diff --git "a/onshape/shard-01150.report.json" "b/onshape/shard-01150.report.json"
--- "a/onshape/shard-01150.report.json"
+++ "b/onshape/shard-01150.report.json"
@@ -220,7 +220,7 @@
         "mjcf_ms": 2.9047662392258644,
         "compile_ms": 2.8750370256602764,
         "graph_ms": 113.03966818377376,
-        "render_total_ms": 1685.0734231993556
+        "render_total_ms": 1695.0808209367096
       },
       "mesh_preparation": {
         "status": "complete",
@@ -268,16 +268,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.7977218851447105,
-        "render_ms": 1495.0012671761215,
-        "compose_ms": 82.63996802270412,
-        "write_ms": 81.70874789357185,
-        "foreground_fraction": 0.75985
+        "compile_ms": 4.496158100664616,
+        "render_ms": 1513.2169788703322,
+        "compose_ms": 76.21765695512295,
+        "write_ms": 88.16835191100836,
+        "foreground_fraction": 0.75985,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "2dac5aaec37ab6923a38c6418e57301236b697156115232ed1f1d17b6ce1739a",
         "meshes.tar": "f4c7f731af5e1f6e12992cef749773037c1d76dc35e7294277fd64d7883a19bd",
-        "render.png": "1ba424e1b91f646cbed885baf5672762aa62eca7c36a6a3b21a863de4415bcdb",
+        "render.png": "b9f316445f0bbd12fa24be4485523f1c4869a825e921bb5fee15715cc98db572",
         "graph-raw.svg": "887b13804b9b26a70a30d3fcf04e179c51cc96115ef76c7784717799a95750bb",
         "graph-robot.svg": "577423833ef8a2684973086ffd226108ffc68584f0149d34e05a37bdddfdf99c"
       },
@@ -308,7 +310,7 @@
         "mjcf_ms": 2.6269969530403614,
         "compile_ms": 11.342027690261602,
         "graph_ms": 67.9293591529131,
-        "render_total_ms": 1591.6490559466183
+        "render_total_ms": 1637.2150350362062
       },
       "mesh_preparation": {
         "status": "complete",
@@ -369,16 +371,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.5477192141115665,
-        "render_ms": 1444.4731469266117,
-        "compose_ms": 60.088448226451874,
-        "write_ms": 71.08890498057008,
-        "foreground_fraction": 0.6582333333333333
+        "compile_ms": 11.658558156341314,
+        "render_ms": 1470.2031309716403,
+        "compose_ms": 58.75667417421937,
+        "write_ms": 84.52647691592574,
+        "foreground_fraction": 0.6582333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ef590c4dcc06b1090043d082fcb4676b2638b52c4c406e6dfc51a8fc1c3e7ab0",
         "meshes.tar": "f9ccc06349b1459c04fab831ea101dacc0a6ac8706c49e370724a393c1dd2401",
-        "render.png": "c805c40ce7d07e2c53358a848b8c94c3354c2334d84b5764a77d9be9e009fd5f",
+        "render.png": "d5f988f5af179be8158f30d2812743720e76888d281e9f431a0d4cbea02ede22",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "075eff65ebc7c7badfb86af2db740ba25816dc8d965aea48715525b893206aec"
@@ -417,7 +421,7 @@
         "mjcf_ms": 2.027596812695265,
         "compile_ms": 6.887414027005434,
         "graph_ms": 155.67866479977965,
-        "render_total_ms": 1554.6728912740946
+        "render_total_ms": 1587.7855783328414
       },
       "mesh_preparation": {
         "status": "complete",
@@ -472,16 +476,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.796006854623556,
-        "render_ms": 1403.5015418194234,
-        "compose_ms": 62.38962430506945,
-        "write_ms": 73.53784563019872,
-        "foreground_fraction": 0.65945
+        "compile_ms": 8.092276751995087,
+        "render_ms": 1435.0223955698311,
+        "compose_ms": 56.82918801903725,
+        "write_ms": 75.58550406247377,
+        "foreground_fraction": 0.65945,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "aa4ee1e9995929a9e698d7e1ba381b068254e33d1ee3423769d503a20aea1ead",
         "meshes.tar": "78c47314cbc777732222de23bf5e382d61dc9749268298c647572119b44cec7b",
-        "render.png": "a5e21510079482ca477cef0fc31a1341728f712dd1858ab28aa00ff8b3293413",
+        "render.png": "350dc136c97af22fab5d61fe875d5d57486ec1291d845ecebfa7eba3336c222d",
         "graph-raw.svg": "014dfa080ea3f41bae1dc3f3f0976cef72af9483dab140e0475a806c09530110",
         "graph-robot.svg": "dbb8aca7caa2607d4407120bbcd9cf76bcde070f827ccce7cb7fab0e22f5bbcc"
       },
@@ -527,7 +533,7 @@
         "mjcf_ms": 4.3828291818499565,
         "compile_ms": 31.87252627685666,
         "graph_ms": 234.39136799424887,
-        "render_total_ms": 1531.5734269097447
+        "render_total_ms": 1557.6336020603776
       },
       "mesh_preparation": {
         "status": "complete",
@@ -624,16 +630,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.950274109840393,
-        "render_ms": 1395.4012878239155,
-        "compose_ms": 55.4748959839344,
-        "write_ms": 61.67238298803568,
-        "foreground_fraction": 0.4873
+        "compile_ms": 31.65136557072401,
+        "render_ms": 1397.0685391686857,
+        "compose_ms": 53.14323399215937,
+        "write_ms": 63.58534703031182,
+        "foreground_fraction": 0.4873,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2bd42e748b74e82ad606b58ac66974162f918cdd0d573381eb4d60c5c1772b3c",
         "meshes.tar": "8962661b987d329a4f7238d4892cf16fce9bfcbd834e722e92a3837762f2b56f",
-        "render.png": "9e0a3d941a06f2566e3b556f038972c40a839abdd02180c5a5f0b305c4396e4d",
+        "render.png": "1f6cc917de205330d57f9cef3893f685149c13c2327fabb57f4036989662b519",
         "graph-raw.svg": "4eb7c277f20940eeed21ef02b8d7bd97a74bacc425eab1ebaf798e5b63f53695",
         "graph-robot.svg": "f396900897ea56a731e7682c5d0e0f1e9249a68d6f766e2a36ce3a05aeccb356"
       },
@@ -666,7 +674,7 @@
         "mjcf_ms": 3.4308000467717648,
         "compile_ms": 177.57553001865745,
         "graph_ms": 127.37989518791437,
-        "render_total_ms": 1629.8667439259589
+        "render_total_ms": 1910.2883907034993
       },
       "mesh_preparation": {
         "status": "complete",
@@ -727,16 +735,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.040847085416317,
-        "render_ms": 1445.399940945208,
-        "compose_ms": 61.704729683697224,
-        "write_ms": 86.22413035482168,
-        "foreground_fraction": 0.72765
+        "compile_ms": 177.10803123191,
+        "render_ms": 1553.9052160456777,
+        "compose_ms": 68.31646338105202,
+        "write_ms": 98.85330777615309,
+        "foreground_fraction": 0.72765,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "89fd6b3f8fa4686aed173efa5d4d7881b8940a11d6df11e42441c7b609096628",
         "meshes.tar": "65d8a674aad507f20ca904f27474ae8169353f3de9a36c63880a565550676754",
-        "render.png": "26a3311f89f823a03ea2a846f79968aa6352ed3c424b8901904507be5c25ad31",
+        "render.png": "3c1088d5d2ee9da7072b65a4903cd4f46695327b69e001daa9188a6e29e63543",
         "graph-raw.svg": "62a35655c3ecca7b0324135355ef3befed2118ddffa57d9dc24579fbc83b9d2b",
         "graph-robot.svg": "9322c00d0d59e3d47ce3c2271df22af3053431e2b36a0972732098137e2f2df8",
         "robot.urdf": "67a762099731d7c88db7b64bccc43ed13150fa1a197af5685ee0fddab7fdae10"
@@ -775,7 +785,7 @@
         "mjcf_ms": 2.143773715943098,
         "compile_ms": 329.75070690736175,
         "graph_ms": 79.08166805282235,
-        "render_total_ms": 1714.8354090750217
+        "render_total_ms": 2070.880716200918
       },
       "mesh_preparation": {
         "status": "complete",
@@ -830,16 +840,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 33.95541710779071,
-        "render_ms": 1506.6973422653973,
-        "compose_ms": 60.00714423134923,
-        "write_ms": 99.14708184078336,
-        "foreground_fraction": 0.53075
+        "compile_ms": 360.2173770777881,
+        "render_ms": 1500.103808939457,
+        "compose_ms": 59.804807882755995,
+        "write_ms": 138.29280296340585,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "c43aa4b554326d001aa8045625418051d4b612747c9c6c7cf3930813ac29b863",
         "meshes.tar": "5919ead26fb3c7484aca5f71672406729407b8bfd6afdb8ce6ebffaa84ab4614",
-        "render.png": "4b54784ce13300a64654a8353bbcafef0bda4fd0442c6248db937f87324c2376",
+        "render.png": "3a567fe1901ba6bd97394c878af3db8ca7ddde1e456c00be06837dafd62aa2a8",
         "graph-raw.svg": "7578c252cb6b47db833d4baa1c678822e60ec8245a0ccb34c1de5e4d611dc8ec",
         "graph-robot.svg": "b85366843c0db7cdf4a357bacc67897f6bdd5fbb3c0fe33f6399c242c03a0669"
       },
@@ -878,7 +890,7 @@
         "mjcf_ms": 2.637288998812437,
         "compile_ms": 4.158206284046173,
         "graph_ms": 100.32680490985513,
-        "render_total_ms": 1538.8185940682888
+        "render_total_ms": 1535.2968317456543
       },
       "mesh_preparation": {
         "status": "complete",
@@ -926,16 +938,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.965731080621481,
-        "render_ms": 1402.800199110061,
-        "compose_ms": 61.574317049235106,
-        "write_ms": 57.17953201383352,
-        "foreground_fraction": 0.40425
+        "compile_ms": 5.0493949092924595,
+        "render_ms": 1400.186391081661,
+        "compose_ms": 56.39606015756726,
+        "write_ms": 61.46011594682932,
+        "foreground_fraction": 0.40425,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "1ae8e663ca9ef11eae20f3f2e9ce0d5fd1e84a8d3894a0cc60c0fe724100ff2b",
         "meshes.tar": "e0c5ec66807a9dc61d5974a4ffe06674b4475ee132b37533de75f74c6d3589a9",
-        "render.png": "779e36a6bd1b3e7acf292d51da6ea80d78fd03001c5983f6f19f6c7883310375",
+        "render.png": "af1320f84f3b93c0be13a80ae9c8c6158ec763e06cce58e566b35bcc5cdf2b9e",
         "graph-raw.svg": "18aca9b363cd1e81b7456a401f956e52591d56b3abfb478f8f7ca00727f8aa2d",
         "graph-robot.svg": "adfc7bbd6b5c253792a17682ad52d4644442fddc441cf07caac25181b39b9e0c"
       },
@@ -984,7 +998,7 @@
         "mjcf_ms": 202.38715736195445,
         "compile_ms": 18.311865162104368,
         "graph_ms": 210.5820612050593,
-        "render_total_ms": 1639.3301752395928
+        "render_total_ms": 1538.791835308075
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1032,16 +1046,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.21168764680624,
-        "render_ms": 1469.7196707129478,
-        "compose_ms": 66.37567514553666,
-        "write_ms": 85.93244524672627,
-        "foreground_fraction": 0.7623
+        "compile_ms": 23.953055031597614,
+        "render_ms": 1333.5757097229362,
+        "compose_ms": 63.63992905244231,
+        "write_ms": 105.2994467318058,
+        "foreground_fraction": 0.7623,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "091982c0a44112a9b4069142fcfd068f17a68931e5019b0ac488efa48acd2fa0",
         "meshes.tar": "61baa5a185c3b5a98693cbee8cc51dee841c1bf919e4ff1b1d3f9c5e3717f841",
-        "render.png": "e3d4edd31cc561411cbbbb004ab954b694dd53aa90f81971f7948a2774142cb1",
+        "render.png": "f7da85571ba937cb969aa3d35d6d5131edea1635fae4972e7b981645879a1748",
         "graph-raw.svg": "03b678e90b09b44aeac7794d887a16f8c83ebf79e41ace9eb5f8e40102e4dd86",
         "graph-robot.svg": "3e5d0a43ab90755d73fbf8f45520dd229e0de435e5a9b2f6b8d1b31464b123f2"
       },
@@ -1083,7 +1099,7 @@
         "mjcf_ms": 2.889135852456093,
         "compile_ms": 15.58105880394578,
         "graph_ms": 107.73099027574062,
-        "render_total_ms": 1549.2505580186844
+        "render_total_ms": 1574.9959452077746
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1131,16 +1147,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.506221204996109,
-        "render_ms": 1402.9323989525437,
-        "compose_ms": 52.594779059290886,
-        "write_ms": 76.01552596315742,
-        "foreground_fraction": 0.493675
+        "compile_ms": 31.712874304503202,
+        "render_ms": 1388.2643529213965,
+        "compose_ms": 51.85580579563975,
+        "write_ms": 88.04148156195879,
+        "foreground_fraction": 0.493675,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "ae11a3fccec275c79d39879e9a58b3eae607bc0118df0490e1fc0ba13fb34d93",
         "meshes.tar": "2273404a5e47cd24e22be3e17eb7f28a416ecdf9444c42b64cb9b298c288b472",
-        "render.png": "cc9722d89ca33004e1c721c1fe3bd368360d49b3de3e5d117f78998702c5a5ac",
+        "render.png": "3cea400601d0654b0b98e740488852fb6ba7fa9ec7fef238fab016c9f58ae8ab",
         "graph-raw.svg": "fbf055d6cbc394374c3871182bcd2650c8e7af18a9e6ee2a4de5b72744e2b33c",
         "graph-robot.svg": "f7dc2434e5284924f54018a4cbff0af9b0d76c55edf49be4275e84c90b304b2c"
       },
@@ -1179,7 +1197,7 @@
         "mjcf_ms": 2.2123707458376884,
         "compile_ms": 13.991355895996094,
         "graph_ms": 86.8657361716032,
-        "render_total_ms": 1596.594424918294
+        "render_total_ms": 1620.7774067297578
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1227,16 +1245,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.540114965289831,
-        "render_ms": 1420.1339101418853,
-        "compose_ms": 63.31253424286842,
-        "write_ms": 97.18741802498698,
-        "foreground_fraction": 0.58575
+        "compile_ms": 17.541631124913692,
+        "render_ms": 1407.360248733312,
+        "compose_ms": 61.71958800405264,
+        "write_ms": 121.67172832414508,
+        "foreground_fraction": 0.58575,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "089367e61a260cb44b945250ebe50cca46190cf16b6f4c5ebfea21754b2bf4a8",
         "meshes.tar": "37fb5293e711ca542020a361ba66ff3eea234eee24492328edfe8030f24ff588",
-        "render.png": "87c0c755726ad80e13287b3bbc18725219352c01838f983b2d39efa720640827",
+        "render.png": "ae9b361dfb874bc1741919da3e1eb8ac0ea8954b222c5bb8780d5f72141f3288",
         "graph-raw.svg": "ddec09d484b98590487fa0cf4f283a9f02cd08331062ba42535fad1474392dbf",
         "graph-robot.svg": "7da0d41bf8ac866a403f4408a9deba47576f53633373432bb8684abb3d414616"
       },
@@ -1276,7 +1296,7 @@
         "mjcf_ms": 2.330662216991186,
         "compile_ms": 5.315553862601519,
         "graph_ms": 94.3488972261548,
-        "render_total_ms": 1595.9810819476843
+        "render_total_ms": 1517.6610150374472
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1337,16 +1357,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.895427867770195,
-        "render_ms": 1440.2299127541482,
-        "compose_ms": 77.53425184637308,
-        "write_ms": 58.60168393701315,
-        "foreground_fraction": 0.5406916666666667
+        "compile_ms": 8.321675006300211,
+        "render_ms": 1369.5788350887597,
+        "compose_ms": 67.23073776811361,
+        "write_ms": 60.156801249831915,
+        "foreground_fraction": 0.5406916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "8a176692e314fcbeff305e57df992e2a122c3645fcec0253c35848448cd175fb",
         "meshes.tar": "b16f4bd14cf21c41e0fdf61f7a75b045eff923a0c5f2d56761eb3210e4751be6",
-        "render.png": "179ab8016a1715924c06bc57b3e3a158dab451221a964402ddf163cf0792993c",
+        "render.png": "08befe034b21b2fb915750baca0568182e12a94f9fbbe7835aa486b0ac0a4ff6",
         "graph-raw.svg": "0eafb5443ef09d2dadfb812f7ef94197e0dbcd09f2e3a2143b033f853e6abf69",
         "graph-robot.svg": "65537be3051fd8755c07c4cf2d88bbf5924c79a5642188c8251ff75fa53cf3fd"
       },
@@ -1384,7 +1406,7 @@
         "mjcf_ms": 2.3713242262601852,
         "compile_ms": 14.144331682473421,
         "graph_ms": 84.23982979729772,
-        "render_total_ms": 1534.5132951624691
+        "render_total_ms": 1631.5745692700148
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1439,16 +1461,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.455976188182831,
-        "render_ms": 1374.9192147515714,
-        "compose_ms": 61.402360908687115,
-        "write_ms": 81.29715919494629,
-        "foreground_fraction": 0.6985
+        "compile_ms": 13.718065805733204,
+        "render_ms": 1388.5690900497139,
+        "compose_ms": 70.7443612627685,
+        "write_ms": 141.5149443782866,
+        "foreground_fraction": 0.6985,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "dfcaff9e0cc1505ffbb1c08b48c4996fbc5787b5138540a649cce6450ae7c459",
         "meshes.tar": "0fe5c747d2c4cfca843d3384a60080ba09f9c75eaed5ed30e6e95dbb0248efad",
-        "render.png": "c09fec090a951fa1632914a8d78f2728e029fafebea387d7880579528a4539d9",
+        "render.png": "2f7c0244adf32803f6d95e3ae6f79bc7341dd4409efecb00caca4d51d09263dc",
         "graph-raw.svg": "1431f16b7561016ccff7cb9b23b0af8e143c39803c0e6ad36738220f683b3c93",
         "graph-robot.svg": "27c0e5a4199103e4653d1c2ca8cce4f18e5c097c8fc78735a8d9113f46317d89"
       },
