ce7a5c6d788dde7b7f109d7a92c14ccea89196252864a1f820ca0b5175e",
-        "render.png": "563b296cfa93c3a45ce0cf243b7e276fdc31b3fa9651d70505047f8946d57b6a",
+        "render.png": "729ae38a0cfbfa42b8ce325ed541570ca6725da250e932aaa7432c2adbb4d5fe",
         "graph-raw.svg": "12bd1a6bbfb9c5154b511e088cccf6c23cb320e1a6c7d792cdb01164fd5491be",
         "graph-robot.svg": "89c6810d41ddae985fe94e09676a69bb8c0d8cb5750dd3584dcd992e64e349b1",
         "robot.urdf": "4536bbfd45cd19251b34c9f12f072c24ecedb0569a9a4221c694806e7ef2539d"
@@ -11977,7 +12129,7 @@
         "mjcf_ms": 2.762717194855213,
         "compile_ms": 12.825265992432833,
         "graph_ms": 87.13220711797476,
-        "render_total_ms": 1619.9541362002492
+        "render_total_ms": 1939.6831030026078
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12038,16 +12190,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.621731963008642,
-        "render_ms": 1433.4821878001094,
-        "compose_ms": 72.29308970272541,
-        "write_ms": 88.2954066619277,
-        "foreground_fraction": 0.8008
+        "compile_ms": 38.2120911963284,
+        "render_ms": 1713.3561889640987,
+        "compose_ms": 70.55194210261106,
+        "write_ms": 101.31405387073755,
+        "foreground_fraction": 0.8008,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "eeb940dc691152dd870bd2a243af5610a31c7ae3bbf987482ab24e02f84d5db2",
         "meshes.tar": "dfd962e1c9b367ba41b718f1517b8c226f080a397cac4f70a270c66e6b77cfd0",
-        "render.png": "adf9fa24e4d082256aabce11247b14aba4981535476956fd0f307f3e7d400373",
+        "render.png": "658ae83045d57317082b2b1f5b345e4f8b1a4542bb2d7d82b117f660d40d4393",
         "graph-raw.svg": "ada52e7d6a4cb6835e11891e49098e85625409d76112e813810251a58ef71e96",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "9d0e1cda89f723dfbf7053749f1c1b6ab099574d874df7da14b7fb2f088b75cd"
@@ -12080,7 +12234,7 @@
         "mjcf_ms": 2.904679626226425,
         "compile_ms": 15.136850997805595,
         "graph_ms": 108.40986808761954,
-        "render_total_ms": 1635.7096498832107
+        "render_total_ms": 2065.827484242618
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12141,16 +12295,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.492677059024572,
-        "render_ms": 1443.4428019449115,
-        "compose_ms": 60.1941728964448,
-        "write_ms": 104.28575007244945,
-        "foreground_fraction": 0.53075
+        "compile_ms": 16.36582612991333,
+        "render_ms": 1818.1179161183536,
+        "compose_ms": 76.6969439573586,
+        "write_ms": 132.8763603232801,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "66a2e5b4f1c98508395ccfe22551e2a2964fa1218853f01caa62293a7370647c",
         "meshes.tar": "ae0b9e74de3e4400a84a8eb26891cc6af14154130af6012ad39a8e21641328f5",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "e2b0c0a8c4a29c88e84aced9c1dc573e793de776fe6a2d515cccb47032c04555",
         "graph-raw.svg": "73927b60ad3e258e4817fce021abd4e0172c266be620a9f1910b63f7cd98f753",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "b7c4341a81fc152b81003e1cc33e5eaa5daa9a3af433b5011d26ffbcd0da80ab"
@@ -12184,7 +12340,7 @@
         "mjcf_ms": 3.47177404910326,
         "compile_ms": 23.687071166932583,
         "graph_ms": 123.77067934721708,
-        "render_total_ms": 1625.16586529091
+        "render_total_ms": 1930.666561704129
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12245,16 +12401,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.866017814725637,
-        "render_ms": 1438.9710342511535,
-        "compose_ms": 70.11110801249743,
-        "write_ms": 75.61785820871592,
-        "foreground_fraction": 0.6182
+        "compile_ms": 30.875450000166893,
+        "render_ms": 1724.7316059656441,
+        "compose_ms": 72.64715898782015,
+        "write_ms": 83.40120036154985,
+        "foreground_fraction": 0.6182,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "ffe1a86e68555d2f7b958b33e6e5be1824357b63f595f5795d7e95511d3b8c5e",
         "meshes.tar": "95056d39e8b3082505583146c31abadb4a4298692ac370238a8819026a4b521b",
