diff --git "a/onshape/shard-01152.report.json" "b/onshape/shard-01152.report.json"
--- "a/onshape/shard-01152.report.json"
+++ "b/onshape/shard-01152.report.json"
@@ -213,7 +213,7 @@
         "mjcf_ms": 3.0582058243453503,
         "compile_ms": 28.658228926360607,
         "graph_ms": 173.7730079330504,
-        "render_total_ms": 1711.7200661450624
+        "render_total_ms": 1787.9687128588557
       },
       "mesh_preparation": {
         "status": "complete",
@@ -274,16 +274,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.436748757958412,
-        "render_ms": 1525.1108910888433,
-        "compose_ms": 90.51161864772439,
-        "write_ms": 71.56422082334757,
-        "foreground_fraction": 0.4642
+        "compile_ms": 35.638539120554924,
+        "render_ms": 1554.4080068357289,
+        "compose_ms": 94.84453732147813,
+        "write_ms": 88.63797783851624,
+        "foreground_fraction": 0.4642,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "11f7fe89d48455bdc7c023ee3f38f6890be96a032766583ea6bbc38511d1c38d",
         "meshes.tar": "d8d15a1b6889f0e39427f639ebda0cd5b9fb4fe294d04c468ef1d8930c58ca39",
-        "render.png": "7dd5a87dd425db7abf6ec60254bb9436dc6acfe58c5cfccd63250fe93cb0d9f9",
+        "render.png": "46f8f8a58feeb7723a548530c79955d36d1e95b3dd7f84f8a1af0e3bc65a6871",
         "graph-raw.svg": "7bcbc442c570f2d8b745f81520aae1fbd93d81fd3e5464a2027bf5ee46bb9f99",
         "graph-robot.svg": "9b97a03cd8b16a8c247a5dc13b12785fed21c34379a6770e2d225c6448022f75",
         "robot.urdf": "25c0b09897151ad45e2b9b5eb9fb4f5664c2d3f44e9c9cdac06b083d84e80c1a"
@@ -322,7 +324,7 @@
         "mjcf_ms": 2.7790027670562267,
         "compile_ms": 5.051655694842339,
         "graph_ms": 207.34123419970274,
-        "render_total_ms": 1884.881644975394
+        "render_total_ms": 1586.1882297322154
       },
       "mesh_preparation": {
         "status": "complete",
@@ -370,16 +372,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.5563791170716286,
-        "render_ms": 1724.9028249643743,
-        "compose_ms": 71.01285131648183,
-        "write_ms": 65.84471417590976,
-        "foreground_fraction": 0.51315
+        "compile_ms": 5.732266698032618,
+        "render_ms": 1430.8352060616016,
+        "compose_ms": 68.51144786924124,
+        "write_ms": 65.71502424776554,
+        "foreground_fraction": 0.51315,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "1edcb63212c228f844b34abc63095d00ff812ac33fcc559f62706514083934a0",
         "meshes.tar": "7bd109047eeb6687e5fd390ac8158b9661176db8dfc5b124d38bc2891518733f",
-        "render.png": "94b88e24d3a13df90218ef7d954a1fd88c3e87f436f9358bcab91d6ab48bef52",
+        "render.png": "842bcf2e5438c091eabab8c4f0db68779cc8774613ee4fd2581c78e5eeaed207",
         "graph-raw.svg": "693e341db2db18387cf3fc33b7b7937cd141d6f24d6b371e880ef1520ac31187",
         "graph-robot.svg": "0ac86cca32a1e397a41af5a37a5e5b1113d166dec19534239ccde886011e291e"
       },
@@ -410,7 +414,7 @@
         "mjcf_ms": 2.5944369845092297,
         "compile_ms": 7.666640914976597,
         "graph_ms": 69.4056018255651,
-        "render_total_ms": 1655.0793829374015
+        "render_total_ms": 1516.3123798556626
       },
       "mesh_preparation": {
         "status": "complete",
@@ -471,16 +475,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.5619246773421764,
-        "render_ms": 1480.6393650360405,
-        "compose_ms": 84.62888607755303,
-        "write_ms": 66.03098474442959,
-        "foreground_fraction": 0.6878083333333334
+        "compile_ms": 7.728663273155689,
+        "render_ms": 1374.2321571335196,
+        "compose_ms": 58.75296797603369,
+        "write_ms": 63.731119967997074,
+        "foreground_fraction": 0.6878083333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "b7fa0794f776ed83dbd8548a12454269b05a64d224d52e86b6a63e9f0dbb0a8c",
         "meshes.tar": "b6f8468fb5948f993f041c259c7016140e346963f1e6c70a8a11ab46ec061568",
-        "render.png": "8493dfe7da01e5d025c756849b36e859f99db71023cfc05f03476072850a3ed0",
+        "render.png": "fa9d416e5a345af00085d17773a3b45a19ddf1bbc1ec294afb35fdf234762fb8",
         "graph-raw.svg": "c471cab9825f6857ed702326984a0aeea4fd2588686acb1196f081e340806fce",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "bcb1f090371fae6c72b668d2ab23af9366fd49b00f981fcd40f14dc1cb35fa14"
@@ -550,7 +556,7 @@
         "mjcf_ms": 9.670265950262547,
         "compile_ms": 1692.164077423513,
         "graph_ms": 1598.4439691528678,
-        "render_total_ms": 3242.301177699119
+        "render_total_ms": 3832.1368470788
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1619,16 +1625,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 608.0957460217178,
-        "render_ms": 2418.2431949302554,
-        "compose_ms": 72.91429582983255,
-        "write_ms": 118.67730505764484,
-        "foreground_fraction": 0.7606083333333333
+        "compile_ms": 1388.3620267733932,
+        "render_ms": 2238.862474448979,
+        "compose_ms": 64.65139659121633,
+        "write_ms": 119.64261531829834,
+        "foreground_fraction": 0.7606083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 18
       },
       "artifacts": {
         "robot.mjcf": "71fc2e50402542a0d5843002dbd582a30548ff715acffd29edf9a028fe0bf0aa",
         "meshes.tar": "f37888f8f9dbd99eac20cb918f285847a0879ed3e8f054fd33352eb935767194",
-        "render.png": "e823b8ed8e7fc5c1291ce50c746ad5bbbcd7cbe4448482fc4abf8ccd3f6f8c40",
+        "render.png": "b182eee0c31ddc70d6a8f26504357ce89e4b16aa9e0bbb782185d9439a3b523b",
         "graph-raw.svg": "79d3cdc65318f8bc788f7499a266899e823d39adc53b06ac2dda007717262647",
         "graph-robot.svg": "b54791adc5f3dabfb51c7dfad496cfc4231285507248194a66fc7c0e834741dc"
       },
@@ -1689,7 +1697,7 @@
         "mjcf_ms": 4.4091190211474895,
         "compile_ms": 404.7931553795934,
         "graph_ms": 445.5404966138303,
-        "render_total_ms": 1944.8465849272907
+        "render_total_ms": 1964.7565800696611
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2002,16 +2010,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 78.50417029112577,
-        "render_ms": 1653.833142016083,
-        "compose_ms": 74.45723377168179,
-        "write_ms": 126.04830460622907,
-        "foreground_fraction": 0.7537833333333334
+        "compile_ms": 319.8350421153009,
+        "render_ms": 1410.3866815567017,
+        "compose_ms": 61.06623774394393,
+        "write_ms": 161.77017614245415,
+        "foreground_fraction": 0.7537833333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "951a0b4c2234cedccd9a0ae40e24dbae5a828741500b19b3306a86577c8001ba",
         "meshes.tar": "2d0b61d4bc21d9f1363b03953997448c57182c420cb71b9000a3f8593fe1016c",
-        "render.png": "544d15805e6c7b8ee695fcdde13a6ecd8860916cf1af4beff4597ee36f669fcf",
+        "render.png": "43862ab43b0ea7377e15bfb18298626c19495cb938bc909bea5f3c022d53cd12",
         "graph-raw.svg": "8e0f2df3e65c4edc37dd6ff3ccdba437b99fc7f9a1ad44c9a1f543b4279a1afd",
         "graph-robot.svg": "be8ded572cdcf596fe75777b7a5033902870bd1bf3e9c0877bf7657029f5a677"
       },
@@ -2053,7 +2063,7 @@
         "mjcf_ms": 3.2374956645071507,
         "compile_ms": 68.94748657941818,
         "graph_ms": 144.94974398985505,
-        "render_total_ms": 1603.438587859273
+        "render_total_ms": 1540.401205420494
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2101,16 +2111,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.108358908444643,
-        "render_ms": 1430.7279926724732,
-        "compose_ms": 66.94785133004189,
-        "write_ms": 71.66497968137264,
-        "foreground_fraction": 0.60515
+        "compile_ms": 68.32215469330549,
+        "render_ms": 1331.134470179677,
+        "compose_ms": 58.10905806720257,
+        "write_ms": 68.88691568747163,
+        "foreground_fraction": 0.60515,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "79315ce37874160953a3f1aa3e465982c3e7d11442d31b39f06795558709adcb",
         "meshes.tar": "3f13472b5c34fd287dca7ce62dda69e043c3a1f1c72ed2680f88dda021b1d9ce",
-        "render.png": "243e40039e11f0cb0ae9519206874814af93ed892728dbdb45d519f000484b09",
+        "render.png": "6c3f2aff24571b7238c7fe6251a3067acf4c645286c5e39ff78571a2f0231071",
         "graph-raw.svg": "0fdb25181127f7fa2e2112f4890e3c66c997d91035dd772affcfaaac27d1f495",
         "graph-robot.svg": "5b05d95046b1734291ea53284830001922272967b4930adb5d85ce1fadf1df47"
       },
@@ -2141,7 +2153,7 @@
         "mjcf_ms": 2.5539640337228775,
         "compile_ms": 29.5296348631382,
         "graph_ms": 86.2595047801733,
-        "render_total_ms": 1563.7336503714323
+        "render_total_ms": 1591.4372238330543