@@ -1488,7 +1512,7 @@
         "mjcf_ms": 3.760708961635828,
         "compile_ms": 2.5741010904312134,
         "graph_ms": 187.2742436826229,
-        "render_total_ms": 1581.3314532861114
+        "render_total_ms": 1529.7989663667977
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1536,16 +1560,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.8038248419761658,
-        "render_ms": 1437.043759971857,
-        "compose_ms": 56.42926087602973,
-        "write_ms": 72.65035482123494,
-        "foreground_fraction": 0.45595
+        "compile_ms": 4.609872121363878,
+        "render_ms": 1385.1016056723893,
+        "compose_ms": 53.050934337079525,
+        "write_ms": 74.3623748421669,
+        "foreground_fraction": 0.45595,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "22e0ca75be143b8c4b76c0fe9e6a0ffbe6b6442ef31d0e5f9deeb20154267c36",
         "meshes.tar": "a2a180898b8cb014803b41183dea93b84ffcd13fe4f1bd17bba2f2107e883b30",
-        "render.png": "db963d9f840c948646f7bcb28598494492c006123352c757fb57abdd65997253",
+        "render.png": "89f69c6d8eee5733914d9fb8b495d8aca83197908287f755462f8537232a7cb8",
         "graph-raw.svg": "cd3d10c240abd7df5e021f31f6f00ac120ba738a69d6d5537605d9b5ee87cc38",
         "graph-robot.svg": "42a5cc1e90a1d8b2cdd981a2cf688722627cfc4b2829ef948dfb96b239cb188f"
       },
@@ -1585,7 +1611,7 @@
         "mjcf_ms": 3.2360809855163097,
         "compile_ms": 91.91123303025961,
         "graph_ms": 91.65038773790002,
-        "render_total_ms": 1632.1455901488662
+        "render_total_ms": 1684.797807596624
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1633,16 +1659,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.75866374373436,
-        "render_ms": 1461.4579770714045,
-        "compose_ms": 50.58857100084424,
-        "write_ms": 89.28138110786676,
-        "foreground_fraction": 0.38555
+        "compile_ms": 93.36074627935886,
+        "render_ms": 1429.6384118497372,
+        "compose_ms": 50.367448944598436,
+        "write_ms": 98.84286625310779,
+        "foreground_fraction": 0.38555,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "440e13d003de251612f4a02b19af2cafaa605978373f228c73dc4c71f8cb6132",
         "meshes.tar": "9977598e7dd412b6f932dcdb07d7af14309ba2f066749c53716a187bc8e3c5bd",
-        "render.png": "c1d844fef1d35c813d9c05e007f694b34e82999b48046c730be9056a9c695e9d",
+        "render.png": "32c71dbc5ea9dfb2775eb537d8205c74acaf4db9b58e8f845cbbbfe9489e667b",
         "graph-raw.svg": "5dcaef54cca4f198a63650e7cf9a172b11c492c53927e0845f1f8077ac712713",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -1680,7 +1708,7 @@
         "mjcf_ms": 2.2804979234933853,
         "compile_ms": 113.4964651428163,
         "graph_ms": 86.01930364966393,
-        "render_total_ms": 1663.2092967629433
+        "render_total_ms": 1673.9289732649922
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1747,16 +1775,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.77180380001664,
-        "render_ms": 1501.2877518311143,
-        "compose_ms": 56.74710497260094,
-        "write_ms": 71.72175170853734,
-        "foreground_fraction": 0.63245
+        "compile_ms": 113.12400316819549,
+        "render_ms": 1417.673910036683,
+        "compose_ms": 55.939128156751394,
+        "write_ms": 75.06425585597754,
+        "foreground_fraction": 0.63245,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ab4573bf31d05a90f538ff2d7b10fcce4488b5049e93009af85b84a452fd021f",
         "meshes.tar": "d8266ff884fdf3671d08bc9e009eca3570a29434ceb319fa9a1f4f4ac943d6ce",
-        "render.png": "2866e681dfa93a2bee926ce45e44c67b7268a6650157d885ae24771a5d5e672e",
+        "render.png": "ded5ef34c0d64da3deae075151462270c5abe03b7dfa1265db7e31a2a2e39d87",
         "graph-raw.svg": "4a6208ce82de626e03022bc2509986b5f6119e6c51bea5cff26faaa4d2e28ae5",
         "graph-robot.svg": "9d8b7156a35ef91c9be8632ab252c893c7c4d2ad5f10472b41c4e26839384dd3"
       },
@@ -1820,7 +1850,7 @@
         "mjcf_ms": 17.393541056662798,
         "compile_ms": 480.94904888421297,
         "graph_ms": 1459.3251557089388,
-        "render_total_ms": 1799.2971087805927
+        "render_total_ms": 2229.6292409300804
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1868,16 +1898,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 95.15426820144057,
-        "render_ms": 1519.8440132662654,
-        "compose_ms": 69.22496482729912,
-        "write_ms": 96.43757296726108,
-        "foreground_fraction": 0.63745
+        "compile_ms": 491.2847150117159,
+        "render_ms": 1522.350157611072,
+        "compose_ms": 63.73237678781152,
+        "write_ms": 137.98467628657818,
+        "foreground_fraction": 0.63745,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "0158263c685b62f7c8ca6cca5ec60ad7d65701573857c3b5fee1e47a44e985da",
         "meshes.tar": "c86e450fc48ff62d6e9aaf9638df49be57328e62076e3859d9169e38f12e5aba",
-        "render.png": "2a6337b90fc63030899736679f510a7e75e36994102f4bc6bb02889b483c3773",
+        "render.png": "010c30cbce97f73257e01bf3ec34699b2064a206a888cdfefe086a6c9c69e645",
         "graph-raw.svg": "8ab91a171c43602487c6e09ba51c419a0382670af8b2feb44109e0f90a01d0f5",
         "graph-robot.svg": "8008742f0d84368856218ef21a34e39b15f564b30ce739f8523b16db25b573f6"
       },
@@ -1916,7 +1948,7 @@
         "mjcf_ms": 2.5880099274218082,
         "compile_ms": 12.696482706815004,
         "graph_ms": 123.2279441319406,
-        "render_total_ms": 1879.647065885365
+        "render_total_ms": 1836.8344572372735
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1964,16 +1996,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.718655090779066,
-        "render_ms": 1446.6312360018492,
-        "compose_ms": 58.1923658028245,
-        "write_ms": 358.37555257603526,
-        "foreground_fraction": 0.44
+        "compile_ms": 10.21240884438157,
+        "render_ms": 1347.3755242303014,
+        "compose_ms": 51.4228823594749,
+        "write_ms": 415.8139289356768,
+        "foreground_fraction": 0.44,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e10073a5ca7510485f6b8f3171a9ab335bad0a80084c92980ab0843bc9c34c9a",
         "meshes.tar": "ca737e3ae55419e80066fb0a2bd3fcc6b961eba938c009fcbab66f5f01c49f93",
-        "render.png": "7231dcfe363846bb92cb4e50ae4e9c346c42677d60733e33f277002591f3c4c9",
+        "render.png": "aac8feaa2369aad281545a72821c548bf8af45497ee302d94b0e020abb3893fb",
         "graph-raw.svg": "6d298a0d598670a46e009d8a18e1c739310a36a601619280464983030e88a933",
         "graph-robot.svg": "fa1f99d7dce41bde5c5b97d81cb3387598d8cbd05070dced5d65511fbf8763fc"
       },
@@ -2011,7 +2045,7 @@
         "mjcf_ms": 3.4357141703367233,
         "compile_ms": 2.7224156074225903,
         "graph_ms": 105.97553476691246,
-        "render_total_ms": 1542.500909883529
+        "render_total_ms": 1545.5338559113443
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2120,16 +2154,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.532206941395998,
-        "render_ms": 1391.917104832828,
-        "compose_ms": 71.36489590629935,
-        "write_ms": 61.09198788180947,
-        "foreground_fraction": 0.32285
+        "compile_ms": 3.0497522093355656,
+        "render_ms": 1391.9898997992277,
+        "compose_ms": 52.41481773555279,
+        "write_ms": 86.29736490547657,
+        "foreground_fraction": 0.32285,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "7fd06df531c0b91c48cf2c64aeb627c01de22eb22488ff06a4358127a54b8a54",
         "meshes.tar": "95a98e8b0d45e18338bcec28a4cf73c21650ed1e6c268e786fe13e38e018ff44",
-        "render.png": "0a73974c2f23fcdcd85a52ebbc2d265b1703d01f828baf1660770b49156d6232",
+        "render.png": "31ed718bff2dc90d38f8634786ec8dfbc4cb61774f2bdb803c3d454b3eb924d2",
         "graph-raw.svg": "6b10047054109f2202d322d495533af9b112e00b4578e4c9a07a832572ec9f4e",
         "graph-robot.svg": "8560d9a8d466c7190520d342e401ccfd640f82896141d42e972173ff9fbbde7d"
       },
@@ -2172,7 +2208,7 @@
         "mjcf_ms": 3.3570537343621254,
         "compile_ms": 125.74783759191632,
         "graph_ms": 197.4922097288072,
-        "render_total_ms": 1777.944765985012
+        "render_total_ms": 1802.2088999859989
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2377,16 +2413,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.532785061746836,
-        "render_ms": 1569.0827397629619,
-        "compose_ms": 64.18262328952551,
-        "write_ms": 102.83914394676685,
-        "foreground_fraction": 0.51095
+        "compile_ms": 86.40702906996012,
+        "render_ms": 1528.9437156170607,
+        "compose_ms": 56.39627994969487,
+        "write_ms": 118.54340508580208,
+        "foreground_fraction": 0.51095,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "88e2b37662226e86384f72010347ef1e0bb9eabfd7b28b58cc5b2e5a5a4199e8",
         "meshes.tar": "3e2247a90ffdbc02bc1d5dea79de6b271a7f9ce41e6a139d1fd6097f16bcff87",
-        "render.png": "71a0bc130feaefce9b7984a109f989fbbbcaa80c926d50ee9175c0273e04c8a4",
+        "render.png": "de38230aa3a25e253d9354d2d2dc8cb5c222b6f5de0a9e4a47e16149da887f28",
         "graph-raw.svg": "027be0dad9b07e1aa74b0197ad9ab99852d55d1ec2f593bfefe60c1a988d0505",
         "graph-robot.svg": "4c6582f31d7aa49fcffca00e0d0e242546821a2bcbead2d27ff2360f5a406a92"
       },
@@ -2430,7 +2468,7 @@
         "mjcf_ms": 3.451448865234852,
         "compile_ms": 135.48287004232407,
         "graph_ms": 251.46842561662197,
-        "render_total_ms": 1829.2979751713574
+        "render_total_ms": 1773.3834036625922
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2635,16 +2673,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 28.05121475830674,
-        "render_ms": 1624.2423229850829,
-        "compose_ms": 61.16526573896408,
-        "write_ms": 101.63674503564835,
-        "foreground_fraction": 0.51205
+        "compile_ms": 118.56546625494957,
+        "render_ms": 1472.1688348799944,
+        "compose_ms": 55.76227372512221,
+        "write_ms": 114.96122507378459,
+        "foreground_fraction": 0.51205,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "6a29681f5a1ca7cf1c3e89c9dff7c9452a4e49f292b19f2bd3c3f5aec3955b6f",
         "meshes.tar": "d7cbf1cdcedd23ae6f72bee12a3e2b90f473c9b241c424f444523d6fb4519445",
-        "render.png": "7a419027423045af4ca87536f5552beedaa214da16b638868624b097b3fe2594",
+        "render.png": "e3103c98a2fa2b8decb55dfab7eebc42f6020e7924987a128ec5b848a893e63b",
         "graph-raw.svg": "3e1a5e39e8ba7d741e94c7b14d9cd25ee9dc632e10bd7f985f835278c59db36d",
         "graph-robot.svg": "f1d5e3766ef3d1d7d8c0e7de96a84b6d7460b65d1b8c8ba0e48aa1a6c7627a11"
       },
@@ -2694,7 +2734,7 @@
         "mjcf_ms": 3.5857539623975754,
         "compile_ms": 64.70868596807122,
         "graph_ms": 255.9917620383203,
-        "render_total_ms": 1628.702585119754
+        "render_total_ms": 1720.9984227083623
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2755,16 +2795,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.595281194895506,
-        "render_ms": 1439.7553289309144,
-        "compose_ms": 77.68282294273376,
-        "write_ms": 82.24314684048295,
-        "foreground_fraction": 0.6226
+        "compile_ms": 88.1695281714201,
+        "render_ms": 1472.1009046770632,
+        "compose_ms": 63.063745852559805,
+        "write_ms": 85.62339982017875,
+        "foreground_fraction": 0.6226,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "6f8663f6da52290e3d9bf9e75022a815d45849e35fad1c57706c91a3f0668ed7",
         "meshes.tar": "3e1112d2dcc437c27e8f4e074e34ac4f5b80453b14f797df1b80e4e7195a4b0d",
-        "render.png": "d0c91ac852ca72201b2a67e6ff894f634df8b2a6e3e6cc33151f2cda61d4c516",
+        "render.png": "eeefda79dff4fdb95af9cfa55833f09bc9dde58a51875bed52d884836907c1cf",
         "graph-raw.svg": "a1a8c7738f0442353ea3292790e66d139d5e3ba063caeac51eec3293c889eb5e",
         "graph-robot.svg": "f39bb8adc236950d87694c6240d0a86091558bb24cf1e776cfa0816f891d5230"
       },
@@ -2802,7 +2844,7 @@
         "mjcf_ms": 2.3081661202013493,
         "compile_ms": 15.137175098061562,
         "graph_ms": 62.795810867100954,
-        "render_total_ms": 1564.3909741193056
+        "render_total_ms": 1611.9902511127293
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2850,16 +2892,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.3637750893831253,
-        "render_ms": 1394.3667630665004,
-        "compose_ms": 71.25874701887369,
-        "write_ms": 82.80101604759693,
-        "foreground_fraction": 0.675675
+        "compile_ms": 13.234724756330252,
+        "render_ms": 1423.6578978598118,
+        "compose_ms": 60.96548493951559,
+        "write_ms": 102.18114592134953,
+        "foreground_fraction": 0.675675,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "e942335588fb0f500d3fbb100912b740133e371030f3c2d7de66608ebd84acbf",
         "meshes.tar": "9bfe7d1b708b7610ccf466060f95e2e712f8458b2cb22db35ded004126f02d0a",
-        "render.png": "f76916e2b3ae82a4af48e6c4655f3992909d3887b81b28cab6894eed1d60a055",
+        "render.png": "68dfcd3ec3a7c6323091ca753a1cd859c1e20900c8c3e577afff25fe8632a760",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -2891,7 +2935,7 @@
         "mjcf_ms": 2.2973688319325447,
         "compile_ms": 127.04433314502239,
         "graph_ms": 79.65490594506264,
-        "render_total_ms": 1613.946772646159
+        "render_total_ms": 1742.9392649792135
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2965,16 +3009,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 28.118479996919632,
-        "render_ms": 1416.097111068666,
-        "compose_ms": 70.17605984583497,
-        "write_ms": 83.81000906229019,
-        "foreground_fraction": 0.5687
+        "compile_ms": 143.3711308054626,
+        "render_ms": 1433.6858820170164,
+        "compose_ms": 69.01918817311525,
+        "write_ms": 84.37214512377977,
+        "foreground_fraction": 0.5687,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "3c3ead217145b11d58a2164f4fd6889362d73d6cd8b59261f2b36d376d7ce21d",
         "meshes.tar": "3e1dab74ab5bb9c74bf49da0fbc7ed5d317aca40c3ae33dc554b68595b417b53",
-        "render.png": "eacd388dec6af0bc95089028e52b6a9723517e9e16f70d86da5004203365e98e",
+        "render.png": "fdcc0a55224f102f266e95f7395038a7912808b48912b2359f17379a9eee1087",
         "graph-raw.svg": "51ca6774788e2f072183512c1084084b330f62ef5a90d35427ac21edda3f89f2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "5dcd4a4b7ccaa4d3bde37905f3f3c90008853a3fb280a884ad424bd5323465c4"
@@ -3006,7 +3052,7 @@
         "mjcf_ms": 2.17660004273057,
         "compile_ms": 7.389781065285206,
         "graph_ms": 68.54384485632181,
-        "render_total_ms": 1554.8386168666184
+        "render_total_ms": 1545.4950267449021
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3067,16 +3113,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.7480886094272137,
-        "render_ms": 1380.6523033417761,
-        "compose_ms": 67.47038289904594,
-        "write_ms": 91.02859999984503,
-        "foreground_fraction": 0.51755
+        "compile_ms": 11.771457269787788,
+        "render_ms": 1375.016686040908,
+        "compose_ms": 56.192195042967796,
+        "write_ms": 90.7391831278801,
+        "foreground_fraction": 0.51755,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4d4710325128b1f028b39a5b20b24673ea8a284893c3af51bc93235fffb3e13f",
         "meshes.tar": "74ff6bd9f350e99a64b122057b2ba5e0f156d878c74da54c17673fbad0faeddb",
-        "render.png": "39d3a5ba0664f4d7e39fb009fcffa0491bf351e0671872e9e4ea455ab9da3922",
+        "render.png": "a2c7abed6386ed42f7975a03bbc7be73bcf78de124775166d8843bbc6ff503dc",
         "graph-raw.svg": "dd0388018cd21d3243d2ea771fdc68592cadf81abdabf1020306cd9173d59b87",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "fc30b454899560e2879eb7e92fbb4e9f2ce873b297dad22d8e3661b617df362c"
@@ -3144,7 +3192,7 @@
         "mjcf_ms": 6.908628158271313,
         "compile_ms": 6845.001634676009,
         "graph_ms": 997.7482077665627,
-        "render_total_ms": 8306.65201926604
+        "render_total_ms": 9979.339828714728
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4111,16 +4159,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5388.925584033132,
-        "render_ms": 2688.2202867418528,
-        "compose_ms": 87.22174493595958,