-        "render.png": "c45c1aecbd2512fe39c2bb242fdaa0ec20fd18c3f2b5e681ac81136f1e5bb420",
+        "render.png": "d85265c133a4713a59553d12a5d843a878d8abe4049010ef5175da8e3688cc60",
         "graph-raw.svg": "883e0595cf29d2063aceead1cc94024a37cea4ac04a080911aa98ee70d14061d",
         "graph-robot.svg": "b477f9a026a693b52950743c984a598c147b7a716e7ca6c60bf78f86af8248d1",
         "robot.urdf": "bba7da8f416af4966b96eeb22c05048c063c9eaec58c1cf39b3ed8aabc47a431"
@@ -12288,7 +12446,7 @@
         "mjcf_ms": 3.29428119584918,
         "compile_ms": 12.319161090999842,
         "graph_ms": 111.07775988057256,
-        "render_total_ms": 1616.1563019268215
+        "render_total_ms": 1871.1598040536046
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12349,16 +12507,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.376944068819284,
-        "render_ms": 1452.0668149925768,
-        "compose_ms": 61.402942053973675,
-        "write_ms": 76.79028110578656,
-        "foreground_fraction": 0.4763
+        "compile_ms": 17.125383019447327,
+        "render_ms": 1694.9258763343096,
+        "compose_ms": 62.31936998665333,
+        "write_ms": 83.1226990558207,
+        "foreground_fraction": 0.4763,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "7f397f7e0368451235e7bc95a2a499f0cc304b256acac0d28c1e24878aa5da3d",
         "meshes.tar": "68b74fbfd7e0ad2bbcb801ae1ebb9b3500696916517e79fc9755bb9b12d8f3d8",
-        "render.png": "0837b3f3dffe35cc9310afda66f032ebfe19db0a6ffc9c71cd0b240a134dfb5f",
+        "render.png": "9f08fb4a8fae3a7821dde1083adf3b22ff32b9b9b9f22288da277c1bb98b0849",
         "graph-raw.svg": "84a16b1057d8cec82ebed30cc2bb91aa014aa58554ca914d280575880aff2d00",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "84c3aed9c00ff6d5e9ea8a8e45d98d2ac5be2bc90a71ce351c893f0d38f31b2b"
@@ -12402,7 +12562,7 @@
         "mjcf_ms": 5.040554329752922,
         "compile_ms": 100.44389311224222,
         "graph_ms": 357.22894640639424,
-        "render_total_ms": 1726.8353789113462
+        "render_total_ms": 2133.76063387841
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12499,16 +12659,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 111.04231793433428,
-        "render_ms": 1454.497889149934,
-        "compose_ms": 65.69833122193813,
-        "write_ms": 82.30570005252957,
-        "foreground_fraction": 0.689325
+        "compile_ms": 140.45657869428396,
+        "render_ms": 1809.2397400178015,
+        "compose_ms": 81.10365644097328,
+        "write_ms": 87.0495168492198,
+        "foreground_fraction": 0.689325,
+        "style": "link-palette-v1",
+        "colored_bodies": 25
       },
       "artifacts": {
         "robot.mjcf": "cbbb39a3e79894fc1c2343bba4f405ecc662cf0b11191aed26170ed3e9a85e42",
         "meshes.tar": "35b5ec13887c3196ad01b691e73f403b06ce71733c589b5acfa828c0d78a90fb",
-        "render.png": "7e68bd39e9c2efd0c7718f67e498b41806f9c9593bb0a184bc263ba38139cc69",
+        "render.png": "a0e2bce27aaa4ca442e1a2129f5184ac038336aa5f85e6b9cc2d7f1bf513f85a",
         "graph-raw.svg": "e89a3730731f884ef43120a90184ecf670cbfbbcb3e982856df1bf7d97111bc7",
         "graph-robot.svg": "ce472b01fafab196d887a58faee67c3f5e80fa125b2cc64bbe2ececdee894b11"
       },
@@ -12545,7 +12707,7 @@
         "mjcf_ms": 5.62277901917696,
         "compile_ms": 81.06148988008499,
         "graph_ms": 528.8639697246253,
-        "render_total_ms": 1847.0643036998808
+        "render_total_ms": 2041.5897611528635
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12679,16 +12841,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 73.02456814795732,
-        "render_ms": 1622.3676791414618,
-        "compose_ms": 55.05489697679877,
-        "write_ms": 82.88690028712153,
-        "foreground_fraction": 0.3256
+        "compile_ms": 92.28400513529778,
+        "render_ms": 1786.6744962520897,
+        "compose_ms": 62.3720558360219,
+        "write_ms": 86.94770187139511,
+        "foreground_fraction": 0.3256,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "28341be9ea4df5293297636ca7dd0a1f8797f8924bc3ecdbc7f3c8f353fcd2da",