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2202,16 +2214,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.507382098585367,
-        "render_ms": 1386.3068991340697,
-        "compose_ms": 62.40128306671977,
-        "write_ms": 93.42798497527838,
-        "foreground_fraction": 0.4906
+        "compile_ms": 30.392711982131004,
+        "render_ms": 1373.1836779043078,
+        "compose_ms": 62.601819168776274,
+        "write_ms": 107.7795447781682,
+        "foreground_fraction": 0.4906,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "6c8520d0fc2510ef99e91a344bec251baa576d2193aa3212dcb1b24398bedef0",
         "meshes.tar": "4f8e1987b8f0d4123918a3a391358eae4383748247811b53c7ecc523e2c238a3",
-        "render.png": "88bf4f83437662f734eb5f82444cd4c4f49b93ead7c2278d503316d33c08efec",
+        "render.png": "41a67f83cb59c4b0247b3f4ec3c0f3b56f7f82b0922eb7b9189183a41b10b55c",
         "graph-raw.svg": "d128289c5f955339a71a578c0ca08968054950ad9d4d8b029b60d626fdbcb6e2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "460cfd0b9fd51805a95eb4ba75b8d7dccbcff794c8b2e9f379fda5a8e18b5bb3"
@@ -2288,7 +2302,7 @@
         "mjcf_ms": 8.491910062730312,
         "compile_ms": 746.9165241345763,
         "graph_ms": 723.9005439914763,
-        "render_total_ms": 2496.6326602734625
+        "render_total_ms": 2700.6474970839918
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2361,16 +2375,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 528.583672363311,
-        "render_ms": 1790.7806732691824,
-        "compose_ms": 75.1985558308661,
-        "write_ms": 77.161252964288,
-        "foreground_fraction": 0.6559583333333333
+        "compile_ms": 654.4982027262449,
+        "render_ms": 1897.2261850722134,
+        "compose_ms": 56.41585821285844,
+        "write_ms": 80.10102901607752,
+        "foreground_fraction": 0.6559583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 20
       },
       "artifacts": {
         "robot.mjcf": "8c1510e532946c8b4653f1f4aeca51c6e43a3e6b5151666cbdb85957d9441a65",
         "meshes.tar": "6630b23bb0e39075e818c28486a4ecc6eaa6ce48b1ecb13e23b80c0bb2d8857d",
-        "render.png": "2a76089f6080c1841a3c77dcc9915a328d12744f0ea655dd46fcfba76ae19046",
+        "render.png": "394f6b757aa690a92ce1e463db03c25336345d908e5532a4d526c953af33dc29",
         "graph-raw.svg": "03b00b42b7088f08604308a820bc37e8f6ab8512843ea0bf2176691c14b5ccc5",
         "graph-robot.svg": "50c02509c479b71316d533a4b10a08fccdfc43d05a710a6f904c7633ebbed82d"
       },
@@ -2402,7 +2418,7 @@
         "mjcf_ms": 2.5960030034184456,
         "compile_ms": 15.430324245244265,
         "graph_ms": 155.55896889418364,
-        "render_total_ms": 1575.5107928998768
+        "render_total_ms": 1544.193310663104
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2560,16 +2576,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.0436478555202484,
-        "render_ms": 1416.740894317627,
-        "compose_ms": 67.07703694701195,
-        "write_ms": 70.05190989002585,
-        "foreground_fraction": 0.6611
+        "compile_ms": 10.152035858482122,
+        "render_ms": 1397.6362301036716,
+        "compose_ms": 58.828399050980806,
+        "write_ms": 66.02126080542803,
+        "foreground_fraction": 0.6611,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "16e4c2486b95baacb779430ba95da730c258e541d27ba70dc45d44aef1b35287",
         "meshes.tar": "c9043de50bf10982146e0dd3807b5937a971ddc381a48dcd5adf77977af680f1",
-        "render.png": "3e971a68df0c63edd3293f9e735f875ed8138ba859ae75ca102d7a071b58a323",
+        "render.png": "50422f6db52bed132f116e741ca138c3812d39a6a2f7d6d4478d68d9da4ae132",
         "graph-raw.svg": "5d5cb016f8a2d7682f500ffdc5e6faceb8c69ae6303a7e95f90051d0683ca3d8",
         "graph-robot.svg": "8a57193ca4ee8f453247434a20320d21c5d3ce545d978a2ffb884649d0871ac7",
         "robot.urdf": "08b0213f3927840bba404460bc30b78d17217832cceed96bcccd4cd7b1d9c58f"
@@ -2651,7 +2669,7 @@
         "mjcf_ms": 235.166824888438,
         "compile_ms": 21441.582165192813,
         "graph_ms": 19868.415434844792,
-        "render_total_ms": 36054.38152514398
+        "render_total_ms": 29096.90393228084
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3468,16 +3486,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23121.15344312042,
-        "render_ms": 12651.832577772439,
-        "compose_ms": 64.29703114554286,
-        "write_ms": 81.90658176317811,
-        "foreground_fraction": 0.6611
+        "compile_ms": 16576.64025388658,
+        "render_ms": 12253.221344668418,
+        "compose_ms": 58.694733772426844,
+        "write_ms": 79.235487151891,
+        "foreground_fraction": 0.6611,
+        "style": "link-palette-v1",
+        "colored_bodies": 645
       },
       "artifacts": {
         "robot.mjcf": "153bc3ed64d584a25fe2bb9d0474f3a721f594e7460cb6b1f1a2d64a8000c14c",
         "meshes.tar": "5d6e6fc69b7b97426bb86039b759753a35d57f19b454d5bc240936d3d0e7755a",
-        "render.png": "e8f5774fb490bbe130d23822f610c319fb6501f4427d48ecdd9faf9b7b591512",
+        "render.png": "1b815bbaee7a2d65b91925017c11195ad585c91056a8e86c981ef7ef5ff2a645",
         "graph-raw.svg": "1c7b4e095dee7954c811ce5959b18a0c1b9cbf66df41e7118e0fd8b6756b643a",
         "graph-robot.svg": "e6a9c8611e69a964a8858ad5158bbcb07a6de7880353afeafafd38daa4cbffbd"
       },
@@ -3515,7 +3535,7 @@
         "mjcf_ms": 7.040847092866898,
         "compile_ms": 1603.0213506892323,
         "graph_ms": 21025.527044199407,
-        "render_total_ms": 2860.793235246092
+        "render_total_ms": 2798.4464410692453
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14352,16 +14372,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1078.3168240450323,
-        "render_ms": 1573.9678461104631,
-        "compose_ms": 69.1323890350759,
-        "write_ms": 118.80457308143377,
-        "foreground_fraction": 0.73255
+        "compile_ms": 1378.902928903699,
+        "render_ms": 1197.4089019931853,
+        "compose_ms": 61.54578272253275,
+        "write_ms": 151.32697811350226,
+        "foreground_fraction": 0.73255,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4da2934178e7d36e993c863c50349b737667379703258a315da0f119c5956724",
         "meshes.tar": "871bdfc4b403f365be79a280a96dbfcdd8ebb0c661361470be7535fcacd65edc",
-        "render.png": "1426ccac27a0487c37552a3b87ffc184b1798678531daca7b521521c134c68af",
+        "render.png": "c1a98e0cc3844f6b79ab6996b9ee114cdd436edf4d83785e504d078f43ed7110",
         "graph-raw.svg": "18b09da489c2b621d8989a6a4c93cbded3ca1bed2726978c8f4909a44fcc1f2f",
         "graph-robot.svg": "42aba0953e0e4c77d1dce2d0a3e628ccb927de6b0f8d861f610d337117de4170"
       },
@@ -14408,7 +14430,7 @@
         "mjcf_ms": 64.24072897061706,
         "compile_ms": 142.86776818335056,
         "graph_ms": 1762.6094659790397,
-        "render_total_ms": 1937.2613169252872
+        "render_total_ms": 1391.925951000303
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14721,16 +14743,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 166.0169600509107,
-        "render_ms": 1575.9860728867352,
-        "compose_ms": 116.78769579157233,
-        "write_ms": 64.70883591100574,
-        "foreground_fraction": 0.75955
+        "compile_ms": 143.0700453929603,
+        "render_ms": 1071.8998806551099,
+        "compose_ms": 99.42956594750285,
+        "write_ms": 68.24450800195336,
+        "foreground_fraction": 0.75955,
+        "style": "link-palette-v1",
+        "colored_bodies": 60
       },
       "artifacts": {
         "robot.mjcf": "4e9b7bc802d02e9958857b9ba8afd513c68d8a4deb6ae669a92b5292cfb566b3",
         "meshes.tar": "96fe986e3b8209584b131b3785f96481e53832e1c08ace5e68dab4cb4e7fe200",
-        "render.png": "97150a5e709c314cc293442e6ec244029dd84b60d7b22c579aeff7c6ca51a908",
+        "render.png": "991ccf7e22036306063b00ec932ea910c2e7abdf00f4f0915350a4f570663790",
         "graph-raw.svg": "ad2342427ccb0fc6bb559a379039e2554fbf2b1afd1855c653ae07110da94602",
         "graph-robot.svg": "44e85b8f1df1eb68bbed791b817937dfbbe8268b5d96a45e95c88c03ef9e01c1"
       },
@@ -14769,7 +14793,7 @@
         "mjcf_ms": 2.5061541236937046,
         "compile_ms": 74.14943119511008,
         "graph_ms": 95.1646389439702,
-        "render_total_ms": 1688.813113141805
+        "render_total_ms": 1187.2068252414465
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14817,16 +14841,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 71.3324872776866,
-        "render_ms": 1443.117300979793,
-        "compose_ms": 79.11161705851555,
-        "write_ms": 81.9863136857748,
-        "foreground_fraction": 0.7886666666666666