-        "write_ms": 114.33931905776262,
-        "foreground_fraction": 0.7887
+        "compile_ms": 6993.127109017223,
+        "render_ms": 2724.6364536695182,
+        "compose_ms": 84.66324489563704,
+        "write_ms": 147.74779230356216,
+        "foreground_fraction": 0.7887,
+        "style": "link-palette-v1",
+        "colored_bodies": 17
       },
       "artifacts": {
         "robot.mjcf": "a11ae5c1b6ed8591edea977efbb1288541c72729baf1c72c4aa93710ce42a6ef",
         "meshes.tar": "441aeac8dedcffd81cbd1af62557400f4c6415a8dff045e6f40e9b77512d154c",
-        "render.png": "e62b7974f692ba500a315bfea3a68725fc1b7c0b6522c8692c61abd6d7f8ff58",
+        "render.png": "cb548a285aa8b140a3aeb735d93aad17c8c3aad3f623efce295e0b2d6aacdc96",
         "graph-raw.svg": "b4568e2f9dd2ed5b6c50ff3cd96d03b8b47f0e26f1b611182ec0db49554a12f2",
         "graph-robot.svg": "859e6e02333bb98792c88d14e5499a6b06f43ef227a3159a876e812d766f70f1"
       },
@@ -4189,7 +4239,7 @@
         "mjcf_ms": 7.920552045106888,
         "compile_ms": 7355.44968303293,
         "graph_ms": 1135.5587192811072,
-        "render_total_ms": 10372.877061367035
+        "render_total_ms": 10469.095778185874
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4904,16 +4954,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7301.517136860639,
-        "render_ms": 2890.7447340898216,
-        "compose_ms": 59.70377381891012,
-        "write_ms": 88.80537422373891,
-        "foreground_fraction": 0.627
+        "compile_ms": 7365.602714940906,
+        "render_ms": 2913.034271914512,
+        "compose_ms": 59.488615952432156,
+        "write_ms": 98.74597331508994,
+        "foreground_fraction": 0.627,
+        "style": "link-palette-v1",
+        "colored_bodies": 26
       },
       "artifacts": {
         "robot.mjcf": "5d1f0ff2690911c4579813b82b946c72cb0ba026963532f4a38b3a4abb155604",
         "meshes.tar": "885c61fda542840d08077ed0965002c8c5de6f440f3d880d475296beadeb9709",
-        "render.png": "caef459acccf750c6f6d6b96f4292bb85a338f4188ee70eee77f404ba92adfee",
+        "render.png": "45df7ebccf555f358972a31dd32022872d245b1aeb11005093074ad35524a4ba",
         "graph-raw.svg": "2cbd085e9d1915c00649e10986f348df6ed41bfecd71d933dbaa27ae9add9968",
         "graph-robot.svg": "cc3f5f3a219ca2989f55d3a63cb7c722fb16a4f961384d213c64dcd660d747d0"
       },
@@ -4952,7 +5004,7 @@
         "mjcf_ms": 2.6462129317224026,
         "compile_ms": 115.56657310575247,
         "graph_ms": 129.3941093608737,
-        "render_total_ms": 1427.1908071823418
+        "render_total_ms": 1540.4631597921252
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5067,16 +5119,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.6931270733475685,
-        "render_ms": 1272.2605671733618,
-        "compose_ms": 62.46604211628437,
-        "write_ms": 76.34553918614984,
-        "foreground_fraction": 0.6611
+        "compile_ms": 103.61630097031593,
+        "render_ms": 1284.5993102528155,
+        "compose_ms": 61.68936286121607,
+        "write_ms": 75.37519186735153,
+        "foreground_fraction": 0.6611,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b34f717e889de579804bec370df6e67485ce6a28ec103dd8ca9d936bb438e835",
         "meshes.tar": "cfd4e69871947d94d363513119f9d42cc2143fbc12d37a0d203bbfd0013d59be",
-        "render.png": "4be83ba0cafa674b4e0c91cb18ec377bbf0b4e19bc7132ca0bf758298bce8375",
+        "render.png": "bb54846e449df1db29cacaddda0b108f61253f97da7b46c05a1300324de8f63f",
         "graph-raw.svg": "9beac5f5e945e77a82d36e3f680a4b386d3553643d3c3bdbb008ec84486ac3eb",
         "graph-robot.svg": "c065f11eaa635cdf2ad9213f256489df285fe421bd11a3ec3f66c0d8da12b277"
       },
@@ -5107,7 +5161,7 @@
         "mjcf_ms": 2.454770263284445,
         "compile_ms": 71.1000650189817,
         "graph_ms": 74.5472889393568,
-        "render_total_ms": 1604.2174668982625
+        "render_total_ms": 1701.060920022428
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5168,16 +5222,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 99.1169149056077,
-        "render_ms": 1315.516754053533,
-        "compose_ms": 60.83246786147356,
-        "write_ms": 116.60828301683068,
-        "foreground_fraction": 0.6017
+        "compile_ms": 84.45297600701451,
+        "render_ms": 1380.5687483400106,
+        "compose_ms": 60.51685893908143,
+        "write_ms": 163.662554230541,
+        "foreground_fraction": 0.6017,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "3d3baf087ed18bcbbf25197d7cad93794ce6e273fccafd22eb2be603ea99cdc0",
         "meshes.tar": "28c26cbbd92c532b3b890d5b48836f40ffb74dbdfc80d9e71ad58f8e6b1b64d7",
-        "render.png": "ff380191c42303205827b73f7441c3c91dd1a032e630023b7bdff4ffc4fd2049",
+        "render.png": "26becdec848031a00f5fa5008d17325c726ec965f884ecdac05fe522eec3d0a7",
         "graph-raw.svg": "194fbe7ea515662b95edd135a80804ad93ce4ab734288121b04d7df2dffecabd",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "94a9d14e78543cf757472a371678bedbc5e77218cdf0556eedd69690579bd4d2"
@@ -5215,7 +5271,7 @@
         "mjcf_ms": 3.3838790841400623,
         "compile_ms": 77.08597974851727,
         "graph_ms": 174.9992766417563,
-        "render_total_ms": 1516.1533267237246
+        "render_total_ms": 1632.6509229838848
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5276,16 +5332,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 72.88252795115113,
-        "render_ms": 1306.644530966878,
-        "compose_ms": 52.96483915299177,
-        "write_ms": 71.7773949727416,
-        "foreground_fraction": 0.2981
+        "compile_ms": 65.74521260336041,
+        "render_ms": 1423.977890983224,
+        "compose_ms": 57.78229935094714,
+        "write_ms": 72.7970409207046,
+        "foreground_fraction": 0.2981,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "d1304f316594217c52444cba9cd40f7d752dafca26f940dca243ce3fa8c72cdd",
         "meshes.tar": "55764533591e87880eef03668b4cbebdc08381c02726b90682040c22f36948e6",
-        "render.png": "a81399ee7919f8cfcb398450e93ba60351790598b158b3d281914599d8414dc8",
+        "render.png": "95892ec09f2e7381f62f3c28b8b0851435ef9af8b5fd43dc0864adcb18488869",
         "graph-raw.svg": "89a5a6fae3a112aa5137952eab0e57f8b2a4d6602a99721f6632d7176e375d57",
         "graph-robot.svg": "818dbc5ebc3222f0a51261a43e76d1a0f2fcb5bdb0fc09e75600cc8f8bbe5da1",
         "robot.urdf": "1b4805252d346dc2d33397d14b50f85a3ce2609bacf30f1bbcd5a2be43358c44"
@@ -5328,7 +5386,7 @@
         "mjcf_ms": 3.124697133898735,
         "compile_ms": 3.9066332392394543,
         "graph_ms": 146.86327194795012,
-        "render_total_ms": 1408.1464726477861
+        "render_total_ms": 1513.3424447849393
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5376,16 +5434,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.607503604143858,
-        "render_ms": 1278.1173987314105,
-        "compose_ms": 61.19039095938206,
-        "write_ms": 53.26754227280617,
-        "foreground_fraction": 0.50325
+        "compile_ms": 4.818152636289597,
+        "render_ms": 1369.5141300559044,
+        "compose_ms": 60.60101883485913,
+        "write_ms": 66.67682901024818,
+        "foreground_fraction": 0.50325,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "cad0d9636770963f0b9f296f24dc36a3edf24f0b32c82d24befbf9657e7508bd",
         "meshes.tar": "3a0c6274444e4f9904131b54b9c942666f13be3d060c8c2ba78ec197be805580",
-        "render.png": "994405cf16e4820b5987f3d5f350590003e29dac1bdc4ec1df80f6bb7901fa21",
+        "render.png": "177410d98ed02ee5e5bda815f90c4b2db4515403edd340723d91b1b1dc1c64ba",
         "graph-raw.svg": "107bb4da01b219646c350371f7d3d1cc05c7dd9e90afbd36549c22fe918e775f",
         "graph-robot.svg": "35ed6220d2012ced97e9ee028aaf9628abcb01b6beae38906b17a1fe713b12bb"
       },
@@ -5420,7 +5480,7 @@
         "mjcf_ms": 3.0678240582346916,
         "compile_ms": 2.2658039815723896,
         "graph_ms": 92.5748129375279,
-        "render_total_ms": 1369.702042080462
+        "render_total_ms": 1497.711940202862
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5481,16 +5541,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.3046517744660378,
-        "render_ms": 1247.680835891515,
-        "compose_ms": 53.98091580718756,
-        "write_ms": 53.893114905804396,
-        "foreground_fraction": 0.50325
+        "compile_ms": 2.854282036423683,
+        "render_ms": 1368.5336480848491,
+        "compose_ms": 61.4313343539834,
+        "write_ms": 53.14591899514198,
+        "foreground_fraction": 0.50325,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "604fb16908c80f7ea7cf9510cf979db80ba0527a52c17ac906df74d7416c0c99",
         "meshes.tar": "9ee280a14e89da8460967f85eea48b56ea40b2f9a5acc25bf4b671eb3b935cd9",
-        "render.png": "a782adc4edfd92c33a9edadab9833af43b7811a44dd2a981285fc60d229a5ef4",
+        "render.png": "eb6b6f7014ec8e00bdb124347dd949ef016b0b49ee66c36703dd89cba35123ef",
         "graph-raw.svg": "be1d6c03d42095200af3f0119ad742c2659092f5a6bda225d8751037a70f2cfd",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "50b5d58958a0c088f31a07bbdc6e4c68c0cb8e1a180b76ba53dc5a5e276e6276"
@@ -5533,7 +5595,7 @@
         "mjcf_ms": 2.7204612269997597,
         "compile_ms": 3.123967908322811,
         "graph_ms": 121.36699864640832,
-        "render_total_ms": 1376.6555092297494
+        "render_total_ms": 1525.4753548651934
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5581,16 +5643,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.327667247503996,
-        "render_ms": 1238.4360237047076,
-        "compose_ms": 64.27204422652721,
-        "write_ms": 58.25084028765559,
-        "foreground_fraction": 0.657475
+        "compile_ms": 4.1203610599040985,
+        "render_ms": 1382.371176034212,
+        "compose_ms": 64.99752216041088,
+        "write_ms": 62.04757234081626,
+        "foreground_fraction": 0.657475,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "ceb9988e7082ee4e71585b3376b54d67e4c5f19788c7647b81dc06173bfe3971",
         "meshes.tar": "9147e2c9334e4a829bb334ed4740327f721e35715b93ec516ff7d87a617d28ac",
-        "render.png": "d149f3863f3b40d722df4ac21d99dd0993fb5cecc4a0f83a0e72aa49d3f51993",
+        "render.png": "cd0c5781ac41914a24bd440e4d3d63127ef11e751567cfd35439eedf3b878ab5",
         "graph-raw.svg": "40147f3f82d03a3853ec1f158fc5a9fc29a502bed8c3d886387ab367689ec8ad",
         "graph-robot.svg": "e07ccb74bee6f17b9ad9e112381c86e78f3d31ace4a54be0ececcc060559e06a"
       },
@@ -5623,7 +5687,7 @@
         "mjcf_ms": 2.6894896291196346,
         "compile_ms": 1.9527631811797619,
         "graph_ms": 99.38616817817092,
-        "render_total_ms": 1407.3965912684798
+        "render_total_ms": 1534.5584312453866
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5684,16 +5748,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.2810762748122215,
-        "render_ms": 1261.2928310409188,
-        "compose_ms": 66.45493488758802,
-        "write_ms": 64.85660094767809,
-        "foreground_fraction": 0.7425
+        "compile_ms": 2.6569790206849575,
+        "render_ms": 1383.1122480332851,
+        "compose_ms": 72.21357710659504,
+        "write_ms": 64.80742106214166,
+        "foreground_fraction": 0.7425,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "9e8ff852f87d5b22ed73ed6bebe599f6100f3cf852f556eb320b4eae634993b9",
         "meshes.tar": "fd1ed9b4a3054d63b50f851cb8cea4e5eb4edbb4697976fa7e5eef3b621f10a3",
-        "render.png": "810a2a76ae4597328aa8ab09eae7edfe2e37d9801f4ef0995f1d263ded955b5f",
+        "render.png": "d5e581f495e2a0d84daaf3d51a563404fd57da41d8a71624add13126e8221c9f",
         "graph-raw.svg": "dac40a6004de107de6333e090a1e584be1615e148b079cd74343b29a22b555f4",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "1384cc4d91c64ce5bc4453c14c57f2353e1e6c4fc0471d732c351bca319ff3e9"
@@ -5743,7 +5809,7 @@
         "mjcf_ms": 4.8866732977330685,
         "compile_ms": 8.591949939727783,
         "graph_ms": 363.6208837851882,
-        "render_total_ms": 1410.6479659676552
+        "render_total_ms": 1507.227152120322
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5804,16 +5870,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.672056253999472,
-        "render_ms": 1263.5953431017697,
-        "compose_ms": 61.056679114699364,
-        "write_ms": 65.0389650836587,
-        "foreground_fraction": 0.6149
+        "compile_ms": 11.017696931958199,
+        "render_ms": 1349.2476637475193,
+        "compose_ms": 62.42123479023576,
+        "write_ms": 72.63515796512365,
+        "foreground_fraction": 0.6149,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "ee7620e5bdee3f978f6aade8ecb97aca06ffebf5783fc0b0414966097f7cc43a",
         "meshes.tar": "3e7c89ae90433f43b6eec820850eb5dfa7b486122fb618d682a61927a027a947",
-        "render.png": "1691c67599baa869644a0a66d9c5b5d00b0ce3458976bb13603a8bc2468a32e1",
+        "render.png": "a5a135b0884048bcc9b2281b071aff03468fce760136013e74536c51d0a6c96d",
         "graph-raw.svg": "5adb83149027b6f5411548cdf80b998c8db45e47eab4f5b6bfb1d536512619a5",
         "graph-robot.svg": "db0d2fb9e83f9d083e4ad0d8e9db084c8dad9b6dc7225b60e2fde661cfe8cbf7"
       },
@@ -5853,7 +5921,7 @@
         "mjcf_ms": 2.7128891088068485,
         "compile_ms": 84.51057225465775,
         "graph_ms": 174.69347082078457,
-        "render_total_ms": 1583.8215150870383
+        "render_total_ms": 1729.58266409114
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5901,16 +5969,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 101.59919364377856,
-        "render_ms": 1331.5538009628654,
-        "compose_ms": 49.12853892892599,
-        "write_ms": 88.63440062850714,
-        "foreground_fraction": 0.3487
+        "compile_ms": 156.5275089815259,
+        "render_ms": 1409.5039148814976,
+        "compose_ms": 49.0777799859643,
+        "write_ms": 102.43785008788109,
+        "foreground_fraction": 0.3487,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "06ddf0d2c4033b2f8fc2297adbefef4f07a817795e97f3a72df25dd56fb61514",
         "meshes.tar": "c032ef6fb1a29a8a05ba21172e6a8b2fd201647da488d2d67344afaaf8e3f381",
-        "render.png": "ecbacef8a0cffe33152bd1bb027a648346fa61697c29e52b5f88832a707e4d0c",
+        "render.png": "265517963d79881b004b430e49e20659c19379ab1a76b8dd6d62359e0c957a7a",
         "graph-raw.svg": "c7eed948595689746eac347f55b41eca8346bf039c54bfd61d01f65e96762c16",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -5952,7 +6022,7 @@
         "mjcf_ms": 2.5805127806961536,
         "compile_ms": 74.20290214940906,
         "graph_ms": 99.84009899199009,
-        "render_total_ms": 1564.3703849054873
+        "render_total_ms": 1663.8781898654997
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6000,16 +6070,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 76.5174888074398,
-        "render_ms": 1334.4754120334983,
-        "compose_ms": 59.282994363456964,
-        "write_ms": 81.22426876798272,
-        "foreground_fraction": 0.4939
+        "compile_ms": 71.36932201683521,
+        "render_ms": 1429.8556009307504,
+        "compose_ms": 59.13869757205248,
+        "write_ms": 91.53057727962732,
+        "foreground_fraction": 0.4939,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "e04fff5a1b94a6e54139267a25fdca17c4dc7e56ff674b7e39a24755e6b53ded",
         "meshes.tar": "39745da641673341db44dc689d78ba472983973c37a315eb34d0cd8bb11aa38c",
-        "render.png": "436b5b4c7295ec8edad360c939986e4e432dd129c4ff706d92c26d423530cc33",
+        "render.png": "e5a603ae32765df2a09596a36f80d11c7a12b4794d432ac0eb8aa16c8a0cb4f0",
         "graph-raw.svg": "0b05b9051decc9cea2134a25f65dcd2f698169987a2e2e39bcd9779a6d428cb8",
         "graph-robot.svg": "276aecaf0bb9ea77f9c2e7a69dadb4164ff29dbcd8ac586a6c4b6232744bf4b4"
       },
@@ -6041,7 +6113,7 @@
         "mjcf_ms": 92.4277463927865,
         "compile_ms": 224.90980522707105,
         "graph_ms": 240.03127636387944,
-        "render_total_ms": 1704.6125028282404
+        "render_total_ms": 1905.6487497873604
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6102,16 +6174,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 226.0616789571941,
-        "render_ms": 1330.1094290800393,
-        "compose_ms": 62.49282602220774,
-        "write_ms": 73.67102010175586,