         "meshes.tar": "b5c626ff0c2399b153c01c37d75deef2c80048c42d58b55fbe6407cb298fba60",
-        "render.png": "3f87721b0a9760ab834889c9dc1f28910afd1a984d63e793154fb301b8c74cfa",
+        "render.png": "db887c22d0d3f8e1d6f68eb38d9ae648e5f92d6802ae8674464405472a8ef524",
         "graph-raw.svg": "3f0da41b5ea79df280df0c66dcc194b7ace6be6731813824f58c33aae45c24fe",
         "graph-robot.svg": "49ff8efc91f2ae3618bae77ff7ea1f8f7a102464a17839bbcf16cab295c3d221",
         "robot.urdf": "b7e1c8d486643b24a5c0dff2e9eab06272373a9006e02c1454bfe7633b1e21ac"
@@ -12722,7 +12886,7 @@
         "mjcf_ms": 3.9155608974397182,
         "compile_ms": 20.945919677615166,
         "graph_ms": 156.43590176478028,
-        "render_total_ms": 1619.3938301876187
+        "render_total_ms": 1911.5011058747768
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12783,16 +12947,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.82135095447302,
-        "render_ms": 1432.7453230507672,
-        "compose_ms": 67.59201409295201,
-        "write_ms": 82.77695998549461,
-        "foreground_fraction": 0.5907
+        "compile_ms": 27.135456912219524,
+        "render_ms": 1696.8139451928437,
+        "compose_ms": 71.49072596803308,
+        "write_ms": 95.39051074534655,
+        "foreground_fraction": 0.5907,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "09766b5e2029e223fdff17efd77210e81402868ae0fe4c3444ff777800fd93ef",
         "meshes.tar": "4ad65732a37212e5108d9cd0fc60f5f8a00e01ada1e867eca9161b569fc4aaf5",
-        "render.png": "cda97a52c05a0f9cc49b234438cd9a9093b243e6e0723b1ac6efb6f9de18150e",
+        "render.png": "0d2d4d97c37f636ee7bab63efa999b1e689b668668ef575dc24f386f096b45b5",
         "graph-raw.svg": "8e13b56d032ba7fd35d12bf20f1f001571624785185ff721f34065b1eabe896e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f550ae2079023c29df8cf3f640e394a91eaf9265dc20f183cd41dc50b560823e"
@@ -12833,7 +12999,7 @@
         "mjcf_ms": 7.468708790838718,
         "compile_ms": 91.25040704384446,
         "graph_ms": 578.8677949458361,
-        "render_total_ms": 1746.9072346575558
+        "render_total_ms": 2249.795524869114
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12967,16 +13133,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 88.10254791751504,
-        "render_ms": 1467.1215349808335,
-        "compose_ms": 80.86414681747556,
-        "write_ms": 97.39917190745473,
-        "foreground_fraction": 0.70235
+        "compile_ms": 125.9396430104971,
+        "render_ms": 1906.7877382040024,
+        "compose_ms": 82.15156896039844,
+        "write_ms": 121.58819008618593,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 29
       },
       "artifacts": {
         "robot.mjcf": "4cab1809aede2a871a4d8b35147459e79c9232067b3b70c0d02ca66b7b719812",
         "meshes.tar": "a53ebe7cef80da11f8515b4016ebdb50d58996157a9a178580ac889cefeff563",
-        "render.png": "e8dd8e7d8555a70fb2ee5a1a0d56895b3fd4dc9187c050d06d41b6deb6387221",
+        "render.png": "926ac282135856b21b0ffdd8d852d0f03cafb905b962a453fa61324f0fcea3c6",
         "graph-raw.svg": "990cc07ffb1bb8b55ad282508f336757c0f342576367c3bdf94b6f1d64abfa0b",
         "graph-robot.svg": "8769d0c033bc8221b01d1e92696bc1551ef19b0bbb8b728c806b75e3c67660a3",
         "robot.urdf": "40d526573877bee03b8a707d74ac5e86ef3b41a3e5d284c0d52e13b8a28cd7b5"
@@ -13015,7 +13183,7 @@
         "mjcf_ms": 6.984202191233635,
         "compile_ms": 106.63263266906142,
         "graph_ms": 538.6907043866813,
-        "render_total_ms": 1779.498818796128
+        "render_total_ms": 2262.8822941333055
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13185,16 +13353,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 97.85567782819271,
-        "render_ms": 1519.010960124433,
-        "compose_ms": 65.1101260446012,
-        "write_ms": 84.34599405154586,
-        "foreground_fraction": 0.7499916666666666
+        "compile_ms": 139.54342203214765,
+        "render_ms": 1952.9139511287212,
+        "compose_ms": 67.51696718856692,
+        "write_ms": 88.90643902122974,