+        "compile_ms": 72.81813910230994,
+        "render_ms": 947.9385777376592,
+        "compose_ms": 62.81667295843363,
+        "write_ms": 94.53919576480985,
+        "foreground_fraction": 0.7886666666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "ce4a21791e3be9d91a4fe685d9fbe495613296800ad3208ecde7eea2ee5fe1fc",
         "meshes.tar": "86c74536822b2be63b550834d9d8a52f2559823e29cfd2ea53c1c6904ad4c400",
-        "render.png": "25ee882c5687a28b61e6b3336dceaf435fcaefd3e0344982b6abd4f61a071419",
+        "render.png": "894af9209c20431408f8e692c2d2c37675095fcab26270bb6c42966b4c9f9bd1",
         "graph-raw.svg": "33ff276f435696999c1a87fb605dc120e2113420276b554fb6ca069adee64e58",
         "graph-robot.svg": "fa28f99a8289c6e4d97cad845065597a2538331a15bbe8242128968268a74f84"
       },
@@ -14865,7 +14891,7 @@
         "mjcf_ms": 2.4785189889371395,
         "compile_ms": 57.47099919244647,
         "graph_ms": 87.90245419368148,
-        "render_total_ms": 1722.4747249856591
+        "render_total_ms": 1205.0012620165944
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14913,16 +14939,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 38.467575795948505,
-        "render_ms": 1415.435144212097,
-        "compose_ms": 82.6326971873641,
-        "write_ms": 169.92831090465188,
-        "foreground_fraction": 0.62645
+        "compile_ms": 53.977558854967356,
+        "render_ms": 933.924478944391,
+        "compose_ms": 59.15204016491771,
+        "write_ms": 149.3236026726663,
+        "foreground_fraction": 0.62645,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "ed841f6b611bfa4305e92104c03580bedcb6d3518290bb36f21182cea4df88cd",
         "meshes.tar": "f04d984f6be2105897808adb61cd36c070c6b329c59dec0c24badffed3dc572e",
-        "render.png": "3e6dff24d9a15afab3bb252c295d0cc09607ec7b30cb84f63e40cb177a5173bb",
+        "render.png": "100286dbf1b229942d5819052caf1c66be3d9982fd5b1b3e1620450ecc5336af",
         "graph-raw.svg": "33ff276f435696999c1a87fb605dc120e2113420276b554fb6ca069adee64e58",
         "graph-robot.svg": "fa28f99a8289c6e4d97cad845065597a2538331a15bbe8242128968268a74f84"
       },
@@ -14961,7 +14989,7 @@
         "mjcf_ms": 2.281425055116415,
         "compile_ms": 70.0611500069499,
         "graph_ms": 93.76171510666609,
-        "render_total_ms": 2027.3242969997227
+        "render_total_ms": 1163.861091248691
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15009,16 +15037,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 66.24773191288114,
-        "render_ms": 1761.892625130713,
-        "compose_ms": 79.18438408523798,
-        "write_ms": 108.25523314997554,
-        "foreground_fraction": 0.7044916666666666
+        "compile_ms": 36.72055900096893,
+        "render_ms": 911.8152353912592,
+        "compose_ms": 65.82648679614067,
+        "write_ms": 140.76722413301468,
+        "foreground_fraction": 0.7044916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "f9e753c365cec5cd6dfd4c55c5af29c32a0d56e14fb2f697ef595fc783e3cf83",
         "meshes.tar": "86c74536822b2be63b550834d9d8a52f2559823e29cfd2ea53c1c6904ad4c400",
-        "render.png": "2e54e68558813825180b477880bd1059d634a02b0cfe863f2b513cdf0e4f3de1",
+        "render.png": "1183959620273bf13134e21fc20a019640f0e3af24a8196c9cc494f2237b47cc",
         "graph-raw.svg": "33ff276f435696999c1a87fb605dc120e2113420276b554fb6ca069adee64e58",
         "graph-robot.svg": "fa28f99a8289c6e4d97cad845065597a2538331a15bbe8242128968268a74f84"
       },
@@ -15057,7 +15087,7 @@
         "mjcf_ms": 2.45011318475008,
         "compile_ms": 47.567348927259445,
         "graph_ms": 130.21721225231886,
-        "render_total_ms": 1958.4530489519238
+        "render_total_ms": 1191.5473202243447
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15105,16 +15135,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 71.226442232728,
-        "render_ms": 1659.1540020890534,
-        "compose_ms": 76.74311520531774,
-        "write_ms": 134.95457591488957,
-        "foreground_fraction": 0.64075
+        "compile_ms": 41.451350785791874,
+        "render_ms": 905.7008610107005,
+        "compose_ms": 63.94571904093027,
+        "write_ms": 171.68842209503055,
+        "foreground_fraction": 0.64075,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "7bc5b91ac88bf6a1f01c1832df69374d775b05e376f0ae2001569452c5830586",
         "meshes.tar": "9b186628cb845356905ca71a3385a1b56a6b3cded51427efee110f1a4bf08144",
-        "render.png": "c1d4ce52da902ce03555aecda214338f75c50f34edd745b2c8c24124d675c3e8",
+        "render.png": "58cef83c97b7fecb7744cfa2671cd0e2bd33dd17a50a5b6ddad50a6f84b2875c",
         "graph-raw.svg": "33ff276f435696999c1a87fb605dc120e2113420276b554fb6ca069adee64e58",
         "graph-robot.svg": "fa28f99a8289c6e4d97cad845065597a2538331a15bbe8242128968268a74f84"
       },
@@ -15152,7 +15184,7 @@
         "mjcf_ms": 2.4414057843387127,
         "compile_ms": 22.496388759464025,
         "graph_ms": 192.92188435792923,
-        "render_total_ms": 1519.2054896615446
+        "render_total_ms": 1067.759469151497
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15200,16 +15232,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 19.773751962929964,
-        "render_ms": 1331.987181212753,
-        "compose_ms": 79.82303062453866,
-        "write_ms": 76.33273396641016,
-        "foreground_fraction": 0.6734
+        "compile_ms": 17.995022237300873,
+        "render_ms": 872.0178110525012,
+        "compose_ms": 62.607898842543364,
+        "write_ms": 77.31570722535253,
+        "foreground_fraction": 0.6734,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "1d2c205503ddacf0ffd1bc594a939051ea80ab9dfea1cc979537ead343de52e1",
         "meshes.tar": "aa62721f367a3917d07fb67af39970eb00cbe7c0e11a6925df4f37422689ad4d",
-        "render.png": "73c15b7fe0e24ffcdc657e8ebb22b7105877e02686ffa12e58f8c0667e9de879",
+        "render.png": "caff574042bb849ae5fad17a52203205d69a8b25d7f64da693bd1fcb342d220d",
         "graph-raw.svg": "dc20c0552226f397b710c7cf58b549752dca25bd7fe0c55cfee538cbb5c0894b",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d"
       },
@@ -15244,7 +15278,7 @@
         "mjcf_ms": 2.894987817853689,
         "compile_ms": 1142.792558297515,
         "graph_ms": 145.70010593160987,
-        "render_total_ms": 2864.1902930103242
+        "render_total_ms": 2707.588646095246
       },
       "mesh_preparation": {
         "status": "degraded",
@@ -15319,16 +15353,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1161.4247178658843,
-        "render_ms": 1557.8158958815038,
-        "compose_ms": 67.45281489565969,
-        "write_ms": 65.151521936059,
-        "foreground_fraction": 0.6582333333333333
+        "compile_ms": 1139.0516329556704,
+        "render_ms": 1431.7893949337304,
+        "compose_ms": 55.50617631524801,
+        "write_ms": 68.57121689245105,
+        "foreground_fraction": 0.6582333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e683a987d33289fb84293648204569fac477d8dd3a5dbe8501902385d7fc70da",
         "meshes.tar": "431f059a9ff8f5b18cca6292cfa56fc361ca307faf3197518e78114e4ee0217d",
-        "render.png": "31c4b4dc9602b6203789ca19824167b90bc2412870f075cb798aa93344072155",
+        "render.png": "179ee4efe8cad4ca6e47a0308c7124de7d23478d29487714d5fed030e3eeb00e",
         "graph-raw.svg": "ea06225139d2bd066c8fb8485afa6d5cbff60148a620673515a1e9ec788ec324",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f6e627dcb0c1996e58eb885ee78d2656ec1a88f460b557b2591ecda6605372d6"
@@ -15362,7 +15398,7 @@
         "mjcf_ms": 2.928454428911209,
         "compile_ms": 8.340935688465834,
         "graph_ms": 82.78226898983121,
-        "render_total_ms": 1498.273008968681
+        "render_total_ms": 1442.1726549044251
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15423,16 +15459,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.98827113956213,
-        "render_ms": 1327.1417659707367,
-        "compose_ms": 74.59712633863091,
-        "write_ms": 79.90773674100637,
-        "foreground_fraction": 0.7014583333333333
+        "compile_ms": 6.945351138710976,
+        "render_ms": 1289.6806951612234,
+        "compose_ms": 70.17224794253707,
+        "write_ms": 63.687094021588564,
+        "foreground_fraction": 0.7014583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "bacca2222020dce4bddf623b8a53f0ce9fc0e6c42c311bc0b66bccb73645d064",
         "meshes.tar": "9bc60a950e63ca12d05fa4fba0ed8e81a326ee09e6bacab1fc7210569bf69396",
-        "render.png": "0e26d16580a97d8852ebc035a9813cef148278f04c5210eec1f34bede3225efa",
+        "render.png": "256e2527328a35bf2469b7b6cfa93b7bb09fbfed50f5a0897f1c1b5702083aae",