-        "foreground_fraction": 0.51535
+        "compile_ms": 256.0535348020494,
+        "render_ms": 1496.9447259791195,
+        "compose_ms": 68.25492391362786,
+        "write_ms": 72.463802061975,
+        "foreground_fraction": 0.51535,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ae5967008d4baff47a150fe3e0079482eb82e59e3e05b87a79932eeb3c46d865",
         "meshes.tar": "faed8865777d00df2aa5bd8cfb625597083a82dddbd53b71e85c000c76c35776",
-        "render.png": "71fcecaa85426c96f2eaae181cd27c4f4a6b8c919c324bcc67cd1b943ef9037d",
+        "render.png": "a9c0b39a3b9f8073059fb034d095edc90c64dc939976f13af9a2c15d124d307d",
         "graph-raw.svg": "6b8be142abe4cd3a2c00b7789d95a524612e2ee00c790cad06a2395f78a5c589",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "0abd48cc7cb9d535f1748f0e7fceb2d20bc10ca2870bb5a6aa2c6221ea0fae1e"
@@ -6150,7 +6224,7 @@
         "mjcf_ms": 2.6936260983347893,
         "compile_ms": 39.23948481678963,
         "graph_ms": 116.20669392868876,
-        "render_total_ms": 1528.8149979896843
+        "render_total_ms": 1656.2256161123514
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6198,16 +6272,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 41.36914433911443,
-        "render_ms": 1325.0229661352932,
-        "compose_ms": 68.37182585150003,
-        "write_ms": 81.15985058248043,
-        "foreground_fraction": 0.7392
+        "compile_ms": 38.93892513588071,
+        "render_ms": 1448.4049049206078,
+        "compose_ms": 68.47556587308645,
+        "write_ms": 88.56842806562781,
+        "foreground_fraction": 0.7392,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "8e59f21619d3baadf61a66697524f12a46ec1da81855cf46eea5cacb8ad0c4d3",
         "meshes.tar": "7d02b96c2c9fde85b9702f409d77b16b869fcd51990fa960fd4018cb1aca604c",
-        "render.png": "904c6afeff5b883962f8bb674fb0ea7146571b4703bedbe3880ace57198f8d62",
+        "render.png": "c8a373a8381fefe1301091f2eb3a4f6c7c332a8acce5e80852452554cfbf5ccf",
         "graph-raw.svg": "17333345e410929b151ce0b4f87ee35d41e0ef3774ed66fc68dd5388591d320c",
         "graph-robot.svg": "e71e3f32ad36b32b4d35ebdf61682354613dbadf282062bf334839bc63395f1c"
       },
@@ -6239,7 +6315,7 @@
         "mjcf_ms": 8.307581767439842,
         "compile_ms": 367.64787789434195,
         "graph_ms": 457.3061321862042,
-        "render_total_ms": 1943.9222370274365
+        "render_total_ms": 2125.7234439253807
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6300,16 +6376,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 367.069277446717,
-        "render_ms": 1422.9682432487607,
-        "compose_ms": 64.21802612021565,
-        "write_ms": 77.1500333212316,
-        "foreground_fraction": 0.7590916666666667
+        "compile_ms": 445.56810427457094,
+        "render_ms": 1513.5111892595887,
+        "compose_ms": 75.994404964149,
+        "write_ms": 76.77038386464119,
+        "foreground_fraction": 0.7590916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "1260e78f1a499aaebc8bea9f563a88978a942f9bfa6ec1b9007a4391b81c001e",
         "meshes.tar": "98e1f78dd23d11eac308f7c6f9d83528fc4ecb7ea1a7828e26461326c7775f7e",
-        "render.png": "0ee6642b65f134647223ac6e2500d793f672a9984d1e89c43c41638f68e7def9",
+        "render.png": "fa32cf4c60fa16a07c82328a7065a91b13d19532cd84c2a0895ff1304bfbb563",
         "graph-raw.svg": "eea02ba815ee9a5c18f13ca9e76948113656151a9a1fe012d749c88ddd4f3f32",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "e85521b15bcb8e1091409f00fc7164d433bd44fe78c4761a4501f24f9486846a"
@@ -6341,7 +6419,7 @@
         "mjcf_ms": 2.7190991677343845,
         "compile_ms": 7.5524249114096165,
         "graph_ms": 69.95788495987654,
-        "render_total_ms": 1410.8325811102986
+        "render_total_ms": 1496.4281180873513
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6402,16 +6480,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.620524726808071,
-        "render_ms": 1287.3399080708623,
-        "compose_ms": 49.08226430416107,
-        "write_ms": 56.52804113924503,
-        "foreground_fraction": 0.3729
+        "compile_ms": 7.618547882884741,
+        "render_ms": 1368.4529978781939,
+        "compose_ms": 48.669313080608845,
+        "write_ms": 59.92203997448087,
+        "foreground_fraction": 0.3729,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "540b4fafe495d1312bbf47a52dd44434f51779bdd835665697385f755592f943",
         "meshes.tar": "4cfa15c2cd1bbbb2fd45638a699b9912b3a79596a90f9fd1a2095db9d62b195c",
-        "render.png": "aad8fd6ab65394d2c97c9270fcf1221ced4965c93d981d3c8995cc3c1b9fa246",
+        "render.png": "df14ef77dd24ce10d017df5d8c0e8d993e6026dfc0f8761e3d55c755c8c3a4f9",
         "graph-raw.svg": "2a70da303274259e8f31e2310a83c90333ad371014ea23eb1a288689200e51cf",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "b1ae8b1162dc88391fe336cadbf171fc0559ce921a54ba64d44ac95e0a0bb01f"
@@ -6443,7 +6523,7 @@
         "mjcf_ms": 2.578816842287779,
         "compile_ms": 8.47032992169261,
         "graph_ms": 68.80725920200348,
-        "render_total_ms": 1453.5824130289257
+        "render_total_ms": 1513.2315177470446
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6504,16 +6584,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.6333098113536835,
-        "render_ms": 1298.2206149026752,
-        "compose_ms": 60.067555867135525,
-        "write_ms": 74.44856176152825,
-        "foreground_fraction": 0.7742583333333334
+        "compile_ms": 11.377484071999788,
+        "render_ms": 1355.2269958890975,
+        "compose_ms": 60.24619936943054,
+        "write_ms": 74.36152687296271,
+        "foreground_fraction": 0.7742583333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "80970eb9e0738f196c851eaef1fc2308950fefc686eb781295597c77a343cfdc",
         "meshes.tar": "cdb55345be3e470b97475a0437ca41bc05158f09edb7dcd5497905881bfa436f",
-        "render.png": "a6d247d95eee3b2c3a65ff80868c3f15938f0f6273c612f1a51fab3efe517802",
+        "render.png": "40e0f6744e4e40221ad396071f3c526b2c9ae51d2f72c0be7b17c647f8366288",
         "graph-raw.svg": "c471cab9825f6857ed702326984a0aeea4fd2588686acb1196f081e340806fce",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a1c82b3ef6cdab46a27235bfef20a231cb558136f3488331a26bd873082a3bb2"
@@ -6548,7 +6630,7 @@
         "mjcf_ms": 2.9797079041600227,
         "compile_ms": 207.36613916233182,
         "graph_ms": 124.25414193421602,
-        "render_total_ms": 1872.6097312755883
+        "render_total_ms": 2681.4350341446698
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6609,16 +6691,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 250.2203080803156,
-        "render_ms": 1442.1889297664165,
-        "compose_ms": 62.06098711118102,
-        "write_ms": 101.33655881509185,
-        "foreground_fraction": 0.50105
+        "compile_ms": 396.2245360016823,
+        "render_ms": 1519.6250420995057,
+        "compose_ms": 55.60427438467741,
+        "write_ms": 698.2104550115764,
+        "foreground_fraction": 0.50105,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "dd425a0d79fc4f0ca4a9bfcf87430303c303391b3d3296c6a2d6b989f3a2b052",
         "meshes.tar": "2f0cfeaf67a86d42f3a1e5601cb2666835b20aad321b6cbf9e2bca2f89d26cac",
-        "render.png": "0a40f845a0ef95582d154f489889cac801b8dad092d9887d3418fa9cca0762b7",
+        "render.png": "83c20230e4110398bdc720b60762dd625e23c9483c8841f528ee7061fdcac6f5",
         "graph-raw.svg": "17301b881a1bea21f08f4bbb0a5f2083534c861a67c5a85e2b72407b40464eec",
         "graph-robot.svg": "6ee9f12181ffa9cfa6f23479d7822e69d50e2f5df37bad9c1af3c96fb81db004",
         "robot.urdf": "06256afd498b113ac5d63e0d4ce810eba958351959c2a0b5deb46e5464c04850"
@@ -6663,7 +6747,7 @@
         "mjcf_ms": 11.17658894509077,
         "compile_ms": 109.718669205904,
         "graph_ms": 476.04864789173007,
-        "render_total_ms": 1654.8713040538132
+        "render_total_ms": 1987.0783076621592
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6711,16 +6795,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 99.76654127240181,
-        "render_ms": 1369.7766051627696,
-        "compose_ms": 56.43298290669918,
-        "write_ms": 116.48601712659001,
-        "foreground_fraction": 0.50215
+        "compile_ms": 116.47335533052683,
+        "render_ms": 1456.864535342902,
+        "compose_ms": 56.27929698675871,
+        "write_ms": 345.4473982565105,
+        "foreground_fraction": 0.50215,
+        "style": "link-palette-v1",
+        "colored_bodies": 82
       },
       "artifacts": {
         "robot.mjcf": "4d61ff63c0b43586f3dbe745f710de9ad6e1527c6293a3ea26035a3bfadb303c",
         "meshes.tar": "e6c7c09c966ae517c297ed674c24f22a32bbd002b6cdf711743436410a79b4a9",
-        "render.png": "281da77f8f2532592e99a6a0251e8ae8460b6971036472f6abb2e90f995dd022",
+        "render.png": "02d2631d12da090a600a5016913fc99b3a0cea603971cf5e28c7b3c03074de34",
         "graph-raw.svg": "100294a90909048b1f770dedc64c4776030fb8184e7905c00999091ac6f43b25",
         "graph-robot.svg": "fafba906ea71e472f0092f650c1c6e288471a48a041ca3044e01929886a1f71a"
       },
@@ -6758,7 +6844,7 @@
         "mjcf_ms": 7.16667715460062,
         "compile_ms": 1064.6224673837423,
         "graph_ms": 20335.809011012316,
-        "render_total_ms": 2713.646956253797
+        "render_total_ms": 2881.1062909662724
       },
       "mesh_preparation": {
         "status": "complete",
@@ -17595,16 +17681,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1042.3147780820727,
-        "render_ms": 1479.268269147724,
-        "compose_ms": 61.4202911965549,
-        "write_ms": 118.30304702743888,
-        "foreground_fraction": 0.73255
+        "compile_ms": 1118.4929530136287,
+        "render_ms": 1549.6142408810556,
+        "compose_ms": 61.69469002634287,
+        "write_ms": 139.0998442657292,
+        "foreground_fraction": 0.73255,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "568c271152c6703efa97d7a9dcdb1126462e0f2a01b2d88309c1d54a65fc8b59",
         "meshes.tar": "871bdfc4b403f365be79a280a96dbfcdd8ebb0c661361470be7535fcacd65edc",
-        "render.png": "1426ccac27a0487c37552a3b87ffc184b1798678531daca7b521521c134c68af",
+        "render.png": "c954c3a062d245212da65cfdda6c2a36cbe89459e81b9ac1b304d3eba6e474e5",
         "graph-raw.svg": "18b09da489c2b621d8989a6a4c93cbded3ca1bed2726978c8f4909a44fcc1f2f",
         "graph-robot.svg": "42aba0953e0e4c77d1dce2d0a3e628ccb927de6b0f8d861f610d337117de4170"
       },
@@ -17644,7 +17732,7 @@
         "mjcf_ms": 2.5227037258446217,
         "compile_ms": 382.4479109607637,
         "graph_ms": 87.33671670779586,
-        "render_total_ms": 2517.9992746561766
+        "render_total_ms": 2085.4099672287703
       },
       "mesh_preparation": {
         "status": "complete",
@@ -17711,16 +17799,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 492.4693899229169,
-        "render_ms": 1375.0694771297276,
-        "compose_ms": 52.388786803931,
-        "write_ms": 585.5317520909011,
-        "foreground_fraction": 0.6089416666666667
+        "compile_ms": 454.2271248064935,
+        "render_ms": 1495.66931091249,
+        "compose_ms": 52.201990969479084,
+        "write_ms": 71.44280569627881,
+        "foreground_fraction": 0.6089416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "c3f88e874495c6c868d6f9241574ad249b601ddabab68894e9123387136c5221",
         "meshes.tar": "6d247b08eb1ec64a842e4cdd8a55ebe10db3dad0da1f5338d863238cab684bf3",
-        "render.png": "5bfbed23d0c900de2cc584d51af941cccaaf229c51f5a0aa6ff99e7530513d26",
+        "render.png": "fb16683db6ca7253b365ac66df64c1737743ea1efe98f80b4c4b0edaa548397b",
         "graph-raw.svg": "6d1be0001a7917dd9c8171c45373643aedb53e330ac8d62d03df32e906dc1cee",
         "graph-robot.svg": "067c8bf7d134ab5ecf6edae4c83b2de6185eb77c7cd349f7db20cbf80096be27"
       },
@@ -17758,7 +17848,7 @@
         "mjcf_ms": 3.27479001134634,
         "compile_ms": 28.70996482670307,
         "graph_ms": 78.9111047051847,
-        "render_total_ms": 1469.0863131545484
+        "render_total_ms": 1458.2511857151985
       },
       "mesh_preparation": {
         "status": "complete",
@@ -17813,16 +17903,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.31375889480114,
-        "render_ms": 1304.5913358218968,
-        "compose_ms": 61.60795036703348,
-        "write_ms": 67.20396783202887,
-        "foreground_fraction": 0.6182
+        "compile_ms": 27.579982299357653,
+        "render_ms": 1288.2570191286504,
+        "compose_ms": 61.38208834454417,
+        "write_ms": 69.2400150001049,
+        "foreground_fraction": 0.6182,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "498fa88b314495d395bbffd1e2aae34c6454472c596aa78d93661043bb0c34d2",
         "meshes.tar": "293e7bf91f22a9c91fb2fa932b30e0170dcd1aff9ddc99d53415badfe3be8d8f",
-        "render.png": "daa7bb8410ba1ab849c8c65362dbefe7304ee2c91b78cc758f171e4da6356222",
+        "render.png": "02e017ab411934b71431d6717672d7b7cc8c9b18a7c58db0ba8aa775154bfc5e",
         "graph-raw.svg": "f551d0a1271ec951e2b91557b444fd52200a3ad4b1d0e36ee92807e08a79495f",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -17853,7 +17945,7 @@
         "mjcf_ms": 2.605167217552662,
         "compile_ms": 3.327632788568735,
         "graph_ms": 72.90481682866812,
-        "render_total_ms": 1392.611803021282
+        "render_total_ms": 1493.855596985668
       },
       "mesh_preparation": {
         "status": "complete",
@@ -17914,16 +18006,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.4244717098772526,
-        "render_ms": 1268.5704911127687,
-        "compose_ms": 51.771762780845165,
-        "write_ms": 56.683430913835764,
-        "foreground_fraction": 0.3289
+        "compile_ms": 7.9757822677493095,
+        "render_ms": 1360.6943218037486,
+        "compose_ms": 51.72324599698186,
+        "write_ms": 61.45709287375212,
+        "foreground_fraction": 0.3289,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "e3b0d2e26dd8c77839979ed5c394609275f51c0cc9a25edc460d24b2993cc4ad",
         "meshes.tar": "708bb402d9df6a02053a9d1e8264086d58efb556792fe534e99a4db109bc8df3",
-        "render.png": "c41fc14c636a0ae177c3d2b86b00bffc1bf7a3dfa36ee1905ad86c1da13f0624",
+        "render.png": "022562652a6fcc5917a4a80bb89acadf5e9af91f9c3b9309ca17a700e573e7cc",
         "graph-raw.svg": "9c2f775e412922d250c3fe9bc090b9b1306c8b6b979caa5bdda7a9c6d06a54cb",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "0843deb78100d200c697dfb3f66b2406ef904c6d2a76327cef2bc15a04333bc9"
@@ -17962,7 +18056,7 @@
         "mjcf_ms": 2.194983884692192,
         "compile_ms": 2.4586529470980167,
         "graph_ms": 72.48133281245828,
-        "render_total_ms": 1403.882450889796
+        "render_total_ms": 1478.8558813743293
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18017,16 +18111,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.1019169837236404,
-        "render_ms": 1269.7492600418627,
-        "compose_ms": 56.082730647176504,
-        "write_ms": 62.2870740480721,
-        "foreground_fraction": 0.6292
+        "compile_ms": 3.1615598127245903,
+        "render_ms": 1344.8354601860046,
+        "compose_ms": 56.61730282008648,
+        "write_ms": 62.28906428441405,
+        "foreground_fraction": 0.6292,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "44ce9c7aec481b0ee4c60f8e4738f4d7e67b64a2f603d8960b3fc072386be0f6",
         "meshes.tar": "4d2bbee58c22f7fe0e4bacae4dd3745567b1903128bc65b62805f7b92d498d91",
-        "render.png": "4aea37b4989c24071487e16828aa26fa50da401c33d17a60291bdabcfce725bd",
+        "render.png": "f7a3b15e7cf63b5809cfa230345502888cb038dd9a88a0d0121c65efa09de564",
         "graph-raw.svg": "3c96088693037aaf59bd59bd8a9fc4e2562d3c94f4f71b5daec1e87565e33f3c",
         "graph-robot.svg": "6616b64aaa2d117e8cce991de1f91cd9f93d74c01cbb6559dafe29f48602369a"
       },
@@ -18067,7 +18163,7 @@
         "mjcf_ms": 2.654571086168289,
         "compile_ms": 366.6565902531147,
         "graph_ms": 101.93166695535183,
-        "render_total_ms": 1844.822010025382
+        "render_total_ms": 2080.886588897556
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18158,16 +18254,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 347.4773280322552,
-        "render_ms": 1330.3933250717819,
-        "compose_ms": 59.06144715845585,