+        "foreground_fraction": 0.7499916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 22
       },
       "artifacts": {
         "robot.mjcf": "3846a33835519202266b4e1dc1c5595d8105e55ed0ebe692e621e0bbd6d38956",
         "meshes.tar": "7414f12b03fbd59d01634b6153cc42ac0c806c0c2b00b0a8366fc1041378ffc7",
-        "render.png": "f6301d224a82a92180c317eaa1704300d3b21183815ce464a398c9715a91a22d",
+        "render.png": "74a6e35581efe46faaabaf4a4d267ea2e2838d78cf5e0aed8bc0ad8eed06d708",
         "graph-raw.svg": "842706c3b6f7636c9f5afb0d66daef6b8f53b22f6eefbfddefbebd54c5b014f8",
         "graph-robot.svg": "0b428646d407dff5cdb1d0dff2abaf319434d7f2a74a361d0021a3e0a0479788",
         "robot.urdf": "babc9f2525e7ae7b075e8d7d48f97ff875dc9154b56496c9d769f516106a20e3"
@@ -13234,7 +13404,7 @@
         "mjcf_ms": 7.319319993257523,
         "compile_ms": 80.54274879395962,
         "graph_ms": 534.7332470119,
-        "render_total_ms": 1754.6823653392494
+        "render_total_ms": 1892.6887242123485
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13368,16 +13538,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 98.32166135311127,
-        "render_ms": 1470.5701009370387,
-        "compose_ms": 73.99299694225192,
-        "write_ms": 98.89995492994785,
-        "foreground_fraction": 0.70235
+        "compile_ms": 100.42141890153289,
+        "render_ms": 1596.8056707642972,
+        "compose_ms": 68.81970912218094,
+        "write_ms": 113.69242379441857,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 31
       },
       "artifacts": {
         "robot.mjcf": "5a2faed59011f1e3426d2fa74504b797f634fe61e7b1f663042cac0771413d54",
         "meshes.tar": "45d62186fbb04fa274807f235f60169d5cb52f2329af8b6bf010c8af22c0ec4c",
-        "render.png": "be11cde83725e656b8d7ad9986979e22ac9f89f20692a31af73cf13d3cd4c44d",
+        "render.png": "781dc297f5157767d72cc205c8b5066706342d74120a3af7fcc95072b6cbd0b8",
         "graph-raw.svg": "4061f00a3bee560a21e855c6e2ac468026098b3ad4eb1158ccb085abaf59b768",
         "graph-robot.svg": "ca53453cc44aa004d94cbe4680fdead60862a87fd0f1674b6f061adaa335d1a1",
         "robot.urdf": "71c0417b3679918f05a57d91c047395b26f49c616d462815e4d3e43080a42dba"
@@ -13409,7 +13581,7 @@
         "mjcf_ms": 2.9893056489527225,
         "compile_ms": 8.146730251610279,
         "graph_ms": 71.32709166035056,
-        "render_total_ms": 1529.6980109997094
+        "render_total_ms": 1904.4928383082151
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13470,16 +13642,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.239649072289467,
-        "render_ms": 1378.10876686126,
-        "compose_ms": 54.457012098282576,
-        "write_ms": 76.58922206610441,
-        "foreground_fraction": 0.47135
+        "compile_ms": 9.470709133893251,
+        "render_ms": 1699.2802079766989,
+        "compose_ms": 74.75928496569395,
+        "write_ms": 101.41418408602476,
+        "foreground_fraction": 0.47135,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "439d94afb82fc99c5e716502bd636e611fe408c0562e11bc72909a78749cc0d9",
         "meshes.tar": "b295c5afe94517237c4078596b939c80787870f232ab84200d48cf9d32e04439",
-        "render.png": "8172b663ca088f20dc3234b1e06aa5d59fe6e4e786a4e74c7fcd712e0a2e6719",
+        "render.png": "61d317bf0653c2f366c6226cd32662ba292066a23bc74cbbe0b131bfecc1e54c",
         "graph-raw.svg": "adefa5b664f8a4f8db42e3aec5b2a06c55ce15459f07771dccba572cb9d61ed3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "fef55333dc70808562d95599ee91617e158ad009e84ae9e0cfd477eb5ce779c9"
@@ -13516,7 +13690,7 @@
         "mjcf_ms": 3.6425627768039703,
         "compile_ms": 43.45035087317228,
         "graph_ms": 305.8892600238323,
-        "render_total_ms": 1638.1949409842491
+        "render_total_ms": 2613.8622309081256
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13584,16 +13758,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 43.47499134019017,
-        "render_ms": 1414.594097994268,
-        "compose_ms": 72.1435840241611,
-        "write_ms": 94.29635806009173,
-        "foreground_fraction": 0.6226