         "graph-raw.svg": "b6a98cfde4bf8afe261c996d6bd2b3079068b80dc1d7a25dd42ff7123644043e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f1e3d95e59d2a5be970957427142f21bae65ca2065d1a08d0635af8498b4ec03"
@@ -15471,7 +15509,7 @@
         "mjcf_ms": 2.598780207335949,
         "compile_ms": 241.57270975410938,
         "graph_ms": 93.8722682185471,
-        "render_total_ms": 1869.724707212299
+        "render_total_ms": 1630.2401782013476
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15544,16 +15582,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 230.2824091166258,
-        "render_ms": 1480.6848550215364,
-        "compose_ms": 61.32406182587147,
-        "write_ms": 84.7879578359425,
-        "foreground_fraction": 0.2453
+        "compile_ms": 119.36566280201077,
+        "render_ms": 1362.3667336069047,
+        "compose_ms": 45.90609343722463,
+        "write_ms": 90.79561196267605,
+        "foreground_fraction": 0.2453,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "a544d1a5ad069bc4aceb11620211a27278fe69427bf8e1585dab5ce69ca1c051",
         "meshes.tar": "f220c8da8810ca2eeb1c261491ac3cf2e5d286ef110649d77f4a70a5dc27b723",
-        "render.png": "58fbc3df9d6f470edac5a6904e4e14e0bc35a44fedc370bf861392daaca2d249",
+        "render.png": "74d404fd3f46ca7a5502e701f34c4ac8c4cfa95ab64afa255e7eb8f4c153f50c",
         "graph-raw.svg": "ddf4801e78b2c0b68faf51464e73ac2e5a38c708c1c0f36d681cd4f096f606f2",
         "graph-robot.svg": "6f2d89bdb3e6e343bb99900e0b0381d56356fb0cb5f00e9d2cd8aa8f7f4372e4"
       },
@@ -15592,7 +15632,7 @@
         "mjcf_ms": 2.2928318940103054,
         "compile_ms": 14.747262932360172,
         "graph_ms": 86.80910617113113,
-        "render_total_ms": 1755.1821586675942
+        "render_total_ms": 1417.1791085973382
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15659,16 +15699,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.818948831409216,
-        "render_ms": 1561.346746981144,
-        "compose_ms": 78.48827494308352,
-        "write_ms": 83.65297876298428,
-        "foreground_fraction": 0.75625
+        "compile_ms": 11.597464326769114,
+        "render_ms": 1241.4843291044235,
+        "compose_ms": 69.13146190345287,
+        "write_ms": 82.84005196765065,
+        "foreground_fraction": 0.75625,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "710027ff4b7b8d44b0ff8e4b912553bee59dd97a9ccf9b6c4476a972455ba007",
         "meshes.tar": "ac991894741c9afb7cd089c6390f7bc72cdfd083defbff3cfa7bff4ad7e02b87",
-        "render.png": "975979871e952c3f8410dbfb50269c3b5dffb74f73e53d7cb5bf3422836f6a16",
+        "render.png": "aacc654b9e4803b3b9e9c7594a5d7eed2446a23599504af80b3b37fe52c28dfc",
         "graph-raw.svg": "03f54424424f881f90a84522eae6bbf251bdc05d79add14004fc04de4b343348",
         "graph-robot.svg": "eb947e139b82d08471ff33c42d2437c9b4b3592d30118898fe8d7a1dd2d715d9"
       },
@@ -15717,7 +15759,7 @@
         "mjcf_ms": 4.2289551347494125,
         "compile_ms": 116.6848218999803,
         "graph_ms": 323.1443432159722,
-        "render_total_ms": 1732.4871742166579
+        "render_total_ms": 1592.7603039890528
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15778,16 +15820,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 109.60263200104237,
-        "render_ms": 1428.783112205565,
-        "compose_ms": 88.36305281147361,
-        "write_ms": 88.1786341778934,
-        "foreground_fraction": 0.75735
+        "compile_ms": 64.7039720788598,
+        "render_ms": 1352.8449162840843,
+        "compose_ms": 67.28926487267017,
+        "write_ms": 95.94685630872846,
+        "foreground_fraction": 0.75735,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "d503d59e750fb25edafeebb613602d4e4a6be2de47f469a39635964835c864cd",
         "meshes.tar": "0dfea5bdd6773ae3c24ab60086a07b9d3d74cf9760fa892fe904b366750c9995",
-        "render.png": "9bab8b68e2c44f9ebbda1995a0a39da92262baf27f314cd8d2ccee16f9355f3c",
+        "render.png": "e8dd161e8c96bfee889506ffb83e741e605fe6a2fb8068781819fa487b44e965",
         "graph-raw.svg": "62fc767629ee6af3a509d8dfecaa1e9a3a002efb05cd933ee4292d68af74e9a9",
         "graph-robot.svg": "cf76015ee183f2fb87c366efd4f41210681d1e5f6a5ccb35b48d387e9ca08a33"
       },
@@ -15830,7 +15874,7 @@
         "mjcf_ms": 3.4019052982330322,
         "compile_ms": 88.77432998269796,
         "graph_ms": 158.07028440758586,
-        "render_total_ms": 1820.1021570712328
+        "render_total_ms": 1526.2787989340723
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15903,16 +15947,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 85.64251428470016,
-        "render_ms": 1567.5198757089674,
-        "compose_ms": 68.80289688706398,
-        "write_ms": 83.49071117118001,
-        "foreground_fraction": 0.73975
+        "compile_ms": 53.09126991778612,
+        "render_ms": 1313.3284328505397,
+        "compose_ms": 61.864304821938276,
+        "write_ms": 86.23464591801167,
+        "foreground_fraction": 0.73975,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "8190aacaff9d600dce5713202ccf93f52e634d9978b69e33ebc470bc797274f9",
         "meshes.tar": "a5f42f943bff7fd110620cfa4a88d8adf9968083404bd0522aa9ac35b7162a81",
-        "render.png": "9a45f7c572614ef2755db94200d79f5400e238a6beedd4a79d8171364b4fc05e",
+        "render.png": "891030223870501b1cae07e72a56ada7fa703a3ea461bba267bc1d4e9ec2c165",
         "graph-raw.svg": "8510910358146b13b856caac8b4548067ea4a2d8541eafeae375fc6167a4091b",
         "graph-robot.svg": "ff41757c16a71f57a2167725a144ddd70bfeab66754b97b087d117c81599d77e"
       },
@@ -15943,7 +15989,7 @@
         "mjcf_ms": 2.61987978592515,
         "compile_ms": 89.20548716560006,
         "graph_ms": 60.221146792173386,
-        "render_total_ms": 1485.2292709983885
+        "render_total_ms": 1485.0046150386333
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16004,16 +16050,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 83.42961501330137,
-        "render_ms": 1239.9997292086482,
-        "compose_ms": 62.893970869481564,
-        "write_ms": 78.7501111626625,
-        "foreground_fraction": 0.4543
+        "compile_ms": 80.56214498355985,
+        "render_ms": 1262.2730531729758,
+        "compose_ms": 51.27296317368746,
+        "write_ms": 79.25273384898901,
+        "foreground_fraction": 0.4543,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "329d4a045561fbfdb0a788c729ba44394a041b6148f5ed95032217a59ea47dde",
         "meshes.tar": "5e54a9df7bffb176bfca327bce401fbfbe78cf2c22dcf891b7afc489ae959ae9",
-        "render.png": "fd9f4db33756f54f3064fc346c0c05ed4961dc599339407db2ddc9ead1bb3a30",
+        "render.png": "406589b32704ab06326511aae8fa16a3cf729f2fe512171c6fe6043965e4659c",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "4a1b7b5fb276184083b4c6fe2b249cdb9b068cd0b8c94be65a77d3c2cd35d4dd"
@@ -16045,7 +16093,7 @@
         "mjcf_ms": 2.3382282815873623,
         "compile_ms": 3.3585410565137863,
         "graph_ms": 77.13730586692691,
-        "render_total_ms": 1629.1051488369703
+        "render_total_ms": 1404.3779489584267
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16106,16 +16154,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.4076226875185966,
-        "render_ms": 1480.949429795146,
-        "compose_ms": 71.53300009667873,
-        "write_ms": 53.51820169016719,
-        "foreground_fraction": 0.30305
+        "compile_ms": 3.6448449827730656,
+        "render_ms": 1278.081679251045,
+        "compose_ms": 54.3922227807343,
+        "write_ms": 56.28628330305219,
+        "foreground_fraction": 0.30305,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "8c4c3966d234639331e5b791088acc6a317489321c07062c0a8f831800fa218c",
         "meshes.tar": "f9ebb77f647c789152e455f8c3cdf2be8c13ae61cd96e3c2638bacc9fdeff430",
-        "render.png": "08b5082851299792ae1701f3e8d8583f41bb23d97d0ab792025a3a7ab131c62e",
+        "render.png": "e93750aa2a444208a2354b5ed1ce8998ea3686f6b1f1c66f13fdaaab7b80aa91",
         "graph-raw.svg": "475bffce771546577684a7ce481bcd00ab4a9137e40a76f1ef6422ababb90b05",
         "graph-robot.svg": "7313c4c9d05fe8f66e8e5046340aa7bc1d54e3462a91edd76d58b2efa7ffccac",
         "robot.urdf": "2255dcb6b1eed59f20f1ba8bbdcfd86701afa3bf4924b085d49553e5feaf1902"
@@ -16147,7 +16197,7 @@
         "mjcf_ms": 2.4438858963549137,
         "compile_ms": 35.6541583314538,
         "graph_ms": 75.03675576299429,
-        "render_total_ms": 1728.7499010562897
+        "render_total_ms": 1461.9290418922901
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16208,16 +16258,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 34.00683403015137,