-        "write_ms": 95.46359023079276,
-        "foreground_fraction": 0.42075
+        "compile_ms": 369.2498579621315,
+        "render_ms": 1517.6924774423242,
+        "compose_ms": 59.07762795686722,
+        "write_ms": 123.12666000798345,
+        "foreground_fraction": 0.42075,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "3e33ae9f6a3e8462343dfb923d1ac77243e708717b1219be4f09777a7899d43d",
         "meshes.tar": "abe053c1b8dd6dea3bfa70eb984d951552e17b1d75b57dfeede40f8ba0d548f1",
-        "render.png": "606af391c22005e20e56433bfb9b2b9c901e96628ff4abf76207dfd06ae9348f",
+        "render.png": "953c44fc3056cddcc5efe07e17e3daf20020a6837db567e0acfcde701498b367",
         "graph-raw.svg": "3c3413b35d088b2b92e0b883eac0170eac21db77cdd95ad7053f7d5471aa3baf",
         "graph-robot.svg": "c6c95cdae522a7d7206f576345320ce3a5be74bc8232475ad5020ea6a4fe8554"
       },
@@ -18201,7 +18299,7 @@
         "mjcf_ms": 3.8711163215339184,
         "compile_ms": 14.636695850640535,
         "graph_ms": 143.56402400881052,
-        "render_total_ms": 1395.5964539200068
+        "render_total_ms": 1480.0465288572013
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18262,16 +18360,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.070565786212683,
-        "render_ms": 1258.249853271991,
-        "compose_ms": 48.200310207903385,
-        "write_ms": 65.66517939791083,
-        "foreground_fraction": 0.3311
+        "compile_ms": 13.543051667511463,
+        "render_ms": 1336.3093547523022,
+        "compose_ms": 48.02612820640206,
+        "write_ms": 70.20699512213469,
+        "foreground_fraction": 0.3311,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "0357584ed92c1676a1af9d442857fd6adf9c6337a4050db3acd0da2dab9c72e8",
         "meshes.tar": "21022fe0ae0298718a7944e15c6971c072f8c1d68bf85237edfcd394e860fc11",
-        "render.png": "a3044e8e59a014edbd3137c486b07030d221483114ae263ad8a8f815ab248f2e",
+        "render.png": "b40911327e8393cf5d388bf382a184a2e2f72b8e4330576fdd674bab67b6d56e",
         "graph-raw.svg": "80a361bfc88897389206231ee11e6a53f0a97094686e3ed63936b32710769e5a",
         "graph-robot.svg": "ee8ced944fc34be9a34e3520252ae6f0b90a26227a09e631846fa70629ff6995",
         "robot.urdf": "f8713af899c170f9ffb085c64f0c498934d0a12d5821d18e2831c8163a14c652"
@@ -18303,7 +18403,7 @@
         "mjcf_ms": 2.9910788871347904,
         "compile_ms": 340.16724582761526,
         "graph_ms": 65.84843201562762,
-        "render_total_ms": 2015.4687981121242
+        "render_total_ms": 2224.0769350901246
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18364,16 +18464,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 307.9252168536186,
-        "render_ms": 1481.3782842829823,
-        "compose_ms": 58.51347604766488,
-        "write_ms": 155.31055396422744,
-        "foreground_fraction": 0.53185
+        "compile_ms": 328.8996652700007,
+        "render_ms": 1620.5461551435292,
+        "compose_ms": 58.55585588142276,
+        "write_ms": 204.169612377882,
+        "foreground_fraction": 0.53185,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "2ac8bbb6c2bed16828841bc98b815c000e21ad1a4883072b2fa3fafe49b4407f",
         "meshes.tar": "1ec41d40fe62aa7a210a595f4bc97fa4334775d1d86ced75719896e3414ad7d4",
-        "render.png": "13038dc7a64a9e2c422e41f2660adc8b68ddcdd54bd8cee05fd9cc3d0d643161",
+        "render.png": "b4ef53781b8b7334195e85940eef1c6f2270a89ede3f2693d720ccc2fc052d72",
         "graph-raw.svg": "3a75bed63d3460fdb300c0bf097528393cc335c13aaaf6e311af6465c3adb8a0",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "cef0a8474ef859dc71e30d0f6fa43c665ce0d4f15ea30e2f9f322f1af976b296"
@@ -18405,7 +18507,7 @@
         "mjcf_ms": 2.5514261797070503,
         "compile_ms": 17.320455983281136,
         "graph_ms": 65.0003501214087,
-        "render_total_ms": 1448.6678531393409
+        "render_total_ms": 1645.9172312170267
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18466,16 +18568,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.707033030688763,
-        "render_ms": 1265.36594517529,
-        "compose_ms": 63.64658894017339,
-        "write_ms": 94.45321094244719,
-        "foreground_fraction": 0.6578
+        "compile_ms": 18.651663791388273,
+        "render_ms": 1359.0827626176178,
+        "compose_ms": 63.74542182311416,
+        "write_ms": 192.44644790887833,
+        "foreground_fraction": 0.6578,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "571d5237a1586d7c962326662d96d66f374f3d05eda12bb13f8b41b5ab30c528",
         "meshes.tar": "5545382c8db772f0fa59232005df92d17b692c143b972e2c5173eb1e306cbb74",
-        "render.png": "588646a28939814e9badfda8d198ea1a78f8c710e85d00db55005e298ab86f77",
+        "render.png": "f68f306ffdef70c71b86cbbf6968a59e15a078628512754aa4d790f0a11bc48c",
         "graph-raw.svg": "194fbe7ea515662b95edd135a80804ad93ce4ab734288121b04d7df2dffecabd",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "2c8958e2c5d0a6ac3ce227a04c24e4e1b27e830b821e05a8c12b8939076d5250"
@@ -18516,7 +18620,7 @@
         "mjcf_ms": 2.6155798695981503,
         "compile_ms": 15.842707827687263,
         "graph_ms": 84.6332460641861,
-        "render_total_ms": 1420.5564209260046
+        "render_total_ms": 1576.3568757101893
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18564,16 +18668,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.028689738363028,
-        "render_ms": 1230.5850009433925,
-        "compose_ms": 64.78179804980755,
-        "write_ms": 86.35968016460538,
-        "foreground_fraction": 0.78375
+        "compile_ms": 14.234750997275114,
+        "render_ms": 1384.8076378926635,
+        "compose_ms": 64.89489087834954,
+        "write_ms": 100.27638403698802,
+        "foreground_fraction": 0.78375,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "72d230796b947e55ab8c43f25888e1e0153376571abcaa529077966db69f1a57",
         "meshes.tar": "6005f9131499cd81428048c217b512b1b2b2462a79b0b1a97c1611fe97ac7d2e",
-        "render.png": "5d2ed2406cea6e1b8b78c6853b74f9abc24cb63ae53e36c1c0102036f1d015f8",
+        "render.png": "9cab63bd3a4187997eb42bcbc1d70b12cc72067ffecda6424fa3320f04b27149",
         "graph-raw.svg": "e2d9cfe4cf717bd737ecc3448aff18a8793b361f74af8c19a52eeef3d849adde",
         "graph-robot.svg": "da4934e44c730432c2b8ae219f2c4650061e338b33737938607615b3f7a216bf"
       },
@@ -18621,7 +18727,7 @@
         "mjcf_ms": 3.071279264986515,
         "compile_ms": 39.547459688037634,
         "graph_ms": 182.64740891754627,
-        "render_total_ms": 1438.9264448545873
+        "render_total_ms": 1559.635034762323
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18669,16 +18775,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 34.28588528186083,
-        "render_ms": 1274.4982042349875,
-        "compose_ms": 45.7877810113132,
-        "write_ms": 72.01790390536189,
-        "foreground_fraction": 0.25905
+        "compile_ms": 44.93552399799228,
+        "render_ms": 1381.3613993115723,
+        "compose_ms": 45.64694967120886,
+        "write_ms": 75.80019207671285,
+        "foreground_fraction": 0.25905,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "28b69039414c1dd1f689788fd450eef84fff279f672f62cd933249d8d65fdc94",
         "meshes.tar": "1ca8efaca972f0099007805e802b74198a713dea649dfe285a6d19ba5093081d",
-        "render.png": "f910e234c37c24cb12f602927561aa9121141d6cfb27c51621a82299c62cf913",
+        "render.png": "e2251ea2050b38363e27d130460bf579952d735a9c3177dbf6e0b83b327af17c",
         "graph-raw.svg": "117020b9fed61ba0e0f7838ac5035470b08172a364509d3cc5d9463063fa170b",
         "graph-robot.svg": "87c624e62af21692c3f9547d73ec04a8ca63b02ed628098914f8d661fd1bbd9d"
       },
@@ -18769,7 +18877,7 @@
         "mjcf_ms": 2.9146051965653896,
         "compile_ms": 8.161869831383228,
         "graph_ms": 113.67487069219351,
-        "render_total_ms": 1346.8418647535145
+        "render_total_ms": 1458.114538807422
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18836,16 +18944,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.128414887934923,
-        "render_ms": 1231.7855432629585,
-        "compose_ms": 43.98642433807254,
-        "write_ms": 47.656661830842495,
-        "foreground_fraction": 0.2057
+        "compile_ms": 8.730695582926273,
+        "render_ms": 1343.2732410728931,
+        "compose_ms": 44.13331300020218,
+        "write_ms": 50.25131907314062,
+        "foreground_fraction": 0.2057,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "59221c6860c264d330999ad9cae7527c5f0dc3ef3778cdf6fb3d0129304e7c36",
         "meshes.tar": "c633097502702e1e3fca403158c6549efce8ef4b598d66b5f6cb970713de1949",
-        "render.png": "3dd5d26d0c5161550d3e62a58645463a21e346f4c1e620c87579c790f809e296",
+        "render.png": "d3a264927950871e506d431278c677e8c0d42bf57dc90c79481d884f61c1644f",
         "graph-raw.svg": "486dfc99e3171cf5c5feb26ea74c65b21ec2fe9ba36dac31cc7e426d04913811",
         "graph-robot.svg": "7e66978d2585d3e5506b2ebc0f53abafe8e4abc8641802b54d653926e78d04f1"
       },
@@ -18890,7 +19000,7 @@
         "mjcf_ms": 3.005850128829479,
         "compile_ms": 20.329768769443035,
         "graph_ms": 115.3938197530806,
-        "render_total_ms": 1438.6298479512334
+        "render_total_ms": 1591.067064087838
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18938,16 +19048,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.98573697730899,
-        "render_ms": 1260.1634408347309,
-        "compose_ms": 56.601994670927525,
-        "write_ms": 87.9202177748084,
-        "foreground_fraction": 0.6391
+        "compile_ms": 24.040330201387405,
+        "render_ms": 1396.6740490868688,
+        "compose_ms": 56.40050023794174,
+        "write_ms": 102.0051222294569,
+        "foreground_fraction": 0.6391,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "d869811252f603eb0695c85c96dcb0010e3b487fc7c8f0a3f3c3e4c3b4d795a0",
         "meshes.tar": "26fb50a639e610ac67e7993d5dff19dc82d1db3035d9d06d88a9627dd116f0e9",
-        "render.png": "9e52afccfbad7028839b68b401dd2977b04e96c6de7a93f750f2b786de7b70f8",
+        "render.png": "484ecea50152ca119ac02e711e0d77c31f83320da618f50c9afa506100107d3d",
         "graph-raw.svg": "b16d8bc44af886064e346e7db707671d6e2c73644d4f8d89666db68e5fe4ca6a",
         "graph-robot.svg": "bf7cc49aa3bcbe0a48a147d8d9697a2cd064617ae986a8e4f7d994b7de2b883f"
       },
@@ -19003,7 +19115,7 @@
         "mjcf_ms": 4.256284795701504,
         "compile_ms": 56.92165018990636,
         "graph_ms": 226.73953929916024,
-        "render_total_ms": 1469.1674900241196
+        "render_total_ms": 1521.7019086703658
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19070,16 +19182,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 49.046596977859735,
-        "render_ms": 1290.00309901312,
-        "compose_ms": 45.46559415757656,
-        "write_ms": 71.9087328761816,
-        "foreground_fraction": 0.29975
+        "compile_ms": 55.60844298452139,
+        "render_ms": 1335.6033484451473,
+        "compose_ms": 44.65204104781151,
+        "write_ms": 73.94970022141933,
+        "foreground_fraction": 0.29975,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "2c4a492456cfc2f5a6fba31f99b1c360404a33fbb9b71cbda7caa56648d7a41f",
         "meshes.tar": "2e43a85745a1137c1758e0ab323b82ab4ba2f3acb3bb353ddfeebc20c103c333",
-        "render.png": "4250f345cd861afb8f0e565338ede2a1e981285125f332c70bdf0d2de2a3f0c2",
+        "render.png": "f759f8b2c1ebda118016197468e834dc09ad542ef9054a1cb5bca3755bfe9b73",
         "graph-raw.svg": "638690167b3ff569665cb1e99e62960da7a188491e282e1e7a9e24e79dafc89a",
         "graph-robot.svg": "724bbf90fa17454b45fb4580e786def9592f617698cfaf935bd0556739a90f2c"
       },
@@ -19133,7 +19247,7 @@
         "mjcf_ms": 3.5771122202277184,
         "compile_ms": 25.723644997924566,
         "graph_ms": 307.52877704799175,
-        "render_total_ms": 1394.7269897907972
+        "render_total_ms": 1573.3815217390656
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19188,16 +19302,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.407564714550972,
-        "render_ms": 1230.508985929191,
-        "compose_ms": 51.55183095484972,
-        "write_ms": 70.03839313983917,
-        "foreground_fraction": 0.4191
+        "compile_ms": 27.637420687824488,
+        "render_ms": 1407.5404722243547,
+        "compose_ms": 51.550716161727905,
+        "write_ms": 72.03718740493059,
+        "foreground_fraction": 0.4191,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "eda7c329e13d9142935942e439aae1bfb31ad3f73d8ee58210c82df8dedd7f49",
         "meshes.tar": "b657ea1328667c3b618bd6425a7d259878a2bcf2e75360f43552fcddc1d83519",
-        "render.png": "bbd5c9afe2a6474f7ebadc866d345be0ca79d7ae436ad5b5f00c330f1c56a28c",
+        "render.png": "f9015d1aae35557540d8201b46d2772b7e3a7cdd0edea4a1db1fd0a77d48aefb",
         "graph-raw.svg": "b2f7bf328ba2907a447cda40430d019c332a181ca66e49be4d97be8064a29bcb",
         "graph-robot.svg": "d6bbe78030c8e98c199f45cddaf05c8480e5b40f80c7548a4d1ec208e584b34a"
       },
@@ -19238,7 +19354,7 @@
         "mjcf_ms": 2.6618819683790207,
         "compile_ms": 8.936988189816475,
         "graph_ms": 90.28733288869262,
-        "render_total_ms": 1425.7609830237925
+        "render_total_ms": 1512.5415078364313
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19286,16 +19402,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.43981483578682,
-        "render_ms": 1262.0357382111251,
-        "compose_ms": 56.505808141082525,
-        "write_ms": 85.47163615003228,
-        "foreground_fraction": 0.743925
+        "compile_ms": 9.724937379360199,
+        "render_ms": 1336.323803756386,
+        "compose_ms": 56.193772703409195,
+        "write_ms": 97.72293083369732,
+        "foreground_fraction": 0.743925,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "cde69472925f513442ee47294e6ad76c95f6dfd1a06fb8800fb5e2b5ae98da8b",
         "meshes.tar": "b214b1251fbc1e1a83ff7606ceb63d0c264e8ce7755c00af1243f698e2a29536",
-        "render.png": "9f497a124d7fa1dc6223eee8e0902c60ec7c662f7dfcaf8709ae576b5708fa4b",
+        "render.png": "aaa93d019fe6533d66d135114a6aeeefd8fb32cf749ce1b2c559ddba1f2de13e",
         "graph-raw.svg": "ccb9b411626112af51886d7b3cbaca87190bbe6166d0da314f389b1fe127b41f",
         "graph-robot.svg": "b2f41c0e195ee7989b67462c978968ecd40db094f29c260d20482850e8362352"
       },
@@ -19327,7 +19445,7 @@
         "mjcf_ms": 2.64560803771019,
         "compile_ms": 3.3836313523352146,
         "graph_ms": 66.21365901082754,
-        "render_total_ms": 1388.0425435490906
+        "render_total_ms": 1492.8278643637896
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19388,16 +19506,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.014084115624428,
-        "render_ms": 1224.757868796587,
-        "compose_ms": 63.15577123314142,
-        "write_ms": 83.18752609193325,
-        "foreground_fraction": 0.79145
+        "compile_ms": 4.3650236912071705,
+        "render_ms": 1320.874028839171,
+        "compose_ms": 62.84586479887366,
+        "write_ms": 92.48381527140737,
+        "foreground_fraction": 0.79145,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "f573f7b3836e6b4b6a9a9cf5319f78087df237398bddeac09736eff1fc4e0108",
         "meshes.tar": "4a0a6f9ca45f0fd485d38db1a0558461282d9ca7f7f380d7e3bb6aaecb21bf4e",
-        "render.png": "515b3c89d25aeb531feb2f0d6eae4e1543838f7d557f3f8163ab49d372efa57b",
+        "render.png": "fb0025497788f93f29a85f8b79a5dfeb86c09bf831211b4e46faa7a12eff488e",
         "graph-raw.svg": "81a29751bcd32ebaab19ff1bdef77325ac6184d8afcaa03510bd650119fa635b",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "7a8802ebf55e366715926beba4fe865540ef786a182598fe2c138871725cc911"
@@ -19437,7 +19557,7 @@
         "mjcf_ms": 2.2441642358899117,
         "compile_ms": 5.910499952733517,
         "graph_ms": 79.08895192667842,
-        "render_total_ms": 1403.919389937073
+        "render_total_ms": 1455.3055348806083
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19498,16 +19618,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.685761269181967,
-        "render_ms": 1256.6653951071203,
-        "compose_ms": 57.53790587186813,
-        "write_ms": 70.48704707995057,
-        "foreground_fraction": 0.517
+        "compile_ms": 6.852577906101942,