+        "compile_ms": 43.80299896001816,
+        "render_ms": 2355.737406760454,
+        "compose_ms": 83.69418093934655,
+        "write_ms": 109.69349602237344,
+        "foreground_fraction": 0.6226,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "f6884b40003a2fd3114b3a824162b1b298615bc2dd3abcfbb314495c348177ba",
         "meshes.tar": "ed7ec16ccfa7fd2d724f6a8851501b6134b73d8d293409265d57d10d221b71ef",
-        "render.png": "72b00a1411acfd0939bbcd5462783f17d3586c97281672a76bb342bf710faecd",
+        "render.png": "4bbc3d2bd58b3f23a574740a339b6c9cca0c6594e698f377e430e95fec842a52",
         "graph-raw.svg": "d942437733e6999e5ad5995a9b8ce8c8cc681cced126dd2a8acc23b5660f85b8",
         "graph-robot.svg": "8174b0a7a306ff25e0f956e2bd3034dd799cd61c8830254e8f2bab0e60a60318",
         "robot.urdf": "4c6f8f46954a9bcc59736510a4fe511c131d18547abc259868a8ddd16465e640"
@@ -13625,7 +13801,7 @@
         "mjcf_ms": 2.685016021132469,
         "compile_ms": 11.865378823131323,
         "graph_ms": 71.56673073768616,
-        "render_total_ms": 1570.9503809921443
+        "render_total_ms": 2165.705253370106
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13686,16 +13862,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.39364019036293,
-        "render_ms": 1397.4526380188763,
-        "compose_ms": 66.42345897853374,
-        "write_ms": 82.34848780557513,
-        "foreground_fraction": 0.6028
+        "compile_ms": 19.690945744514465,
+        "render_ms": 1959.9649249576032,
+        "compose_ms": 70.25287859141827,
+        "write_ms": 94.8828118853271,
+        "foreground_fraction": 0.6028,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "3a3beafd7b04fcb442f1f48545c232e77a93de95f4662b798c0036b7cc784ceb",
         "meshes.tar": "10adc634b8e1c082805fcc2732ec9ef1c547c124ac68ed0bdee8fe1dd157865c",
-        "render.png": "c0be255c14954924d5dd2b5e7c7f828543bde59186ce0a17c5f27b1684cd7a64",
+        "render.png": "aa056f577d4f9e8b5d9e746f102da7467f6da2108dbcebff041f8dc1272f8555",
         "graph-raw.svg": "84b3c579d3c5a3da579a8e48ccb536d646b386b6d76cc08892e79794b38c1e77",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f2e620f87c0253e0ee9d50290f33a12d03dde3d7e619207fd8ad2d2bb4e4b038"
@@ -13728,7 +13906,7 @@
         "mjcf_ms": 3.01795220002532,
         "compile_ms": 10.463618207722902,
         "graph_ms": 95.72811610996723,
-        "render_total_ms": 1598.2441110536456
+        "render_total_ms": 2221.6842910274863
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13789,16 +13967,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.983844753354788,
-        "render_ms": 1442.5885742530227,
-        "compose_ms": 52.954192738980055,
-        "write_ms": 78.17527977749705,
-        "foreground_fraction": 0.40865
+        "compile_ms": 15.736982226371765,
+        "render_ms": 2043.0477201007307,
+        "compose_ms": 62.40030284970999,
+        "write_ms": 85.21652221679688,
+        "foreground_fraction": 0.40865,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2e866924ccc6d194fdcf7fd0bd42adb65b770c29ee0c59d66ac21c6330c20a08",
         "meshes.tar": "714348b1298cdad6b46a23558cf6cbc5f03c731954dac2f32468472d2a663e1e",
-        "render.png": "ebcea944ca4eb9dfb0bc9f0ca96e1f1873dd74b13aaca6e4b089ad5fe02072e9",
+        "render.png": "e2b9c80acf4ef29e907571a4a8c246c3d1c4873267709e15fa8ef6bb888d7110",
         "graph-raw.svg": "ccb1cd6d6efb73c044a464cab2638f4ae3288b61eaa23dee4d534421c029e548",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f8aa8115d02c9121fdac86ef239c75b735be8a66c1e774715716ba9802bbcdd1"
@@ -13835,7 +14015,7 @@
         "mjcf_ms": 3.395718988031149,
         "compile_ms": 23.866524919867516,
         "graph_ms": 195.00555424019694,
-        "render_total_ms": 1574.6986302547157
+        "render_total_ms": 2151.146373245865
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13909,16 +14089,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 27.530022896826267,
-        "render_ms": 1389.8450718261302,
-        "compose_ms": 68.32323502749205,
-        "write_ms": 75.72250114753842,