-        "render_ms": 1533.820103853941,
-        "compose_ms": 72.21079804003239,
-        "write_ms": 69.49541810899973,
-        "foreground_fraction": 0.5324
+        "compile_ms": 32.5934961438179,
+        "render_ms": 1291.061406955123,
+        "compose_ms": 58.42423113062978,
+        "write_ms": 67.98696983605623,
+        "foreground_fraction": 0.5324,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "64d94f13b77da0e55faf9832c66a37ae4a8eb66acca32a42f442fb9788eff98d",
         "meshes.tar": "9b9daa46306d2816394746081b041b3c5f9d9666d784bf187cd8d3362323a5d3",
-        "render.png": "6b48e56888ea8a52c84bba9de3eb2a3e3f38826a7586417d1ec1e3caf17ff2d1",
+        "render.png": "5924d63d1f8c6f7f5b201f48b96071229d0b9565d0b7742a7ea5ce8faad1fa97",
         "graph-raw.svg": "194fbe7ea515662b95edd135a80804ad93ce4ab734288121b04d7df2dffecabd",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "8a3238ecf27db010a9c29696eef2feab0e2798530e26f2d5ca07aa1cb4618305"
@@ -16249,7 +16301,7 @@
         "mjcf_ms": 2.8817192651331425,
         "compile_ms": 25.42685903608799,
         "graph_ms": 109.07063307240605,
-        "render_total_ms": 1624.1205506958067
+        "render_total_ms": 1394.1965070553124
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16310,16 +16362,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.878997657448053,
-        "render_ms": 1433.9267881587148,
-        "compose_ms": 74.32317128404975,
-        "write_ms": 72.66169227659702,
-        "foreground_fraction": 0.6567166666666666
+        "compile_ms": 22.116634994745255,
+        "render_ms": 1226.0554768145084,
+        "compose_ms": 58.038737159222364,
+        "write_ms": 76.30492188036442,
+        "foreground_fraction": 0.6567166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "9ffe2bf910870558435ef12e8af92d8db68f1cbada188f7049665fdf6b10c988",
         "meshes.tar": "0e1539c211974524d0b31cdb8c6289cdc5ccdc8e4730cc5774fb849f53defb55",
-        "render.png": "a5488ec00171375d55724c82c435ed05219f632e4b18ee8ce8257bb1ea988f3f",
+        "render.png": "5e08d1e0e6454cd4145ec103cc285f3d291f57eee818ea0e22a23d1491cfebf7",
         "graph-raw.svg": "38b4186cafe4e4ec618b42d5182fe117d8980dc3eef87d1e48ae655ec04e068e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "0dcfee89b5c44595a2ae138a2af9f54a52c66b56d7a0137b86cca771a6f456b3"
@@ -16358,7 +16412,7 @@
         "mjcf_ms": 2.145569771528244,
         "compile_ms": 31.530264299362898,
         "graph_ms": 146.03512175381184,
-        "render_total_ms": 1629.061229992658
+        "render_total_ms": 1394.422975834459
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16491,16 +16545,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.85543292015791,
-        "render_ms": 1442.3298533074558,
-        "compose_ms": 70.83900179713964,
-        "write_ms": 67.36114900559187,
-        "foreground_fraction": 0.50655
+        "compile_ms": 29.348822310566902,
+        "render_ms": 1234.130057040602,
+        "compose_ms": 54.00008708238602,
+        "write_ms": 65.41837938129902,
+        "foreground_fraction": 0.50655,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "98c5bbafd2c16b55c86a3e11fb726de8275cf8a43d553566323987c979b4c603",
         "meshes.tar": "08b6d49908e046b437aed3f647440c5c4996fd605c99973769858a4fa6f9b70f",
-        "render.png": "2dbc18890b68882188a8f040f40c88b92e0c685c345337a21661b62b37a30da4",
+        "render.png": "f0875fe38a06ed0ccb2805afc016272d346c832d1ee1252d2b16d730dca4b4e1",
         "graph-raw.svg": "fd11d88ddaea7f2d3e98f4dff260c3e4ab473de17d1bbe9862ca41866cc46df2",
         "graph-robot.svg": "84338b534460a5d9480ddbc498d2ed41f5f43921a0c7812b49256069c0078b17"
       },
@@ -16538,7 +16594,7 @@
         "mjcf_ms": 2.106711734086275,
         "compile_ms": 74.09507595002651,
         "graph_ms": 80.82674304023385,
-        "render_total_ms": 1807.6584278605878
+        "render_total_ms": 1665.298175998032
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16586,16 +16642,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 71.24638091772795,
-        "render_ms": 1498.6950349994004,
-        "compose_ms": 80.93385864049196,
-        "write_ms": 137.56532594561577,
-        "foreground_fraction": 0.5445
+        "compile_ms": 70.66420605406165,
+        "render_ms": 1368.4288440272212,
+        "compose_ms": 58.24510892853141,
+        "write_ms": 156.24710591509938,
+        "foreground_fraction": 0.5445,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "b3046fd0891251aa413c4119ec01f93c49193937f33fca708cf501af0924408d",
         "meshes.tar": "f012c4e1bd2a8d2f4854d576995de85acc32308024386da7f66f169ac0f60e2d",
-        "render.png": "e9eef31a2550894ec45c69f7f690065619f6ceff77830852e81bce6f53abf8d5",
+        "render.png": "51939c166c3a390a42e06de1755ab87c3798a1066d02cc526551a736106c5c4e",
         "graph-raw.svg": "a2f0f934af6eee32c05ed93f6f6e6f4e1fe78bbbf25adae7ac358b8bf421686b",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d"
       },
@@ -16634,7 +16692,7 @@
         "mjcf_ms": 2.3201750591397285,
         "compile_ms": 119.19753812253475,
         "graph_ms": 81.62235701456666,
-        "render_total_ms": 1778.5240379162133
+        "render_total_ms": 1655.364646576345
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16682,16 +16740,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 112.14044317603111,
-        "render_ms": 1426.2935891747475,
-        "compose_ms": 105.48277478665113,
-        "write_ms": 114.28543785586953,
-        "foreground_fraction": 0.7337
+        "compile_ms": 85.27439506724477,
+        "render_ms": 1330.9424459002912,
+        "compose_ms": 78.33911618217826,
+        "write_ms": 149.1292119026184,
+        "foreground_fraction": 0.7337,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "a56d942a22fc3fef26caec0f529ad6e8dfdd5627e666c573dac5c613844ef5c8",
         "meshes.tar": "bd042aac145047e86f951feb56ad6e9038b9fa0d9c40eaed4e3452406370d7dd",
-        "render.png": "91d2c45bdc3abd6f7dd745cf4a8fb6b15524cde05ebccb1d60a45c20113ce611",
+        "render.png": "e88f9e45466019e47cd0635b48a14f336c9643e7e06c994627256775cb0f9083",
         "graph-raw.svg": "a9af54b19db0d9106d74ff57a2056f0894355b7db8a2a8d94d1d6fbdd33e83e8",
         "graph-robot.svg": "0b4b1701c9c4237b1588070899b12961d2201ce371b3359236985bba87b7585d"
       },
@@ -16731,7 +16791,7 @@
         "mjcf_ms": 2.5194589979946613,
         "compile_ms": 3.158832900226116,
         "graph_ms": 96.60215070471168,
-        "render_total_ms": 1659.479670226574
+        "render_total_ms": 1343.8593219034374
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16779,16 +16839,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.8170282021164894,
-        "render_ms": 1510.6323608197272,
-        "compose_ms": 65.9091230481863,
-        "write_ms": 60.5489918962121,
-        "foreground_fraction": 0.4037
+        "compile_ms": 3.1635058112442493,
+        "render_ms": 1219.4819767028093,
+        "compose_ms": 50.406191032379866,
+        "write_ms": 59.01605123654008,
+        "foreground_fraction": 0.4037,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "4083092280a92004f43b5ae22fc354b473913d1fab29f04edc2854ceafba3b94",
         "meshes.tar": "23f7b2b416aac98d5ce46427375e707ffd7a4d2a28bf3ee1a9d6220af13b0396",
-        "render.png": "2d712afc7ee7c554f43bfab1a283125bb675059cac1e54dd64630245f37029b0",
+        "render.png": "1f2665d3187827acfebe79c376e24744c150dc6aa7c3ff5782d3d80c95fc1653",
         "graph-raw.svg": "71dd2d0d579a44014fb3007a2554297e6c30df719346baa8c7368891c8e2a6d9",
         "graph-robot.svg": "3b29cfd62777b97311d8631488be9dcad2120196c122a85d15d421b4ab0986db"
       },
@@ -16826,7 +16888,7 @@
         "mjcf_ms": 2.3820088244974613,
         "compile_ms": 3.765234723687172,
         "graph_ms": 70.18832908943295,
-        "render_total_ms": 1606.7215129733086
+        "render_total_ms": 1377.7301800437272
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16874,16 +16936,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.5177133977413177,
-        "render_ms": 1431.5564008429646,
-        "compose_ms": 81.64365915581584,
-        "write_ms": 71.42984122037888,
-        "foreground_fraction": 0.739375
+        "compile_ms": 4.132217727601528,
+        "render_ms": 1225.403280928731,
+        "compose_ms": 64.82227984815836,
+        "write_ms": 71.73817977309227,
+        "foreground_fraction": 0.739375,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "345ea01da602d58e235178b78dd42f2ce03b0fc7e0947df3299f336263132d72",
         "meshes.tar": "b904a20a67e9427dce72bffc6033ea2fef1fc21ae1f5471ca9a9b36be0714771",