+        "render_ms": 1311.8445416912436,
+        "compose_ms": 57.33340699225664,
+        "write_ms": 66.71309424564242,
+        "foreground_fraction": 0.517,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2efce1ab959719865c7729da9f24748e72dd4b5c56171488e65c7d9a16af1a8c",
         "meshes.tar": "27ac24654d2bd3c56985ec36877d95ff3f436c6cc7aaf8c7fac4523bd16c7558",
-        "render.png": "9b99d3c0d47048dbf8f7f161b064f577e6156741ce65a223d319ee2395410fab",
+        "render.png": "3012f800d794cf639d4e553171bd947216c781955dce5b3426ace62fe0974564",
         "graph-raw.svg": "1aa860a11596c11fbd8f1a00eee6f8c7d8b5e1764eb4204d01dbefb2f9843a62",
         "graph-robot.svg": "ec4ef84e48cff7c124f73db25f02f9a827f29633a259aa2753502fe9ce0885fe"
       },
@@ -19545,7 +19667,7 @@
         "mjcf_ms": 2.4693659506738186,
         "compile_ms": 9.84362792223692,
         "graph_ms": 81.48377994075418,
-        "render_total_ms": 1485.4601277038455
+        "render_total_ms": 1455.2410878241062
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19618,16 +19740,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.01984579488635,
-        "render_ms": 1337.1677603572607,
-        "compose_ms": 41.117511224001646,
-        "write_ms": 82.31521490961313,
-        "foreground_fraction": 0.0517
+        "compile_ms": 9.9299605935812,
+        "render_ms": 1345.940020866692,
+        "compose_ms": 35.42709490284324,
+        "write_ms": 52.03818203881383,
+        "foreground_fraction": 0.0517,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "3c9816692388f1b943550ef164a77d14dc4d74c1466e2cf4cc1432fa8010b919",
         "meshes.tar": "c9d0ca0ba1037312bcbeaa18197dcced835330a10aace4e987a5c5168bd14f13",
-        "render.png": "f5d0f6bc6446eb43bc829b808a9f9e15d36f932d98128281933cb6a3342980c6",
+        "render.png": "49db4f64eeb8275c08e9aa84a0ba4fe925f0b11d1c6c953db0c1de8f55e409a0",
         "graph-raw.svg": "4e91e4abc5f8da5850ef786b026455fb6c8694b69e6d6016b8d710fbca543341",
         "graph-robot.svg": "97493dfb7996e2e36b495c2af9b19816459d0e465b2e11e7d146f9b23a52c81b"
       },
@@ -19668,7 +19792,7 @@
         "mjcf_ms": 33.902703784406185,
         "compile_ms": 11.602497193962336,
         "graph_ms": 96.58482810482383,
-        "render_total_ms": 1420.09256221354
+        "render_total_ms": 1516.1695941351354
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19716,16 +19840,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.27847582474351,
-        "render_ms": 1257.9315598122776,
-        "compose_ms": 60.638196766376495,
-        "write_ms": 73.74014193192124,
-        "foreground_fraction": 0.3806
+        "compile_ms": 13.256690930575132,
+        "render_ms": 1349.17195700109,
+        "compose_ms": 59.0254683047533,
+        "write_ms": 82.74248614907265,
+        "foreground_fraction": 0.3806,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "bd8e289c0e7df7b9a6b97457cde50b210b4a161c04a2a5446cd7f857675a59cc",
         "meshes.tar": "09e4dae99f0a33175f8555756793bd066a3cf81af216b4b906bc230f018fec44",
-        "render.png": "7633249674267b741d5ff0ab1476b71b5e5de083a8febde60290ae73ccf10d7a",
+        "render.png": "58b6850c17e15bcd2993a117376e4be31d396d5e712c6f76d5855a214d99994d",
         "graph-raw.svg": "89e5d66793f0a52c61388f02be8b5a7b02df5ddc4f177e404b016a1476661565",
         "graph-robot.svg": "7553ed55b3e989ce20c3e440ecfac015c18c4eab42f11c585a99efb5226a2fdf"
       },
@@ -19763,7 +19889,7 @@
         "mjcf_ms": 2.4499637074768543,
         "compile_ms": 3.4304470755159855,
         "graph_ms": 64.60643094033003,
-        "render_total_ms": 1360.4856049641967
+        "render_total_ms": 1505.4696965962648
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19818,16 +19944,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.0642800740897655,
-        "render_ms": 1231.1649159528315,
-        "compose_ms": 47.01007576659322,
-        "write_ms": 65.70476293563843,
-        "foreground_fraction": 0.25795
+        "compile_ms": 4.433436319231987,
+        "render_ms": 1355.1958985626698,
+        "compose_ms": 60.03272207453847,
+        "write_ms": 69.61207091808319,
+        "foreground_fraction": 0.25795,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "fdeddeb246e9a2eb89a6239fdd7edbc48898a0a773f92206d4ec15d4e53e4cb1",
         "meshes.tar": "997c9aae3af22d58a98c9b52bd7bf978b96c67f778f3fbc91a0d0551ab035e32",
-        "render.png": "f1262580490f9614314aaf3a19390bd194830de5b5caad0f9f656513c18e5ac8",
+        "render.png": "d4179994413cd5dd8f25e451d2c4d1d5b237ed1efbda2b357378ab6e09c87b1e",
         "graph-raw.svg": "07d61641e88369e4c5a1106b297d24ea55edc52ad12119d7f06c22bff1c13126",
         "graph-robot.svg": "6616b64aaa2d117e8cce991de1f91cd9f93d74c01cbb6559dafe29f48602369a"
       },
@@ -19869,7 +19997,7 @@
         "mjcf_ms": 2.379370853304863,
         "compile_ms": 8.250819984823465,
         "graph_ms": 98.69412379339337,
-        "render_total_ms": 1462.6300819218159
+        "render_total_ms": 1562.5166478566825
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19917,16 +20045,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.776591211557388,
-        "render_ms": 1285.7008962891996,
-        "compose_ms": 61.76128704100847,
-        "write_ms": 87.75078086182475,
-        "foreground_fraction": 0.6582333333333333
+        "compile_ms": 9.93842538446188,
+        "render_ms": 1364.1767627559602,
+        "compose_ms": 63.36704781278968,
+        "write_ms": 113.01737884059548,
+        "foreground_fraction": 0.6582333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "6277da66dbd033687188aadf0308cd13859a4ec1a78cfb3d891588912d6882db",
         "meshes.tar": "8588a59d8c36d1762b04122327cb3a5e2146a5e5b841569b9744c27c5309757a",
-        "render.png": "ebbaa0493e532d7cb505b2c03788d2bceb106536cd89075d76c488156f945839",
+        "render.png": "11fe089ed333831c07f4e1513a64e6d1988e010c75ab925707a49db2f8cb9dc6",
         "graph-raw.svg": "1c59863f2dc60b1e76b1226fee96b8ab7fcd536e9a0cebfc7d3fc38dcd665b4f",
         "graph-robot.svg": "e05e8ae38314bfd05274515ddd83b0412b9fdf55ceec28c827b8b54b7aa9491a"
       },
@@ -19966,7 +20096,7 @@
         "mjcf_ms": 2.5012516416609287,
         "compile_ms": 13.345133047550917,
         "graph_ms": 82.3577786795795,
-        "render_total_ms": 1450.703063979745
+        "render_total_ms": 1582.0990400388837
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20014,16 +20144,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.685179736465216,
-        "render_ms": 1272.0940308645368,
-        "compose_ms": 67.14889919385314,
-        "write_ms": 80.87589172646403,
-        "foreground_fraction": 0.6721
+        "compile_ms": 14.45512194186449,
+        "render_ms": 1397.6459363475442,
+        "compose_ms": 66.84692995622754,
+        "write_ms": 91.13283175975084,
+        "foreground_fraction": 0.6721,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "58d2db81d1f0ec13ea1bf1a33db12c0bee59136aee551ec5fad63a7779fd5947",
         "meshes.tar": "c84af9fb751a6f382c43b0b9c88744a765b186bd1b6c2b2ce667637509c04cb9",
-        "render.png": "ee10c010026718bf90e43e664001732f6b061f1210d0bb0535debd75c52f00a2",
+        "render.png": "05877b5ee7624acaeede943140fef708d65b7acfd27e6bbab85c7b620f5660c1",
         "graph-raw.svg": "79cd509874def05fb794b644b9f5fe794d3de3c2eb0f5f3d743050dae688da29",
         "graph-robot.svg": "83e3444e3519ef842605a44fcdd4185ec494029ccabdd923ae57c5357cec2a69"
       },
@@ -20117,7 +20249,7 @@
         "mjcf_ms": 3.2013054005801678,
         "compile_ms": 35.80524865537882,
         "graph_ms": 202.234725933522,
-        "render_total_ms": 1453.577850945294
+        "render_total_ms": 1535.6733626686037
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20172,16 +20304,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 37.843048106878996,
-        "render_ms": 1286.2935401499271,
-        "compose_ms": 47.48649289831519,
-        "write_ms": 69.12212306633592,
-        "foreground_fraction": 0.30855
+        "compile_ms": 43.237089179456234,
+        "render_ms": 1360.4855788871646,
+        "compose_ms": 47.87791194394231,
+        "write_ms": 71.95284031331539,
+        "foreground_fraction": 0.30855,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "578f84d7f05e957f01997606311d60f4ddb07af5880803b0e092d323a5f5aa90",
         "meshes.tar": "da2a53699eebdc7c47166a7928a0b7bf507c82bd89868c9adcb1b2b66726b808",
-        "render.png": "359572183644b7183e565fbc98b477bdb5be9f2c81d368d116ead60e2c217d97",
+        "render.png": "1a710e2275f9a7a994d0fd06515158d196499c9d0bd41fd1146a56549b524239",
         "graph-raw.svg": "10f8e782137d496162cd92e143fe45b55f22809740a478b5af0a60e1520502e2",
         "graph-robot.svg": "20a49318a5d57133d8349268eea3071b2f474615f5fe0e833384d8a28f464532"
       },
@@ -20221,7 +20355,7 @@
         "mjcf_ms": 2.321484964340925,
         "compile_ms": 13.593391980975866,
         "graph_ms": 86.59629803150892,
-        "render_total_ms": 1396.7471811920404
+        "render_total_ms": 1517.531843855977
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20269,16 +20403,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.052289072424173,
-        "render_ms": 1224.3186221458018,
-        "compose_ms": 62.903141137212515,
-        "write_ms": 82.9851208254695,
-        "foreground_fraction": 0.712075
+        "compile_ms": 15.620375983417034,
+        "render_ms": 1322.8655490092933,
+        "compose_ms": 63.46188485622406,
+        "write_ms": 103.59876928851008,
+        "foreground_fraction": 0.712075,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "708d4202fecba908666ec325a593bd12d3a34cd1e22eccf4bfa199da15160f08",
         "meshes.tar": "c0fab38ac2ce99d7608bd98356eaccaa2b2b1b99f932d3f56728d43f06fc7ec2",
-        "render.png": "cc98f696c5e09ae73e87a14b502e388f21f09e81f2679c7dc691a9d9a6ce38cb",
+        "render.png": "4afcd69b4fbed5ea732ed03f2747cc511607cce040fd2a39c0926334d270b9c4",
         "graph-raw.svg": "83a33a8de103ca493688acee11c26bf3a3719b144e75b79852abebb28010fe9e",
         "graph-robot.svg": "8b7473954135a76bd1feb6cb0e2129f2aebed37869f3a9f4c27d9da854a4a6e4"
       },
@@ -20318,7 +20454,7 @@
         "mjcf_ms": 4.113573115319014,
         "compile_ms": 8.785882964730263,
         "graph_ms": 80.44142602011561,
-        "render_total_ms": 1446.6368076391518
+        "render_total_ms": 1578.7845975719392
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20366,16 +20502,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.575134005397558,
-        "render_ms": 1275.5370531231165,
-        "compose_ms": 62.468345277011395,
-        "write_ms": 84.59059102460742,
-        "foreground_fraction": 0.7499916666666666
+        "compile_ms": 9.662935975939035,
+        "render_ms": 1390.2500299736857,
+        "compose_ms": 62.21736129373312,
+        "write_ms": 104.80020800605416,
+        "foreground_fraction": 0.7499916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "3c8926e6286a1fc5554c4d18aa1c99bb1af3027d5908acbb1ceef89fd898a240",
         "meshes.tar": "fe64cfd2f0fe5274ea8322ae3c6f805d424acc800d9fbf4f3eb52150df1f4625",
-        "render.png": "c8d1de3c485dc90e79f6f69dee11ade892f068ba5c8e9c2dc9e22e172d82776d",
+        "render.png": "84acd80f6cc474b39123eb81b1e7dd5ce351b05c573c13afa686edecf0a948e5",
         "graph-raw.svg": "34519cde3c18ab0ff93fff28f11fe75c4922080079d65f524c3764b11a95b54f",
         "graph-robot.svg": "c458fa2bff1e78b8369a18877e018037aaceaca7ef8c45e9bbabe8fd6e263ca3"
       },
@@ -20416,7 +20554,7 @@
         "mjcf_ms": 2.784356940537691,
         "compile_ms": 50.605676136910915,
         "graph_ms": 118.7974400818348,
-        "render_total_ms": 1493.1569807231426
+        "render_total_ms": 1563.7590764090419
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20471,16 +20609,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 53.249310702085495,
-        "render_ms": 1283.332685008645,
-        "compose_ms": 64.26057312637568,
-        "write_ms": 79.44487733766437,
-        "foreground_fraction": 0.6309333333333333
+        "compile_ms": 55.86390569806099,
+        "render_ms": 1355.0050090998411,
+        "compose_ms": 57.33236903324723,
+        "write_ms": 83.38740561157465,
+        "foreground_fraction": 0.6309333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "2c3d12576b8c0d544383b3624007a93cb4717d00bf55bf92fa1d1fde5a62bbb3",
         "meshes.tar": "59ed87d2bb9379bbb39538880435bfa462b75cac8c27ac43fa26f4eaf2f13c70",
-        "render.png": "5e3ed248e3f940db4e39acf515f328b6e21471ce3d783bcc662fc9d601555875",
+        "render.png": "24406ae7a92657d2714fe0412ebdffc9bc670063f938da35125751b2d54f2481",
         "graph-raw.svg": "3b303d5ecaab1d2e6681caefd251913b48b2406710675a28809ccb33ee68767b",
         "graph-robot.svg": "9503db33f40fe791b5e501002ce83af7e37c166a62d921950a02eb53f6b9420a"
       },
@@ -20575,7 +20715,7 @@
         "mjcf_ms": 2.544491086155176,
         "compile_ms": 9.9725560285151,
         "graph_ms": 105.72580574080348,
-        "render_total_ms": 1437.1185353957117
+        "render_total_ms": 1516.7141412384808
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20623,16 +20763,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.745032742619514,
-        "render_ms": 1293.4977589175105,
-        "compose_ms": 48.26758662238717,
-        "write_ms": 65.3058709576726,
-        "foreground_fraction": 0.23265
+        "compile_ms": 11.502599809318781,
+        "render_ms": 1374.231246765703,
+        "compose_ms": 48.344395123422146,
+        "write_ms": 70.5069643445313,
+        "foreground_fraction": 0.23265,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "84584d3ce840ec454c268d7a9b43f272cf50b0c022fd46494e228f185c1d37c7",
         "meshes.tar": "4eee7a468295b9b62069b0460a578dd19057df05aa6e98ec221ef661bc876c67",
-        "render.png": "4091225a4d7e301ba691d54c5da8faf7760c222f3c193357bbb85c80f4b01c49",
+        "render.png": "046768a385dd7c02d5a5fce275c1735900e6a6ad4d4bd636521407081a321c21",
         "graph-raw.svg": "83ace4c1a605ce2ef3d90ba2f85e1ba43d5375a9768b464ab91af02ff6e3697b",
         "graph-robot.svg": "3b1c43de6fcd2cd055bf3aa83a60f71bb84721599cd5d9036cbd9005cc3668a0"
       },
@@ -20682,7 +20824,7 @@
         "mjcf_ms": 2.795692067593336,
         "compile_ms": 12.205548118799925,
         "graph_ms": 168.23602793738246,
-        "render_total_ms": 1461.9886986911297
+        "render_total_ms": 1641.090834978968
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20737,16 +20879,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 19.18503176420927,
-        "render_ms": 1286.2373599782586,
-        "compose_ms": 57.951465249061584,
-        "write_ms": 85.85647959262133,
-        "foreground_fraction": 0.74855
+        "compile_ms": 11.662710923701525,
+        "render_ms": 1399.4959527626634,
+        "compose_ms": 58.65884106606245,
+        "write_ms": 159.42273987457156,
+        "foreground_fraction": 0.74855,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "eceff8294fcb350165c9f1e9db8d6537f8095263284d61f3d503c978f7de0065",
         "meshes.tar": "d49c63cf7e64e0cb310fb9d640e8c550a8c98fb3eedd3f87593aa30d034ce9b8",
-        "render.png": "b5e9c179ac48de6d84fdbdbc5bb311b91c63dad2595fb8f087e70b64177dd87b",
+        "render.png": "3e7c2a8e62113e4278e6463cccf4225dd956119959d24c46085daa1c05046e68",
         "graph-raw.svg": "7c8870bc3ba7d15bc50e7101600f335e677164f328ae8514b526eb090a4f1d7c",
         "graph-robot.svg": "02e62127b3d5511c99aba2de2250fb58041aaad883a8f83aaca3748e2ed5f412"
       },
@@ -20787,7 +20931,7 @@
         "mjcf_ms": 2.2875480353832245,
         "compile_ms": 10.959781240671873,
         "graph_ms": 122.28354997932911,
-        "render_total_ms": 1388.4434378705919
+        "render_total_ms": 1470.0436601415277
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20835,16 +20979,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.286823242902756,
-        "render_ms": 1238.6970897205174,
-        "compose_ms": 62.42692284286022,
-        "write_ms": 61.894981656223536,
-        "foreground_fraction": 0.5748166666666666
+        "compile_ms": 12.167426757514477,
+        "render_ms": 1316.0981750115752,
+        "compose_ms": 62.62256484478712,
+        "write_ms": 67.12100002914667,