-        "foreground_fraction": 0.76725
+        "compile_ms": 36.038693971931934,
+        "render_ms": 1923.8069793209434,
+        "compose_ms": 89.07702006399632,
+        "write_ms": 82.36760227009654,
+        "foreground_fraction": 0.76725,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "ba061c3ac43245d3fd03b34d3314197b21b4fd446bbf4dc91fa9ffda1bdfdd61",
         "meshes.tar": "3a4371a385147c3615fb8dafad4efed15db057bd209e557e081255a484a9c93c",
-        "render.png": "ddf242354e53af94325e661da0a80be66f9bf5ed983d0327e90538e0fc601c6c",
+        "render.png": "f2d3ce89b7592987e22c2d04291b8702ac33cb70f6e64e45dadf87fa65642de0",
         "graph-raw.svg": "f96f9f33afbe0995a9489c120dc1f6e1f84036dda59a0a80c5d9363695f0a614",
         "graph-robot.svg": "29b8110828b1e740ec39a2e48d004a18cc88136fc59ac614a4d7dfa863ef09f3",
         "robot.urdf": "1c9ed9a1e62a067d5fc3b0b0f48b989c5c1b774cc5320713632e186f0910494c"
@@ -13951,7 +14133,7 @@
         "mjcf_ms": 3.2398737967014313,
         "compile_ms": 16.63128472864628,
         "graph_ms": 89.73531983792782,
-        "render_total_ms": 1581.3235021196306
+        "render_total_ms": 2095.675512216985
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14012,16 +14194,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.583965625613928,
-        "render_ms": 1399.5876009576023,
-        "compose_ms": 76.47092686966062,
-        "write_ms": 75.43775206431746,
-        "foreground_fraction": 0.6963
+        "compile_ms": 22.042494732886553,
+        "render_ms": 1838.6570462025702,
+        "compose_ms": 116.07718886807561,
+        "write_ms": 86.95584023371339,
+        "foreground_fraction": 0.6963,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "72b9b7672af0da1f90b699265d98a65384ea205d10d22d64c20ea9b79f459826",
         "meshes.tar": "a558506db693528a581acc86027104025f9976f9f5f6b312fee81435a7ee4098",
-        "render.png": "d43c66c3e25599701d48eb16779246d64657d81d952d8bdbf48a58b8cdea4563",
+        "render.png": "b23701cfd13c27de9a29d453a1e633b606b00a9dedb4b06163ac750a99dc42f3",
         "graph-raw.svg": "71ab10f29013f643b5a7c42241b1eb283279af422fc42fc510a1a9bd9299862b",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "76687bc33f7042b3ea8674b158d8b7a21315e0ce8c47a4233f469cbf58cf28cb"
@@ -14063,7 +14247,7 @@
         "mjcf_ms": 7.486511953175068,
         "compile_ms": 106.0951529070735,
         "graph_ms": 624.9809311702847,
-        "render_total_ms": 1817.9102768190205
+        "render_total_ms": 2378.740193322301
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14173,16 +14357,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 121.90200062468648,
-        "render_ms": 1495.9030076861382,
-        "compose_ms": 79.17363289743662,
-        "write_ms": 108.03462797775865,
-        "foreground_fraction": 0.7645
+        "compile_ms": 233.8169338181615,
+        "render_ms": 1874.9828399159014,
+        "compose_ms": 76.6601450741291,
+        "write_ms": 177.23884480074048,
+        "foreground_fraction": 0.7645,
+        "style": "link-palette-v1",
+        "colored_bodies": 39
       },
       "artifacts": {
         "robot.mjcf": "68212113ffebaeb2842cb7176fb464cd62c131747de7a49b5082ca1f2eaf1ae3",
         "meshes.tar": "e11e6d9df448b7696e3d808615b84e7f6cbd2ab6e449dc673ddfa3afa5f5ca2e",
-        "render.png": "54c4838cf32425a4db45f08ddb11beaeb05e88911ed7a6f225b6b568bc9c6b43",
+        "render.png": "483853ee90dcd92ab684566f582bdd52439117c9d9bfd0614ed5d413335000f7",
         "graph-raw.svg": "9bae118800cded7cd2b2ba02b82817ef4ee765c14bb9ce0b38cdf56d6e6cdcc4",
         "graph-robot.svg": "861afc26bb64615e5f6d5361e45e35a8d3aa29f2f498f67ddce4a533f69f7eb7",
         "robot.urdf": "05bcaa52f8ae36d7fd2d76c1a9788b5627ecb06c21546225d22214eb19b9a852"
@@ -14215,7 +14401,7 @@
         "mjcf_ms": 3.1622503884136677,
         "compile_ms": 14.069313183426857,
         "graph_ms": 108.7180650793016,
-        "render_total_ms": 1653.3967819996178
+        "render_total_ms": 2123.7670672126114
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14276,16 +14462,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.689237784594297,