-        "render.png": "3aeefbd9205727e2595be7e7c09bb03c27371c579938fceebfbf3c35079796bd",
+        "render.png": "d29e94952186cb89dae83ba48b13e24c050f68781b4608acd283456e4435fd16",
         "graph-raw.svg": "014dfa080ea3f41bae1dc3f3f0976cef72af9483dab140e0475a806c09530110",
         "graph-robot.svg": "dbb8aca7caa2607d4407120bbcd9cf76bcde070f827ccce7cb7fab0e22f5bbcc"
       },
@@ -16943,7 +17007,7 @@
         "mjcf_ms": 7.361996918916702,
         "compile_ms": 1729.7350279986858,
         "graph_ms": 1857.17981075868,
-        "render_total_ms": 4218.926972709596
+        "render_total_ms": 3156.018535606563
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18474,16 +18538,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1764.924201183021,
-        "render_ms": 2258.5788937285542,
-        "compose_ms": 54.00109896436334,
-        "write_ms": 128.86689603328705,
-        "foreground_fraction": 0.4664
+        "compile_ms": 1007.4367667548358,
+        "render_ms": 1999.789726920426,
+        "compose_ms": 54.13508787751198,
+        "write_ms": 82.83440722152591,
+        "foreground_fraction": 0.4664,
+        "style": "link-palette-v1",
+        "colored_bodies": 22
       },
       "artifacts": {
         "robot.mjcf": "aa537d2aa23488ed9d2fc86456adb7119b20cee14c54e3153b1ac3e19d50a41e",
         "meshes.tar": "f0dee30d6cb72a9b14e57015b2519deb2fe4530c1188c890d5fe1715fe6b0a34",
-        "render.png": "03445fc8be78a7ef7993a497b85407180e59f8c9ee80d2ba6e4c286b130f8cac",
+        "render.png": "3f21fb33afdf1d6a2c59131a1af29c89faf269b8e177c2ba8cad3249738ab504",
         "graph-raw.svg": "3bf436a70cfac96d371774b500f2cd33c28b2a640905bf25f7e100d03e19c714",
         "graph-robot.svg": "8e75964b05e4210035e6941cf733ef95aa0416aae7d17615e63d43f84e2fa173"
       },
@@ -18518,7 +18584,7 @@
         "mjcf_ms": 2.933377865701914,
         "compile_ms": 49.077190924435854,
         "graph_ms": 121.59460736438632,
-        "render_total_ms": 1479.7106110490859
+        "render_total_ms": 1392.6605330780149
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18586,16 +18652,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.559207148849964,
-        "render_ms": 1272.5035026669502,
-        "compose_ms": 76.05068432167172,
-        "write_ms": 79.72345780581236,
-        "foreground_fraction": 0.45155
+        "compile_ms": 23.9167301915586,
+        "render_ms": 1219.111829996109,
+        "compose_ms": 55.32112717628479,
+        "write_ms": 82.40702701732516,
+        "foreground_fraction": 0.45155,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "de03eab6d4238ad96137a357d80b1a4d1f43b6bd7ec8421e6c1841906bc2a099",
         "meshes.tar": "de5a74cbbc832cc06da9b4733facd35832688400ed92fb3c8424b9312dedd902",
-        "render.png": "f0e6b2545af839684c0104604c1926ed6f08ae583bd11319ae999371c4793184",
+        "render.png": "6aae08e765975f7d3ed55896a3a2fd47d365b963f247ee0cadda51d368ef526f",
         "graph-raw.svg": "e2904e343dabfc9b6cc089427347ffc44c1fb8f3cc6ecdb73c91fabc479c3f45",
         "graph-robot.svg": "043f41e842f09c12de607ad3538a7f4e4989b7990dcc094fb7b64ac32a3000bd",
         "robot.urdf": "ef14150f4d16ad9b865ea5b737367709b7bdcb684a28b5e56750617a029b365b"
@@ -18637,7 +18705,7 @@
         "mjcf_ms": 2.6237303391098976,
         "compile_ms": 4.532023798674345,
         "graph_ms": 178.78156434744596,
-        "render_total_ms": 1437.8031459636986
+        "render_total_ms": 1327.5202084332705
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18800,16 +18868,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.7899482995271683,
-        "render_ms": 1323.9144650287926,
-        "compose_ms": 43.47320878878236,
-        "write_ms": 51.11968796700239,
-        "foreground_fraction": 0.1969
+        "compile_ms": 3.970144782215357,
+        "render_ms": 1221.1091937497258,
+        "compose_ms": 40.26011563837528,
+        "write_ms": 50.31242407858372,
+        "foreground_fraction": 0.1969,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "93cb12d72cfc1d7a8392f1aaeca8086ba79e22465ab395aeb4b14342dde93bd6",
         "meshes.tar": "39e448d48f9d503dfd083285a45abb1002776f9892f040dcad5ad1991fb368a4",
-        "render.png": "2afdc2462e22749b9b3c4358c3e1c2c1e7dd7d51162d5d0d93c29d497055b4bb",
+        "render.png": "52605c55aba6bbef4b73ddf53eea6a35a6be3722bd9a9b6e7147429c2d647040",
         "graph-raw.svg": "5439e65074eb1e58590ea903d74d5fca921618c1068a46bcade6e8b479265629",
         "graph-robot.svg": "4fa5b6852b1e06d494c644987b88a91e635bf1ff2caf4abd635da5a13f718fce"
       },
@@ -18847,7 +18917,7 @@
         "mjcf_ms": 3.1376699917018414,
         "compile_ms": 5.481724161654711,
         "graph_ms": 175.86257914081216,
-        "render_total_ms": 1538.5930258780718
+        "render_total_ms": 1324.0411560982466
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19004,16 +19074,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.927148275077343,
-        "render_ms": 1395.5149771645665,
-        "compose_ms": 59.62567823007703,
-        "write_ms": 60.75849989429116,
-        "foreground_fraction": 0.28215
+        "compile_ms": 5.817420780658722,
+        "render_ms": 1201.5527607873082,
+        "compose_ms": 44.665365014225245,
+        "write_ms": 59.80051588267088,
+        "foreground_fraction": 0.28215,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "16ca9a0abd5702a90e2a242c49f373d1e8533c4943673edd85fa5c2e8285d52e",
         "meshes.tar": "39bf53eb23a8578dd7dac482d2ba2da3e44ab005d85394905556f6198c77eff0",
-        "render.png": "206872e3a570c4ed6caf6d1f61f8b2991ca7f3ec289927190b1db4fabf1b79be",
+        "render.png": "87b4e5d3b10ec3d84d90bd0341ff40b31d400813c1c7f19106e6fb3999d20b30",
         "graph-raw.svg": "2dd0d77271b19b3b18ad70921056bb62d3c44f73a8a0a0f43841b6bc1cad4022",
         "graph-robot.svg": "07a7468dac7a6096cb8755c434ac3eddef19fbd9e740ace1c9ccc9278ad10b07"
       },
@@ -19046,7 +19118,7 @@
         "mjcf_ms": 2.6714447885751724,
         "compile_ms": 3.053736872971058,
         "graph_ms": 162.96674171462655,
-        "render_total_ms": 1377.0206929184496
+        "render_total_ms": 1346.3700558058918
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19210,16 +19282,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.2257139682769775,
-        "render_ms": 1258.0026839859784,
-        "compose_ms": 47.263139858841896,
-        "write_ms": 55.585966911166906,
-        "foreground_fraction": 0.26455
+        "compile_ms": 3.497868310660124,
+        "render_ms": 1230.296288151294,
+        "compose_ms": 46.28288093954325,
+        "write_ms": 54.61895186454058,
+        "foreground_fraction": 0.26455,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "dceb83b7a56e9816e8578d96e14fb308b5600ea9b8eb4399e409f55d35a27ad8",
         "meshes.tar": "57b553859339a3bdab95c5d32219bc35f76b31d6ab89bab4f1b7d26e371e0353",
-        "render.png": "4b28ea553fffa79f51b8f9ef8c8bed84b9a8f5d7c6adac417f272044c5c4824f",
+        "render.png": "a899c02e477ac4bbd110c2907d9179b9304fa477360901ae3b0840ff55dd8807",
         "graph-raw.svg": "10d6e5820e0411fdf8559d0a062db0078fe95e48808d119898afd97d5678574d",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "1526b11308998187093209358be9ca31059fbf540d8d43de2252fb01ba6962b8"
@@ -19258,7 +19332,7 @@
         "mjcf_ms": 3.4269667230546474,
         "compile_ms": 5.374469794332981,
         "graph_ms": 187.23508901894093,
-        "render_total_ms": 1581.7124769091606
+        "render_total_ms": 1349.733928218484
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19433,16 +19507,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.68968802690506,
-        "render_ms": 1448.9533179439604,
-        "compose_ms": 49.09056192263961,
-        "write_ms": 60.79681124538183,
-        "foreground_fraction": 0.28215
+        "compile_ms": 5.713466089218855,
+        "render_ms": 1227.8127986937761,
+        "compose_ms": 44.78065995499492,
+        "write_ms": 59.70645509660244,
+        "foreground_fraction": 0.28215,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "016ee540ab06d4f8be8462479841e3369d34197045c42d8a38ba87b54176b879",
         "meshes.tar": "39bf53eb23a8578dd7dac482d2ba2da3e44ab005d85394905556f6198c77eff0",
-        "render.png": "206872e3a570c4ed6caf6d1f61f8b2991ca7f3ec289927190b1db4fabf1b79be",
+        "render.png": "89b4f932b9900390df7b69abd32195575e0206d79cd54d5f3c2ff68b499601ac",
         "graph-raw.svg": "d595aebf9695e6ceeac6087f9fdc4860a43b6346cff31f1f8e2959bdacf9665c",
         "graph-robot.svg": "9d9e01b212e76ebd475c35548d51bf5633f5d0bda0de491d26fd2d0107da4260"
       },
@@ -19482,7 +19558,7 @@
         "mjcf_ms": 2.291983924806118,
         "compile_ms": 111.39215901494026,