+        "foreground_fraction": 0.5748166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "9284f59c4cf70a223150a66b03cb2971264492bc7c30e79921c8bf954b6d4936",
         "meshes.tar": "b776c9a83433963cb31c6a7b19643702e5ae680141abdc919fdac18b0e4f1fa6",
-        "render.png": "d3b38feea1c24d89842d218bff0dcfa0e92be35ac68d5e8db732209c80d12f36",
+        "render.png": "2a2eafdbd9eadb044e4c3f568344c4c0f2b730d2e62108e1cc2c060f6ce7cd99",
         "graph-raw.svg": "13b948b80cb4df6067db1e9279443b61138e64027d320fbba48d8026f9a498c9",
         "graph-robot.svg": "94c7463ecf471b519c116d9e83c1830ee416ede0cbf9c76778f5169e4bc91d16"
       },
@@ -20886,7 +21032,7 @@
         "mjcf_ms": 2.4910299107432365,
         "compile_ms": 8.433371782302856,
         "graph_ms": 92.78690535575151,
-        "render_total_ms": 1440.4752776026726
+        "render_total_ms": 1485.9551549889147
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20934,16 +21080,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.969182666391134,
-        "render_ms": 1302.7170859277248,
-        "compose_ms": 55.285196751356125,
-        "write_ms": 54.85238414257765,
-        "foreground_fraction": 0.27445
+        "compile_ms": 9.487141389399767,
+        "render_ms": 1354.0877718478441,
+        "compose_ms": 55.291554890573025,
+        "write_ms": 55.24242203682661,
+        "foreground_fraction": 0.27445,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "22ecce441bb2e4c8dbe5e83fa9dcc13170affca631660e10ee2d6b106e454947",
         "meshes.tar": "f7a9ce3d992c8ff0ec1dc61248da4ceb4681ba0194301076f1448b70d529aacc",
-        "render.png": "8fd6d2fb6a1280ec09cf145d7f0d891a97386a812aa753a920c02a8dbd6dceba",
+        "render.png": "b4ae5e67da478a37810a8251358cf3e4fd50356d2ca78a052302942a57b3a2a7",
         "graph-raw.svg": "30f49aeff40ac797c198af4d3e8c44a0095abf102fa765aa54ae9654d8a5b26b",
         "graph-robot.svg": "e46412c6ac4563a88e5adcafd88694b32d866084cef2ba03ac4703f0ce4e30dd"
       },
@@ -20982,7 +21130,7 @@
         "mjcf_ms": 2.3999889381229877,
         "compile_ms": 8.709352929145098,
         "graph_ms": 70.75973693281412,
-        "render_total_ms": 1415.892343968153
+        "render_total_ms": 1573.2182869687676
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21030,16 +21178,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.712668929249048,
-        "render_ms": 1254.7555607743561,
-        "compose_ms": 63.37507767602801,
-        "write_ms": 72.96922616660595,
-        "foreground_fraction": 0.748475
+        "compile_ms": 11.931824032217264,
+        "render_ms": 1401.5322043560445,
+        "compose_ms": 63.583331648260355,
+        "write_ms": 83.9567007496953,
+        "foreground_fraction": 0.748475,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "04d2d9aa0333af066353c25f45b133c02ee4618ad94a40bf694fd1c1366ff72f",
         "meshes.tar": "730ea52f14f73902acb679bd086773c24d543634d1657f95094f1a34627a8264",
-        "render.png": "a3a60a298fa98c6270edb8ce664f5c68a8bb5a7db7a0239dc5f8630b3de2b1c5",
+        "render.png": "78cc6b94fe9f679015b1b571059aa515aa1f927b84e89daa1514f70ecd439497",
         "graph-raw.svg": "61304b597a0e81a12286b3d24d60baef4ab2a12778f7a4eda1b5cab441869a37",
         "graph-robot.svg": "78094be9e8b4126532e3a493cdff23bb91e6f1ed6f712509c1ea611c1ff021b8"
       },
@@ -21084,7 +21234,7 @@
         "mjcf_ms": 2.782711759209633,
         "compile_ms": 3.614223562180996,
         "graph_ms": 107.95492492616177,
-        "render_total_ms": 1354.5721652917564
+        "render_total_ms": 1526.2966067530215
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21132,16 +21282,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.811040755361319,
-        "render_ms": 1222.149195149541,
-        "compose_ms": 56.315725203603506,
-        "write_ms": 57.272245176136494,
-        "foreground_fraction": 0.3597
+        "compile_ms": 5.9797512367367744,
+        "render_ms": 1395.2868827618659,
+        "compose_ms": 56.15068972110748,
+        "write_ms": 57.10118589922786,
+        "foreground_fraction": 0.3597,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "e8882bb11d7563d87083c9b7dbd06d72d9872b02b02d0c111dbf2cbbf19e6a2a",
         "meshes.tar": "ad84c8359e6de61bfa23c3a440085f19931b31d3d9c02aa0b8f29f0ceaeb03d5",
-        "render.png": "dff3175b9364a9d997a25054dcfd878d6ec6213edbe7146309fc4f445e33ae37",
+        "render.png": "45b78f39fd763d243177f0efeb4406086881f6c586844e212d390bce88958596",
         "graph-raw.svg": "e9cfd489849a5638512dd44b16c162a67d7fb1766b984a36b6e0a900a77a4d6c",
         "graph-robot.svg": "0d76f221f730e6134ecf1f204313d8babcbae025de538759d89eadc9a7d082b3"
       },
@@ -21179,7 +21331,7 @@
         "mjcf_ms": 2.3785405792295933,
         "compile_ms": 8.255686145275831,
         "graph_ms": 62.7241600304842,
-        "render_total_ms": 1379.062641877681
+        "render_total_ms": 1519.9869978241622
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21227,16 +21379,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.928582072257996,
-        "render_ms": 1219.846658874303,
-        "compose_ms": 62.60836077854037,
-        "write_ms": 74.8058739118278,
-        "foreground_fraction": 0.7469583333333333
+        "compile_ms": 11.163434945046902,
+        "render_ms": 1345.1781319454312,
+        "compose_ms": 62.39404994994402,
+        "write_ms": 89.50355835258961,
+        "foreground_fraction": 0.7469583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ad8c02206a88e1c638a93b4908d4db3b01b88ba84ed7977206b3b991c22edec9",
         "meshes.tar": "4c42fc84b6d3cce31ab3bb42024601eac607fb1c68a7ec8554d2794b3c532f23",
-        "render.png": "ea7b50739235bb9c5d5ad4cfef606dc3374ba447aa7cd61e16d6ce84ccdca36d",
+        "render.png": "a9fadc458ceee3d4c6c38ec261f6e52107b3a5d15624cefb42da14179d3dbea7",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -21267,7 +21421,7 @@
         "mjcf_ms": 3.0891471542418003,
         "compile_ms": 100.42541567236185,
         "graph_ms": 85.05038591101766,
-        "render_total_ms": 1597.5796459242702
+        "render_total_ms": 1786.5313468500972
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21328,16 +21482,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 102.84955333918333,
-        "render_ms": 1258.71055200696,
-        "compose_ms": 49.45988021790981,
-        "write_ms": 173.51897014304996,
-        "foreground_fraction": 0.2343
+        "compile_ms": 239.64845016598701,
+        "render_ms": 1407.8560578636825,
+        "compose_ms": 49.25120295956731,
+        "write_ms": 77.951414976269,
+        "foreground_fraction": 0.2343,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "3711871f985e151944423e413ec1ec23c74e6979d75ec56bb0976d02d56210e9",
         "meshes.tar": "e1bcd3dc3837b41adb4f7a26bb64edf2ad4f783f4b997f7fda975941ccab8278",
-        "render.png": "e791e0266531091a7c07be00d18b0623ad4c5ebc6925a6926124cf5e185437a0",
+        "render.png": "bf5269563d0edcd075db3abf1dde92f4538a7df062d8abb1401f95a0b63de3a6",
         "graph-raw.svg": "9b676dc63b2036fcfffcaa20ae37627aa50425da500d402df60716077b575ac0",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "04cacac83fff741a00aa5a436c9de9c8948260f55c3d907f15e1f8af7040328e"
@@ -21372,7 +21528,7 @@
         "mjcf_ms": 2.4649114347994328,
         "compile_ms": 91.73001861199737,
         "graph_ms": 89.06554523855448,
-        "render_total_ms": 1610.1504410617054
+        "render_total_ms": 1826.4626818709075
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21433,16 +21589,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 113.97544434294105,
-        "render_ms": 1348.130031954497,
-        "compose_ms": 58.25700098648667,
-        "write_ms": 76.83009607717395,
-        "foreground_fraction": 0.3806
+        "compile_ms": 251.8099257722497,
+        "render_ms": 1423.8217631354928,
+        "compose_ms": 58.089192025363445,
+        "write_ms": 80.94786992296576,
+        "foreground_fraction": 0.3806,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "1627fa0b4e939c3fd882be085d67f499819d2631ec6b9058f3d5da3914c27987",
         "meshes.tar": "a79d9ae744b2e49a65a9ed32e8bf08ea0ad2434de54995ed95c3ed66ba50ba39",
-        "render.png": "3310bd927b28cbf693211f1a5d2ce3068ac2bee1f330d3c0460f5fe3c8350092",
+        "render.png": "460ef7254d9eef7313c33c3877f41be34d681bdbec391f34c99bb6fd1c84a28b",
         "graph-raw.svg": "325a3040db003430b27a3c206b83cd006d11e00fc72c12db8f87c495b20f222c",
         "graph-robot.svg": "ac77920bba745f4a795d9994f0097d0fc61e9d253a0e8666b2fee9f8cc6f2920",
         "robot.urdf": "e9963c0f644f8c4f867cc5edd329320d23e66a57e86b1593ac0703a71c34c568"
@@ -21480,7 +21638,7 @@
         "mjcf_ms": 3.005014732480049,
         "compile_ms": 73.96646682173014,
         "graph_ms": 104.8119394108653,
-        "render_total_ms": 1581.7050938494503
+        "render_total_ms": 1830.1575658842921
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21541,16 +21699,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 88.72551377862692,
-        "render_ms": 1345.117362216115,
-        "compose_ms": 54.97336992993951,
-        "write_ms": 79.59001790732145,
-        "foreground_fraction": 0.3377
+        "compile_ms": 202.4994962848723,
+        "render_ms": 1471.7052448540926,
+        "compose_ms": 54.57447608932853,
+        "write_ms": 89.47761822491884,
+        "foreground_fraction": 0.3377,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "1fba2a6831c32558b66c86b7cde528be05bcb2dbbe1b6c0e9162c64b7f81f9ae",
         "meshes.tar": "5e2b6a5d6bfa33335f355d35e61861382520d3d063dab4fc3f0c748988131270",
-        "render.png": "61411aca4436849f0064e39aef204b643424ad73a7c57f10a51df320ec13c719",
+        "render.png": "09560317abe54600d8219d59aca6ed6e0a07ac82863d7c86a2b30551a67595e5",
         "graph-raw.svg": "1222d2df0a34ec74b68857c310ec1fb33c67e9fd4065963ca9e81c33658df53a",
         "graph-robot.svg": "7b8bd90274abd43355cb9c7b70d53512f11c48cc8031a1990e63f75b6403c8f8",
         "robot.urdf": "aaa58ee3d418c9517f3fcadcffda5cfc6a7d9c0f8fd12d1fefc6c2113ffc047c"
@@ -21633,7 +21793,7 @@
         "mjcf_ms": 2.3113670758903027,
         "compile_ms": 32.95185882598162,
         "graph_ms": 105.70869408547878,
-        "render_total_ms": 1450.8661949075758
+        "render_total_ms": 1567.4765892326832
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21681,16 +21841,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.2067241743207,
-        "render_ms": 1262.127835303545,
-        "compose_ms": 44.272804632782936,
-        "write_ms": 89.01615999639034,
-        "foreground_fraction": 0.23045
+        "compile_ms": 34.43605685606599,
+        "render_ms": 1361.6330488584936,
+        "compose_ms": 44.486168306320906,
+        "write_ms": 115.00499816611409,
+        "foreground_fraction": 0.23045,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "9572158aafb9458a51717b9b8bfcb52d1ef7dd03e6b04c07dac95ca4f651232e",
         "meshes.tar": "2b3f252f3a25db757ced771412678dcc7fd3a6de93392ccde32f3e92c57e5c26",
-        "render.png": "a1bc73d6e5a69242f06465925d8a118ed4e2fb272b8644a1733731fbccb4d198",
+        "render.png": "21b8075cd7ec62fbb909dd3d617e87eaad9046adc2872c8cc225729ac6540781",
         "graph-raw.svg": "f15c771089e283808276939682c3a0072d1bdf0d854f28af249321b2127a5be3",
         "graph-robot.svg": "0b4b1701c9c4237b1588070899b12961d2201ce371b3359236985bba87b7585d"
       },
@@ -21728,7 +21890,7 @@
         "mjcf_ms": 2.3768250830471516,
         "compile_ms": 15.812807716429234,
         "graph_ms": 62.74615274742246,
-        "render_total_ms": 1397.291449829936
+        "render_total_ms": 1513.208394870162
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21776,16 +21938,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.974503226578236,
-        "render_ms": 1231.0282932594419,
-        "compose_ms": 44.02646701782942,
-        "write_ms": 83.67664134129882,
-        "foreground_fraction": 0.21945
+        "compile_ms": 17.005075700581074,
+        "render_ms": 1339.60678614676,
+        "compose_ms": 44.00227498263121,
+        "write_ms": 100.97760194912553,
+        "foreground_fraction": 0.21945,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "6105cd327e8f8648abe2d6a5ee521be556ba1d10efa003f1312fefd68b50b209",
         "meshes.tar": "b71bac7b50e7dc48d63633126f12a722c9ff3d947dab1a6da1c30a7bf0a659ce",
-        "render.png": "b721292b79be28030456a624916c7f5735fe9ff02c4fefd3e40afe8a4765b615",
+        "render.png": "ce36c4426493e88f8cd48615e22adb82ebb6bcc590401cafbcc7234c8cec7149",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -21827,7 +21991,7 @@
         "mjcf_ms": 3.1942338682711124,
         "compile_ms": 218.49054982885718,
         "graph_ms": 124.51008800417185,
-        "render_total_ms": 1716.1180889233947
+        "render_total_ms": 1818.6230319552124
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21888,16 +22052,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 256.4240023493767,
-        "render_ms": 1321.0998689755797,
-        "compose_ms": 47.270254231989384,
-        "write_ms": 78.43965385109186,
-        "foreground_fraction": 0.3168
+        "compile_ms": 269.9668169952929,
+        "render_ms": 1403.3076730556786,
+        "compose_ms": 47.04577103257179,
+        "write_ms": 86.64281014353037,
+        "foreground_fraction": 0.3168,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "faa7242d5e037059b2eaf1ed397b1112a6f1644df0eb38d259a10cc1853f757a",
         "meshes.tar": "9f09b93fb9c8edd18b595f1488f9a05a9c964256277d5354c1426ff600e4eefe",
-        "render.png": "0f03fb0a7acf597c21ff342005420d88e7d0629e571ef4ab218cfba719e9a8d9",
+        "render.png": "e70fb4193df211b14763208b9d846c2fabfd28c74a764ead279e712618590d0e",
         "graph-raw.svg": "d71b1ec9d7c2e847f1707ab70d4a67bcf38715c1065ddd8cde982cb240e7697d",
         "graph-robot.svg": "d13e8fd24dabee20d2e8134d8ec276714941495baecb68159715b48c6cffcdf3"
       },
@@ -21928,7 +22094,7 @@
         "mjcf_ms": 2.568876836448908,
         "compile_ms": 5.740614142268896,
         "graph_ms": 72.67483696341515,
-        "render_total_ms": 1379.5462870039046
+        "render_total_ms": 1529.6294540166855
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21989,16 +22155,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.46838915720582,
-        "render_ms": 1229.0073721669614,
-        "compose_ms": 62.16399930417538,
-        "write_ms": 71.92029617726803,
-        "foreground_fraction": 0.61655
+        "compile_ms": 6.834548898041248,
+        "render_ms": 1372.768474277109,
+        "compose_ms": 62.31473386287689,
+        "write_ms": 76.01487403735518,
+        "foreground_fraction": 0.61655,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "5b0658d253c97165f89041d4a2fb68741a87c0243854ee114e6267bc2c272f3a",
         "meshes.tar": "5dad2ab6f2b3beb859f62e6401ebf36d4c5b3d1122236ba6b0bd2d09c8c72ee1",
-        "render.png": "08a5ce8a3062ff85c4b3f53e497d984da8320b89db3c9eb81ce98ed6534e2443",
+        "render.png": "9f8b15cf226f849d5c58ba399aad16d94f7940472042d4be3ea28a4ee43ec413",
         "graph-raw.svg": "3db23c0e8246d40d2158df7c03cf7fc1f2554780bbc14c1a41b51d15bfe6f813",
         "graph-robot.svg": "f3e6348b906f1b73c46dfb1e6573189fc73fd5b53cecb42f585acfbe28968530",
         "robot.urdf": "29e43a4bdca1b876077b2d9bda0feee0502263fdbcad287ef846804e45fcec31"
@@ -22038,7 +22206,7 @@
         "mjcf_ms": 2.9928949661552906,
         "compile_ms": 4.086045082658529,
         "graph_ms": 107.94283682480454,
-        "render_total_ms": 1383.4931440651417
+        "render_total_ms": 1489.8822018876672
       },
       "mesh_preparation": {
         "status": "complete",
@@ -22093,16 +22261,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.594800062477589,
-        "render_ms": 1248.2261178083718,
-        "compose_ms": 44.94603909552097,
-        "write_ms": 72.70225090906024,
-        "foreground_fraction": 0.2838
+        "compile_ms": 4.976272117346525,
+        "render_ms": 1352.0295666530728,
+        "compose_ms": 44.62135909125209,
+        "write_ms": 76.43212517723441,
+        "foreground_fraction": 0.2838,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "5c90c85c9a494c3d7844739428be738c059558684b7a1897adc695f2cfb7b166",
         "meshes.tar": "774ac7b83f549c3d5ba94f1bd04a4064768969b90c30b259611ffb7513231d54",