-        "render_ms": 1464.1239698976278,
-        "compose_ms": 59.69845922663808,
-        "write_ms": 104.22231815755367,
-        "foreground_fraction": 0.53075
+        "compile_ms": 57.56365368142724,
+        "render_ms": 1823.9967920817435,
+        "compose_ms": 73.1091140769422,
+        "write_ms": 145.5091037787497,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "a7a694f45dde89f67152e9c1faf4c7a32ed10aacfcefdc4dd16e05d9102481c3",
         "meshes.tar": "a65fa41493c6bf75eaa0c4842456e163d9cf7067c4a5487953a037add3619855",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "0dccc35e8018759559129540da61ff5de0cbb2d3c84f57ca18c08e10a3f86e3b",
         "graph-raw.svg": "02966f114251a920b0abc9e6312bc5dd5577a86dfaee6725fd365f31b0911d91",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "40e3b18099ca8ce79d56cb8629aa0112fd0f6da2ff7fff22d97195b4c85ba9e8"
@@ -14317,7 +14505,7 @@
         "mjcf_ms": 3.00272973254323,
         "compile_ms": 12.620713096112013,
         "graph_ms": 75.5872973240912,
-        "render_total_ms": 1596.3432909920812
+        "render_total_ms": 2084.0807207860053
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14378,16 +14566,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.773129157721996,
-        "render_ms": 1416.3177129812539,
-        "compose_ms": 70.97832998260856,
-        "write_ms": 82.61997764930129,
-        "foreground_fraction": 0.79805
+        "compile_ms": 17.070556990802288,
+        "render_ms": 1874.5312220416963,
+        "compose_ms": 77.28544203564525,
+        "write_ms": 92.83074596896768,
+        "foreground_fraction": 0.79805,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "61f29862ce10513a6c7b9b14aedb90371c5d0ffd446b5f31b473043bf060a8c1",
         "meshes.tar": "acf6013e72395d382765a24b1a83482f5aefb2e85534a2d6b15efb35f264e477",
-        "render.png": "85ff4a1c837e3bdc82362282bbae8f64563a20e272ede503e6c691ee3b42820f",
+        "render.png": "7c038eba5465ba70e5b18c39b71e158aaf26eb81f0f2ac6157855c16fead65de",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "617436bb667822afd9676bb495f07d93093b06d8d221b6360ee0562278dc9450"
@@ -14431,7 +14621,7 @@
         "mjcf_ms": 3.239409066736698,
         "compile_ms": 76.46175986155868,
         "graph_ms": 177.70484182983637,
-        "render_total_ms": 1677.7330837212503
+        "render_total_ms": 2354.6996391378343
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14479,16 +14669,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 87.02417882159352,
-        "render_ms": 1440.994966775179,
-        "compose_ms": 62.07771319895983,
-        "write_ms": 74.12926899269223,
-        "foreground_fraction": 0.43285
+        "compile_ms": 94.93968822062016,
+        "render_ms": 2090.7038813456893,
+        "compose_ms": 66.58789701759815,
+        "write_ms": 80.11431293562055,
+        "foreground_fraction": 0.43285,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "08b632e0bc4cb3edd819d9f46f4cc08c69d9f42eceeadaef9205c4976aeacd89",
         "meshes.tar": "1d3c1523abd73dd1d65295cf7b2325c3379dbf6ebbcfa7a30ae06b3861cd12c5",
-        "render.png": "820a02738fe60fae116b4a44431a9a634598500cda6b0be4740707a1cda89a57",
+        "render.png": "5aaf28767b838c84b3857b0566db6395d3677a1682edd8b3e3c4d071cd62d505",
         "graph-raw.svg": "29942716db63980b1c7686ddbe53bd98cf8f254da0a4d35d9316c5cc8b0e86b2",
         "graph-robot.svg": "05664e8f951aacbfa3d5ba838bca83e3dce47252a224784b53afd9c7e38cc79f"
       },
@@ -14518,7 +14710,7 @@
         "mjcf_ms": 3.0170511454343796,
         "compile_ms": 10.415900964289904,
         "graph_ms": 92.69930608570576,
-        "render_total_ms": 1594.5656257681549
+        "render_total_ms": 1926.3380630873144
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14586,16 +14778,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.89721241220832,
-        "render_ms": 1425.8751650340855,
-        "compose_ms": 68.54640040546656,
-        "write_ms": 68.66491120308638,
-        "foreground_fraction": 0.5687