         "graph_ms": 146.90617378801107,
-        "render_total_ms": 1939.9309158325195
+        "render_total_ms": 1573.3217131346464
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19579,16 +19655,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 111.08532408252358,
-        "render_ms": 1653.2800290733576,
-        "compose_ms": 77.65319989994168,
-        "write_ms": 85.17841529101133,
-        "foreground_fraction": 0.71435
+        "compile_ms": 115.72508281096816,
+        "render_ms": 1275.2746529877186,
+        "compose_ms": 66.50498509407043,
+        "write_ms": 103.82229974493384,
+        "foreground_fraction": 0.71435,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "7c1e14434170500b07eb296b16c455eb1d50029aab615e31deda3032b27e5869",
         "meshes.tar": "a844cf128828b60421e12b0179905f687d9354f36c07e206c906b70efd6f34e6",
-        "render.png": "a043480764c424afe7d2069f644bf8d52692f08903561400a4abb99a7080cb62",
+        "render.png": "96f2fdddcb102a57d2897a5d5b4ec7ad46baf13ee9214da8cfa519d5c6bf23ff",
         "graph-raw.svg": "a3ac188d25c04443809b7f528a5abc1370cdcbc22c6fd5245bd16f81bd451661",
         "graph-robot.svg": "aee767c2fa90111751cd2bb63490ce1194eabe599e9487a79389518b65fac738"
       },
@@ -19629,7 +19707,7 @@
         "mjcf_ms": 2.3966217413544655,
         "compile_ms": 227.12951339781284,
         "graph_ms": 94.01288302615285,
-        "render_total_ms": 2010.9625654295087
+        "render_total_ms": 1826.959626749158
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19696,16 +19774,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 233.66224998608232,
-        "render_ms": 1566.2183142267168,
-        "compose_ms": 86.46766608580947,
-        "write_ms": 107.1165818721056,
-        "foreground_fraction": 0.7557
+        "compile_ms": 177.0781921222806,
+        "render_ms": 1447.0770489424467,
+        "compose_ms": 71.47589791566133,
+        "write_ms": 119.72906207665801,
+        "foreground_fraction": 0.7557,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "3ec7892682f4758be42b8bd54d142500b2584115a4af43fdcab339411a48b025",
         "meshes.tar": "0eac8c5a3e0e008451c5d6ce7bfd1531353d38088a392ed6e1223f28dace0a75",
-        "render.png": "09dfb49418974571b283689810e5bf846f77df7225b972ce58f82d3c8a4854c9",
+        "render.png": "351586c4fdbac3b0fd7e04a99043125bdaec55c673f22546898de3d81ee03802",
         "graph-raw.svg": "9155948d3ae7abcd62e4a4b8483ff00f36969bf62fb333e0421bbcd5c4bf8211",
         "graph-robot.svg": "d8cd15bd8a8bbd817f29938d8a21728265efa81d1019426245e7da380e962e81"
       },
@@ -19735,7 +19815,7 @@
         "mjcf_ms": 2.799559850245714,
         "compile_ms": 11.651468928903341,
         "graph_ms": 69.37062181532383,
-        "render_total_ms": 1861.0039283521473
+        "render_total_ms": 1465.8874399028718
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19796,16 +19876,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.390683051198721,
-        "render_ms": 1681.2162189744413,
-        "compose_ms": 67.8305490873754,
-        "write_ms": 85.44987114146352,
-        "foreground_fraction": 0.484
+        "compile_ms": 7.0246318355202675,
+        "render_ms": 1290.4514041729271,
+        "compose_ms": 55.39235984906554,
+        "write_ms": 101.22479917481542,
+        "foreground_fraction": 0.484,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "bb0596c7c931bf3b04d31cba635df0f15c07a487eb6220b5baed1a3b0f6da1d4",
         "meshes.tar": "bf992198504b9cd75b3840e0bc11a8b6679ddfac7393f17a3e12b96a8bb4f1d4",
-        "render.png": "bcc18fc383ade801f028723e732ee46309a6ff237a52a3fbaeea9c1ced94ec2c",
+        "render.png": "7b020bd7fdbb743a28f26fdfb4c6b27fcbfcc330c46daf6fca4876dba3ad4f1d",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "a7c4f86f4c1f8284795d533248a1d12c1d438c1fe9f7240b6a4d21fe59c1fbf9"
@@ -19849,7 +19931,7 @@
         "mjcf_ms": 3.2903417013585567,
         "compile_ms": 2404.560225084424,
         "graph_ms": 384.8998872563243,
-        "render_total_ms": 4925.952814985067
+        "render_total_ms": 4672.504283953458
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20192,16 +20274,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2434.961535036564,
-        "render_ms": 2263.8094248250127,
-        "compose_ms": 63.151033129543066,
-        "write_ms": 146.23410115018487,
-        "foreground_fraction": 0.5742
+        "compile_ms": 2353.59506867826,
+        "render_ms": 2069.6353539824486,
+        "compose_ms": 56.20358604937792,
+        "write_ms": 171.28976108506322,
+        "foreground_fraction": 0.5742,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "a36411d50e7aed10d31b3c13c009a00458c5caf7ead32e7edba30453bf6c67e5",
         "meshes.tar": "2c6906f7c4f94b02a72c1fd2e4929f9260c50e6a6f7d5040ef0e9ff76eb42453",
-        "render.png": "651cbe3de1bb2c7b0f580798b1e7fb51cfd86ba251d1e3b4fc536d1f23951b29",
+        "render.png": "3a28622be8c58f01b8f54631d7d54aefcc4e496f7edbbdda9eb64626bd09914b",
         "graph-raw.svg": "d1d159d8ef2246f7a0510e81ced1a3935a5d81aec766d399d65bc6a325b27fb6",
         "graph-robot.svg": "8d5461d71a11b7d462ae91fe169c90aa539a45551f5a34b905c965e23fc6723d"
       },
@@ -20241,7 +20325,7 @@
         "mjcf_ms": 2.5380337610840797,
         "compile_ms": 81.57036174088717,
         "graph_ms": 224.81935005635023,
-        "render_total_ms": 1557.744988705963
+        "render_total_ms": 1419.8966510593891
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20440,16 +20524,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.858646251261234,
-        "render_ms": 1403.6097680218518,
-        "compose_ms": 42.3562447540462,
-        "write_ms": 51.7726419493556,
-        "foreground_fraction": 0.1155
+        "compile_ms": 56.33556377142668,
+        "render_ms": 1260.6499358080328,
+        "compose_ms": 39.59158016368747,
+        "write_ms": 51.45671358332038,
+        "foreground_fraction": 0.1155,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "9c57dbef7c894819fa1ce9007da2f1985a07b111c6be92ce12be71934528b726",
         "meshes.tar": "77d68988430ce93004d060628a6190c14c76b91827b720f4f695257e06e89c49",
-        "render.png": "f4f941537c11254c172e89cf587a4af4b087dbabcbf8ac5712a8039717ad105b",
+        "render.png": "b0f7b7d33a4e860d4374a66a41450d8113cf7873686589c1823b384d515fa0ef",
         "graph-raw.svg": "5ceffb28f473777afa511e57566c462ed8a7a1c190a98beb5a70eb2f50c10cdb",
         "graph-robot.svg": "8a0596feb8629014fbbeeb25b6a08150a5005622866693317bf0fb5b0cf84c50"
       },
@@ -20511,7 +20597,7 @@
         "mjcf_ms": 4.370138049125671,
         "compile_ms": 7.36285001039505,
         "graph_ms": 228.03065786138177,
-        "render_total_ms": 1501.235127914697
+        "render_total_ms": 1368.082522880286
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20559,16 +20645,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.242380917072296,
-        "render_ms": 1321.7235757037997,
-        "compose_ms": 93.77759927883744,
-        "write_ms": 66.03671703487635,
-        "foreground_fraction": 0.56595
+        "compile_ms": 6.874582264572382,
+        "render_ms": 1207.01556885615,
+        "compose_ms": 79.6978110447526,
+        "write_ms": 62.77543772011995,
+        "foreground_fraction": 0.56595,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "506291a632a05705717cc42a8b9edc6906421467d5bc2b53e5d908d230101144",
         "meshes.tar": "c9f06f2aa1ac5c79d85ac23bd54d4a363ff131a88b7e1076fb3757accaaaa57d",
-        "render.png": "3bd2d6fb349e52833777f26787c057a1aff38be223240ed2709d29fbaa0135d8",
+        "render.png": "6de596f53c2774e99ef85e49aae3dfacc282158cfe50b0a174f4f106fcdb3a81",
         "graph-raw.svg": "360edb3f01bb1e553d32e75d52cde36c8f122a2fbf4f92df670a1de79e38a84c",
         "graph-robot.svg": "9914d0a13c7fe85bf171ae2b1b4a37f0f37d9bd45c4d4856daa0911f9899ce30"
       },
@@ -20615,7 +20703,7 @@
         "mjcf_ms": 8.000589907169342,
         "compile_ms": 464.4220578484237,
         "graph_ms": 653.287191875279,
-        "render_total_ms": 2502.5601238012314
+        "render_total_ms": 1904.3071791529655
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20676,16 +20764,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 492.222024127841,
-        "render_ms": 1836.7218561470509,
-        "compose_ms": 76.07206562533975,
-        "write_ms": 77.76065496727824,
-        "foreground_fraction": 0.71115
+        "compile_ms": 339.73939483985305,
+        "render_ms": 1417.6615299656987,
+        "compose_ms": 58.84779803454876,
+        "write_ms": 76.28776598721743,
+        "foreground_fraction": 0.71115,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "0cbea81c888f614e14bbc166b8760936e16f240ef8e9307fb45d4783fbd5515d",