-        "render.png": "b889fbcc8c81c92182c68fda763663804a5d46dae5d907ac03800d3e3961d90e",
+        "render.png": "b98421786cbd86fba7e40d72fd412b73bc84585cf084b0c088aa88cb530a9c95",
         "graph-raw.svg": "54fd4e91b8d3aeaca80cdffeec749f018cd8e5fb4c55c53abe3768db0a2af2c2",
         "graph-robot.svg": "3cd64989f55fbb2947266a321b244fa040121d79b083b5fc75e2cc9800f22c0f"
       },
@@ -22140,7 +22310,7 @@
         "mjcf_ms": 2.575923688709736,
         "compile_ms": 133.9730047620833,
         "graph_ms": 1750.5321148782969,
-        "render_total_ms": 1618.3786392211914
+        "render_total_ms": 1810.1676227524877
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24115,16 +24285,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 115.90819573029876,
-        "render_ms": 1344.9687962420285,
-        "compose_ms": 64.83214581385255,
-        "write_ms": 79.8529228195548,
-        "foreground_fraction": 0.5896
+        "compile_ms": 125.10850187391043,
+        "render_ms": 1461.3622119650245,
+        "compose_ms": 66.33865786716342,
+        "write_ms": 145.22844506427646,
+        "foreground_fraction": 0.5896,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "06b38dd472a0cb6288c3f2deb46f9b97cd001a60348af281484d2cd871ffc7da",
         "meshes.tar": "2218a0d908ce244aba25a5e50b979d9eead45ef80cba5c81aa3c1a764507fbae",
-        "render.png": "44c10978ac8de02b124d0d596bec097698cbb991dff71e6296ed3e4d0d208a6a",
+        "render.png": "291f5c0c9b56dfa883a4d0dd347e9137ea5fe525f78ba6da503a5f6061f4b313",
         "graph-raw.svg": "71a3e1f1c8c163b4aad3eb39d54821857bf441958b27bcb37c6ecad917635755",
         "graph-robot.svg": "d12f116695135ce3ebae16e6670c4cfb982e0915fd601bf4e82ccab6a7841679"
       },
@@ -24158,7 +24330,7 @@
         "mjcf_ms": 3.384960349649191,
         "compile_ms": 5.896003916859627,
         "graph_ms": 139.46191826835275,
-        "render_total_ms": 1397.791703697294
+        "render_total_ms": 1489.9125290103257
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24219,16 +24391,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.5745080783963203,
-        "render_ms": 1252.3584309965372,
-        "compose_ms": 63.45815071836114,
-        "write_ms": 66.859545186162,
-        "foreground_fraction": 0.7636416666666667
+        "compile_ms": 4.3145581148564816,
+        "render_ms": 1342.8347120061517,
+        "compose_ms": 63.15771397203207,
+        "write_ms": 67.88048380985856,
+        "foreground_fraction": 0.7636416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "275b7c3f67368bba6c879f298de27db20fef70037f25fb2e5013cc7dee609f06",
         "meshes.tar": "a29f59c07fd8185e186b1ff33456519e0fc2f1a565812840850b3be80eaca440",
-        "render.png": "863eda31820fce48ba3cde1929b3a5ef46a9bffd68bb7813f687adcc5ec7e5db",
+        "render.png": "cd780ce73619ebfee73740c5d458c08f9c3c304684e75436f132ff13aab8e149",
         "graph-raw.svg": "e43c3afe769ba19ed43edd180d86d7578a469d02261e8b55d5bf9df17bdca52a",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "bbe00cc1c221efa0740d10e06ce4d0c3a360960b5610b504048c53fbad354928"
@@ -24263,7 +24437,7 @@
         "mjcf_ms": 3.464569803327322,
         "compile_ms": 4860.09981809184,
         "graph_ms": 124.43528976291418,
-        "render_total_ms": 6807.2229898534715
+        "render_total_ms": 7012.329567689449
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24324,16 +24498,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4861.983442213386,
-        "render_ms": 1802.550407126546,
-        "compose_ms": 59.84840774908662,
-        "write_ms": 69.96309943497181,
-        "foreground_fraction": 0.40865
+        "compile_ms": 4986.279353033751,
+        "render_ms": 1878.0492627993226,
+        "compose_ms": 64.9445429444313,
+        "write_ms": 71.19323592633009,
+        "foreground_fraction": 0.40865,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "9a50dfb2890e168fa7a719248af41032578bc3d3c11fbe07e4848f2e57622f6d",
         "meshes.tar": "51f8845c5742ba52d8ccfe662279b120457243b5ba57374517a5ce48d987ec91",
-        "render.png": "67616616ab79274f03ac5eec7f6aa644ddf40b124f0f04f9ec2a4a2a9749f6c6",
+        "render.png": "7f2d2dc8faf6c6fa3102a8d28e54da10d48af28b3661cc49e85ae5a89fb8dab1",
         "graph-raw.svg": "d0bd36a79141012227ad78d8436f29cf517ce897ba771054bc64061cf36ff5f4",
         "graph-robot.svg": "5f155a87b847da3192c23b858a869e29e21ebeea8454ffab27c31de904ebd223",
         "robot.urdf": "542217d79f7618ccd284de1f43294f2bfcfea23185890c6c646469ca04871e7a"
@@ -24401,7 +24577,7 @@
         "mjcf_ms": 9.989744983613491,
         "compile_ms": 506.0966210439801,
         "graph_ms": 747.0180038362741,
-        "render_total_ms": 2218.303818721324
+        "render_total_ms": 2327.638478949666
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24516,16 +24692,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 416.0679499618709,
-        "render_ms": 1589.068636763841,
-        "compose_ms": 58.89814626425505,
-        "write_ms": 141.88289316371083,
-        "foreground_fraction": 0.6582333333333333
+        "compile_ms": 461.42921689897776,
+        "render_ms": 1649.0457393229008,
+        "compose_ms": 59.01109799742699,
+        "write_ms": 146.44249295815825,
+        "foreground_fraction": 0.6582333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "260384d446b739a9f80a2861d83a6dad467ba854f4dc1163997959e0a3dcb099",
         "meshes.tar": "5ad6f899eca23d46b7eb2adb5d74eafe09e0538c67f17629febd6799a35b3bc9",
-        "render.png": "d2dd217229516b06263a22475b15a37bb5ead8a9f0301cc7ead3c1b7db47bf9d",
+        "render.png": "6a189f6e8f6dfbe87b50949e8c4539d693f394b7133364e45dcd57a05bc50a33",
         "graph-raw.svg": "a745a8f85f2ce6bbad900c3b396e812421a797deaf4a81cebc159d88ed9d70ca",
         "graph-robot.svg": "4386c05b8843ca12d4f8d5c66ea12dde2cd7c5714176009c71cc2f550721410e"
       },
@@ -24563,7 +24741,7 @@
         "mjcf_ms": 2.2423509508371353,
         "compile_ms": 21.616587415337563,
         "graph_ms": 83.81633600220084,
-        "render_total_ms": 1392.5213539041579
+        "render_total_ms": 1523.8314508460462
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24648,16 +24826,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.397908743470907,
-        "render_ms": 1248.4433939680457,
-        "compose_ms": 56.97906715795398,
-        "write_ms": 63.90973599627614,
-        "foreground_fraction": 0.6514083333333334
+        "compile_ms": 16.20989991351962,
+        "render_ms": 1373.8490059040487,
+        "compose_ms": 56.941455230116844,
+        "write_ms": 64.85127611085773,
+        "foreground_fraction": 0.6514083333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "061f58878204135ebd5b19f52a613f6c2653e4687948e14ae478f857a131b395",
         "meshes.tar": "7a5de1d686dd37cb1ea290575d061d28f8eac05988647e497cd68f62adb8aa39",
-        "render.png": "946ada0cf367d405c76529e526a347b959c85860d04bc48c88a4be00a06811c1",
+        "render.png": "7202b2834f64643b411efd9256150e55d48a270a5aa19e7cb5cfcf46fb139a75",
         "graph-raw.svg": "8e684f2d721ed83e43f58a5f2fcd99d46733d71b92378f14a088a6452edc98b7",
         "graph-robot.svg": "53a2db1855ca6ec7e45ac3aadcde85b41d36ce8d29ade419f6c28a4811712d49"
       },
@@ -24700,7 +24880,7 @@
         "mjcf_ms": 3.7875506095588207,
         "compile_ms": 96.24798176810145,
         "graph_ms": 371.37544294819236,
-        "render_total_ms": 1529.0534808300436
+        "render_total_ms": 1682.8984217718244
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24748,16 +24928,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 99.77941494435072,
-        "render_ms": 1285.100351087749,
-        "compose_ms": 58.606323786079884,
-        "write_ms": 72.41913210600615,
-        "foreground_fraction": 0.62535
+        "compile_ms": 120.00074004754424,
+        "render_ms": 1412.9193779081106,
+        "compose_ms": 59.81865292415023,
+        "write_ms": 75.79632895067334,
+        "foreground_fraction": 0.62535,
+        "style": "link-palette-v1",
+        "colored_bodies": 16
       },
       "artifacts": {
         "robot.mjcf": "8369a9e5747283bca8cd19b116bf63d6c8f49457717ce558656cb9a95c2352d8",
         "meshes.tar": "7b3d80a54bef19408d6be9e47d171401f7e2b38c777822933ce051bbad138424",
-        "render.png": "7628badbafb6a7170a52b3d97365ec3966746869e326951d367fd8e09b1d9b74",
+        "render.png": "189a7dd926ebca5ae474d08f81d0f918cdfbad10ec4180172857c1991f2ad52b",
         "graph-raw.svg": "d93df48b1373e187848b7d630cfaccdc6e27478e1e65adbc96ef4ade1802799d",
         "graph-robot.svg": "918c03867e683ecdfa4e9d3377aeeced688f0bb701174fa9545e4dd9bb3eb2bb"
       },
@@ -24801,7 +24983,7 @@
         "mjcf_ms": 4.613242112100124,
         "compile_ms": 40.49137234687805,
         "graph_ms": 145.06104681640863,
-        "render_total_ms": 1455.9079520404339
+        "render_total_ms": 1603.7094090133905
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24856,16 +25038,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 47.03059559687972,
-        "render_ms": 1249.9811360612512,
-        "compose_ms": 57.98786133527756,
-        "write_ms": 87.91517978534102,
-        "foreground_fraction": 0.5588916666666667
+        "compile_ms": 47.29767795652151,
+        "render_ms": 1381.8164430558681,
+        "compose_ms": 57.19675775617361,
+        "write_ms": 105.24472035467625,
+        "foreground_fraction": 0.5588916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "f56d790cb2aa37c68856fb22d7b0ee88826d587d269da8cf555bb8848439aac0",
         "meshes.tar": "2f7b8958dbe004a9cd0c76f8745c61a80135c92eb14808284ad59a385882cede",
-        "render.png": "cd3711f278573f93f9902efd85d54da6ce4ad036b568f7c76de269944dc50a94",
+        "render.png": "776f2e0cb94cce10918a93921bf88f77f5bbd7cc743a73027d29a36309dce822",
         "graph-raw.svg": "09685b439e993534ec2251cd66f5c51f9dbda39a7d75e24bf9d3c60b779a4aba",
         "graph-robot.svg": "d424c584e20cd071e89f77eaf805482c53d998220e281d21607df4437480cadb"
       },
@@ -24900,7 +25084,7 @@
         "mjcf_ms": 3.1801131553947926,
         "compile_ms": 17.631919588893652,
         "graph_ms": 135.4620521888137,
-        "render_total_ms": 1475.7013809867203
+        "render_total_ms": 1517.6916914060712
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24968,16 +25152,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 31.112431082874537,
-        "render_ms": 1294.85924821347,
-        "compose_ms": 56.87842704355717,
-        "write_ms": 79.95185675099492,
-        "foreground_fraction": 0.5181
+        "compile_ms": 19.727591890841722,
+        "render_ms": 1345.0357536785305,
+        "compose_ms": 56.92687910050154,
+        "write_ms": 84.11353593692183,
+        "foreground_fraction": 0.5181,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "73dd11c574735fea01d30eafef949761413ef368e03a5c8eb4c57f8175de346a",
         "meshes.tar": "6a441ff924c67318c3f87364966dae8d69c1cd1e372e22b9b7406eedd57adb96",
-        "render.png": "7748bae62756d5a4e12a3cbae566ec4a9c494e88e4b7c6598e36ed9db4f1b93a",
+        "render.png": "e29cba69d28d28dda8cd0d961d5f7581f0c7eb6e6fa3fe9a1b886a96de1ef5c7",
         "graph-raw.svg": "c4b0f8b09c4b95da56c37b55e5bc429a4d0140904030cce75259c6844e261866",
         "graph-robot.svg": "da7e78ba8a164259ef7b5f3a08651e4d285b2c91a20cbc709e5a5e770d1965b5",
         "robot.urdf": "c03a6110b22d315d22e22b85251d68fe23ea8f411f44b64f748e77b04651a0db"
@@ -25009,7 +25195,7 @@
         "mjcf_ms": 2.336186356842518,
         "compile_ms": 18.051165156066418,
         "graph_ms": 88.9035826548934,
-        "render_total_ms": 1408.7863829918206
+        "render_total_ms": 1624.517824035138
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25070,16 +25256,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.899012960493565,
-        "render_ms": 1231.8961578421295,
-        "compose_ms": 55.46652711927891,
-        "write_ms": 91.67374996468425,
-        "foreground_fraction": 0.5093
+        "compile_ms": 16.940658912062645,
+        "render_ms": 1419.6438221260905,
+        "compose_ms": 65.52694784477353,
+        "write_ms": 108.50694822147489,
+        "foreground_fraction": 0.5093,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "86d6bd4722b9175b3c2162c42564dd337e5e96bf3e965ea9a011f09b1c22d336",
         "meshes.tar": "fe6827e21c202c1600a500daae7016f61581b55d35ac91c597b5ea95273ae005",
-        "render.png": "d590b6658872d9629ef15a522d2ec8f40e70718aadad2c8c0d48ac99031f72a6",
+        "render.png": "4e4dd0c29e0866ab87aecb69398f1d51568427e9da66bef645b0c420d9238129",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "5d17d7470beb6051492cbe3b37c48ca5fa57e9a062ccd7b4286a9aadfc9daece"
@@ -25121,7 +25309,7 @@
         "mjcf_ms": 3.173824865370989,
         "compile_ms": 4.4947899878025055,
         "graph_ms": 182.70200863480568,
-        "render_total_ms": 1360.9135169535875
+        "render_total_ms": 1488.4942984208465
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25169,16 +25357,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.529789254069328,
-        "render_ms": 1221.1633338592947,
-        "compose_ms": 49.63828902691603,
-        "write_ms": 70.9530902095139,
-        "foreground_fraction": 0.48675
+        "compile_ms": 6.286037620157003,
+        "render_ms": 1343.3825643733144,
+        "compose_ms": 54.40623685717583,
+        "write_ms": 72.64190586283803,
+        "foreground_fraction": 0.48675,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "b1e3627d9f23a888f843ddbb3d4f6577c4906f809e10a026151f8eccda856635",
         "meshes.tar": "e1b6524e78e3e67838d47dbc5766d1552c7b97eebd2d9a418df64ac8863b4098",
-        "render.png": "97723d855c2afc3b1969007d6e29d1f3dccf998bde396b50d06a1c6e684b3d1a",
+        "render.png": "d195f69e9be392da4f7613d517b076c387cd1fcbef95da61bdb0e6b2546e1563",
         "graph-raw.svg": "d4ab9cafc0e8356798b53ded55912e4d2c1e76788c2afb895af384901e4575ba",
         "graph-robot.svg": "ada5ac88aa4f3125c1aed19e77ca608a9fffde56d1e7dee99e21743b2b6bc96e"
       },
@@ -25219,7 +25409,7 @@
         "mjcf_ms": 2.624805085361004,
         "compile_ms": 44.17502088472247,
         "graph_ms": 114.19037124142051,
-        "render_total_ms": 1429.5489960350096
+        "render_total_ms": 1539.909742306918
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25280,16 +25470,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 44.918134808540344,
-        "render_ms": 1244.4622055627406,
-        "compose_ms": 58.39785002171993,
-        "write_ms": 68.97636037319899,
-        "foreground_fraction": 0.6536833333333333
+        "compile_ms": 46.13862931728363,
+        "render_ms": 1354.473547078669,
+        "compose_ms": 58.64069098606706,
+        "write_ms": 68.76814505085349,
+        "foreground_fraction": 0.6536833333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "9e38d89cbe2bc3e018f2f27aa9127845f80809b0e69b2d12db07e7934905e38d",
         "meshes.tar": "f838a7e7487748d4ef23a6ba9b5a4fbe85e1835366f277505ff10c9a4df1d40f",
-        "render.png": "3d16aae16f1672b407dda8d20721e4f5d9df4f0847030987c46e37aa735eb2b4",
+        "render.png": "756bd46afa81e1598fd084ebaf2d6035b1871745487bcc0b157cde67cc8a9a7e",
         "graph-raw.svg": "fcf79d39142dc69aa095ea2c1a28f9b30200e95b32e5bbee176164bf109ae649",
         "graph-robot.svg": "9f30254021340b96d90563c1f93c53a6a91e9551d905fdedf9f14b042e7ef902"
       },
@@ -25301,12 +25493,89 @@
   ],
   "output": {
     "archive": "shard-01150.tar",
-    "archive_sha256": "b188bf515ed149d0d57a774d4b6ecc3774fbf5f98a523f2c78a492f333195801",
+    "archive_sha256": "eb16d29701414212e9f23d086b08dee794f05aba7ad781c0105a36d08a199034",
     "packaged_samples": 96
   },
+  "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": "b188bf515ed149d0d57a774d4b6ecc3774fbf5f98a523f2c78a492f333195801",
+      "report_sha256": "5213e8491d28c41fcbb8c1e4f4e5f904779d33e80c4a3f0533d49b08946853db"
+    },
+    "scheduler": {
+      "job_id": "60317318",
+      "array_job_id": "60313720",
+      "array_task_id": "1150",
+      "node": "gl3264",
+      "host": "gl3264.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 96,
     "compiled_models": 96,
-    "archive_sha256": "b188bf515ed149d0d57a774d4b6ecc3774fbf5f98a523f2c78a492f333195801"
+    "archive_sha256": "eb16d29701414212e9f23d086b08dee794f05aba7ad781c0105a36d08a199034"
   }
 }