+        "compile_ms": 16.140193212777376,
+        "render_ms": 1742.0134227722883,
+        "compose_ms": 73.81568476557732,
+        "write_ms": 74.75324301049113,
+        "foreground_fraction": 0.5687,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "cbdf15b90d115e070b82c506255dc2132039807a10cc91af4f43631b8140ded3",
         "meshes.tar": "017bdb1e68d45085a679109adeee149c4d0ee194a27485bcac906b0cb9f13575",
-        "render.png": "49facbdedfc8b4a97babc4fa43f250af1476dea85eb9e1811649e38251c8a43f",
+        "render.png": "5daf9d8bdb344c4d8f4644e1a0ca45256c78c25089ad9963b89b2e9d354ea0a6",
         "graph-raw.svg": "64b08307c4679e4c185aa6becb9e1d3709b055891b0831f9fe8bfb4e3e0c80a5",
         "graph-robot.svg": "675b40537042af6ca4c213b4d6f10d27c91da21356a587e97cec902d0b76b1e3",
         "robot.urdf": "d37be28ee1695b0e160cbd7c3a7cd68233bb2174f7d87b30e9905dc0dcef2929"
@@ -14608,12 +14802,89 @@
   ],
   "output": {
     "archive": "shard-01149.tar",
-    "archive_sha256": "9eff76dcc8345e21942fbb8e712d9eec18f8f77b24837e64397230b2f5dab5b6",
+    "archive_sha256": "6779e97f617a1f260fc4589675b512647607f93ce92ff949f5586c8b9f163202",
     "packaged_samples": 97
   },
+  "render_enrichment": {
+    "schema_version": 1,
+    "definition": "Preview renders were regenerated from the packaged MJCF and meshes with the recorded camera and image settings and a deterministic per-link palette; no conversion artifact, count, or timing other than the render's was recomputed",
+    "identity": {
+      "style": "link-palette-v1",
+      "palette_sha256": "aeceafaddf4f6dc009c3db778801e6535c0a0feee5fa9439f1d918c4298898f1",
+      "render": {
+        "width": 1600,
+        "height": 1200,
+        "dpi": 300,
+        "padding": 0.06,
+        "supersample": 2,
+        "azimuth": 135.0,
+        "elevation": -35.264389682754654,
+        "distance_scale": 2.5,
+        "orthographic": true,
+        "geom_groups": [
+          1
+        ],
+        "headlight_ambient": 0.35,
+        "headlight_diffuse": 0.55,
+        "headlight_specular": 0.1,
+        "background": [
+          255,
+          255,
+          255
+        ],
+        "show_ground_plane": false,
+        "camera": null,
+        "link_palette": "link-palette-v1"
+      },
+      "render_backend": "osmesa",
+      "pipeline_identity": {
+        "schema_version": 1,
+        "codesign_version": "0.4.2",
+        "repository": {
+          "commit": "f16a2b5e07dc30d82dc74975390e71ad383c37ba",
+          "dirty": false
+        },
+        "source_sha256": "29f37e7336061889d2fbda8ccaf4c0dcf6af89e138fcbea3d4fe99d4eec02821",
+        "native_core_sha256": "f3188cb8879a19ff0ef65d12c27c98dbe6b642e3ad41d511a830ccb544db622b",
+        "dependencies": {
+          "cascadio": "0.0.13",
+          "huggingface-hub": "1.28.0",
+          "matplotlib": "3.11.1",
+          "mujoco": "3.11.0",
+          "networkx": "3.6.1",
+          "pillow": "12.3.0",
+          "trimesh": "4.12.2"
+        },
+        "mesh_producer": {
+          "schema_version": 2,
+          "codesign_version": "0.4.2",
+          "geometry_sha256": "936cc5faf6edd66a4199a59734e71b68c9b51f29320a875349b928d72e833a17",
+          "python": "3.12.13",
+          "implementation": "cpython",
+          "system": "Linux",
+          "machine": "x86_64",
+          "dependencies": {
+            "cascadio": "0.0.13",
+            "trimesh": "4.12.2"
+          }
+        }
+      }
+    },
+    "source": {
+      "archive_sha256": "9eff76dcc8345e21942fbb8e712d9eec18f8f77b24837e64397230b2f5dab5b6",
+      "report_sha256": "d33b6e701f92bb59edaae1b952826a192f77d23667c11593ce4d8e3a44c14b2a"
+    },
+    "scheduler": {
+      "job_id": "60317317",
+      "array_job_id": "60313720",
+      "array_task_id": "1149",
+      "node": "gl3219",
+      "host": "gl3219.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 97,
     "compiled_models": 97,
-    "archive_sha256": "9eff76dcc8345e21942fbb8e712d9eec18f8f77b24837e64397230b2f5dab5b6"
+    "archive_sha256": "6779e97f617a1f260fc4589675b512647607f93ce92ff949f5586c8b9f163202"
   }
 }