         "meshes.tar": "6c85d641de441629953fa1f4a6f313189d5929f46bb9222176ca8edbc27cc94b",
-        "render.png": "808de1166d8ab7d045665adf701095934f4498e01d11593eb4dbf4f8403ae415",
+        "render.png": "50635b85bda2fa21e5c12b2047184413249745a2ba9c466dabc3c1bc106132a4",
         "graph-raw.svg": "4cadf12b5ad84d504495665d4b76810d96c863217a2e613c72c91717e1f48b7b",
         "graph-robot.svg": "4dd0b01d900ba92d33c2a9a980ba2f6d5a94b1f75a5dcb89a9aee774dd7500f1"
       },
@@ -20748,7 +20838,7 @@
         "mjcf_ms": 9.736110921949148,
         "compile_ms": 343.5952519066632,
         "graph_ms": 990.8970380201936,
-        "render_total_ms": 2279.663128312677
+        "render_total_ms": 2013.7131749652326
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21031,16 +21121,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 393.2027090340853,
-        "render_ms": 1738.0345850251615,
-        "compose_ms": 66.9408361427486,
-        "write_ms": 64.57693316042423,
-        "foreground_fraction": 0.2684
+        "compile_ms": 333.0563120543957,
+        "render_ms": 1549.0387310273945,
+        "compose_ms": 54.62326714769006,
+        "write_ms": 62.588647939264774,
+        "foreground_fraction": 0.2684,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "94488232850fcb94b543ce49cc4a2c989a62a20cec04c95640347af2eea89d88",
         "meshes.tar": "a82186c8d7a096a15c2961a451d4870922bff567a4c10acb2fdfbdbd9f5b96e5",
-        "render.png": "234cd7d9dac1bcd36ab0661c1f4be08a14d146acd85bacebf1decf8db282a912",
+        "render.png": "88cd9693025daa3ed549cf02280b27c713db01878fc7a469fe6aeb6dd7f6883c",
         "graph-raw.svg": "beed959859ff4aebd838a546f3a409f8d5c31728f081cbcbc0e1a0ca75783165",
         "graph-robot.svg": "57f5a51b80b603080c5ddd1d79435e95f7f4f25162beaaa4efb3c6090778f323"
       },
@@ -21077,7 +21169,7 @@
         "mjcf_ms": 4.734884947538376,
         "compile_ms": 7.135617081075907,
         "graph_ms": 267.56358426064253,
-        "render_total_ms": 1431.9365471601486
+        "render_total_ms": 1418.3272598311305
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21138,16 +21230,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.578832097351551,
-        "render_ms": 1252.3112031631172,
-        "compose_ms": 82.52557320520282,
-        "write_ms": 67.76024075224996,
-        "foreground_fraction": 0.712075
+        "compile_ms": 5.0876750610768795,
+        "render_ms": 1274.161129258573,
+        "compose_ms": 60.36197580397129,
+        "write_ms": 66.92762998864055,
+        "foreground_fraction": 0.712075,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "cb4bd3379cd0679bcaca23deb5d83367f102b104fa9a051c4d1e42768f2d0f59",
         "meshes.tar": "a4b0201167913902750ee34fad17db746174b43e36c435f69ed60ed73fe26510",
-        "render.png": "16ea87fcd2c7bf46ebfdfe5c185146d61acc4619c2cab3430c8eaea16083f505",
+        "render.png": "ba2b981f849b39d58beec1827119592f2776228dc94c3e68e5a4edbcb553c25f",
         "graph-raw.svg": "4493806c1bfae5317aa987ffeb60858b8d9fa239b635af3fd41bf93b3dd0fbab",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "ebd265dc8dfeb43f53fe246adbe03e9ce03ef85151da7e396e840b67adc6d4c0"
@@ -21185,7 +21279,7 @@
         "mjcf_ms": 4.304724745452404,
         "compile_ms": 3.5453070886433125,
         "graph_ms": 207.6627011410892,
-        "render_total_ms": 1420.2675027772784
+        "render_total_ms": 1363.8099748641253
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21246,16 +21340,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.605353180319071,
-        "render_ms": 1278.491165023297,
-        "compose_ms": 59.61624626070261,
-        "write_ms": 66.43422832712531,
-        "foreground_fraction": 0.712075
+        "compile_ms": 3.31913772970438,
+        "render_ms": 1224.7917680069804,
+        "compose_ms": 58.421812020242214,
+        "write_ms": 65.38363499566913,
+        "foreground_fraction": 0.712075,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "204f64f74027d825fbdcabf9361b409c0ca58939f71ee689ff1abd9f19e1d6ee",
         "meshes.tar": "26af1bfa9087b6ae0c4317ff059779daa95c320d396f9a372ed9063eaab37c88",
-        "render.png": "c8ea1a7e68196d652579e21b844b0353ca328c986ce47e4212f3073a025ff4f6",
+        "render.png": "165eb64ef3dc99dd61d7f91e8058249a36347b1a6a629c5edca8a6860c6c2262",
         "graph-raw.svg": "43c91901bebf5b1d615569e8b15b160d866da077ab4c3a6eaf301fafbb19d704",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "bab79c4e7f47461c13a16b8b3a4b2f9a1b74b268b806ba95823d6a0822c4a35b"
@@ -21293,7 +21389,7 @@
         "mjcf_ms": 2.979741897433996,
         "compile_ms": 2.198417205363512,
         "graph_ms": 113.23391878977418,
-        "render_total_ms": 1307.65096610412
+        "render_total_ms": 1407.322316430509
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21354,16 +21450,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.703180070966482,
-        "render_ms": 1166.845500934869,
-        "compose_ms": 59.62282000109553,
-        "write_ms": 66.49947026744485,
-        "foreground_fraction": 0.7128333333333333
+        "compile_ms": 2.83431401476264,
+        "render_ms": 1262.9315699450672,
+        "compose_ms": 59.713536873459816,
+        "write_ms": 65.8724419772625,
+        "foreground_fraction": 0.7128333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "1807e2c8176498251b3438e60c08d829b1fce089a725095ab8dc1027df25be69",
         "meshes.tar": "c766707a8cf72af27bb0177633139b065d83707d2a837a45c4fb2c8a4443f184",
-        "render.png": "955534479e551253085b2a7394deaa279c9a5e84480591b6d845784240eae818",
+        "render.png": "e4769033dcb79cae30e04b06588fb2f50efa4e2d9cb09e0867923d0dba7d6043",
         "graph-raw.svg": "e11e213ddaef5a9d4243bbc22bfb2f5cf730c25ba36ce74d5923bf62f5a48cef",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "c5edfec05db9ac3c3fdcd6713267114b746c3d8110b75ef162fd5aaef4774ada"
@@ -21401,7 +21499,7 @@
         "mjcf_ms": 3.6744028329849243,
         "compile_ms": 2.3635579273104668,
         "graph_ms": 158.58396189287305,
-        "render_total_ms": 1300.5975312553346
+        "render_total_ms": 1354.6014549210668
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21462,16 +21560,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.875261940062046,
-        "render_ms": 1141.970387659967,
-        "compose_ms": 67.69778812304139,
-        "write_ms": 67.27255741134286,
-        "foreground_fraction": 0.712075
+        "compile_ms": 3.645516000688076,
+        "render_ms": 1215.4258219525218,
+        "compose_ms": 58.0823733471334,
+        "write_ms": 65.42452983558178,
+        "foreground_fraction": 0.712075,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "c82f0a0bfc1d0246ec2878b31abb0bb9e7693608ce26b7d3c04eb4c5403eadc8",
         "meshes.tar": "f8a53e4bb44819d4f55a03fcf06c5019bfd01f4387b278ea7cd2f5b0a112c1ce",
-        "render.png": "10af30f927ad564b3080c1cde7098520f4412c8238a151dc46efef62061abcc3",
+        "render.png": "db9a2f2579877ffbb48ee63fb72b4faac54cc44538fa62b2c5adc63a92123a92",
         "graph-raw.svg": "aa164481e36047bccbb6b33ba6ff3463cfb5582f2a889df7502cdf5ce4ff3802",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "1ff55cd7ea1095bb1612490c5de69a2996958cd47336837c3eb3684aa3dcce75"
@@ -21512,7 +21612,7 @@
         "mjcf_ms": 2.8958418406546116,
         "compile_ms": 45.35241611301899,
         "graph_ms": 123.56260837987065,
-        "render_total_ms": 1693.478818051517
+        "render_total_ms": 1414.983628783375
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21560,16 +21660,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 32.948887906968594,
-        "render_ms": 1508.0157006159425,
-        "compose_ms": 63.676255755126476,
-        "write_ms": 76.41437789425254,
-        "foreground_fraction": 0.4972
+        "compile_ms": 30.484410002827644,
+        "render_ms": 1239.8583111353219,
+        "compose_ms": 56.03611236438155,
+        "write_ms": 76.66351925581694,
+        "foreground_fraction": 0.4972,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "5d13c6fced05096255e38a5ad7f793671a8e8e2c7c58df3163939d2eb67b3a7a",
         "meshes.tar": "14fd301a1afa9ccbabaadabf93aee79b094ce6e3f441c2e214da92cb60bdaff0",
-        "render.png": "ceec71f25c5d63dcc111546121c652635e93ca8d7f0bb8a8b31861f501b1eda4",
+        "render.png": "bb83ae703c8e472d7af347f07f97dde604f0437e9efbbbb8934d3d6e45cf7d51",
         "graph-raw.svg": "59aec6bd1efb331c0cfc093bd8b1ee9c23b16022dee8fb63b0b1dcb3f41f2770",
         "graph-robot.svg": "1bb79b31285bd1d3802f77f4d0e0cf32e6afc6d83d6bb5cb5d0e1de4f7988524"
       },
@@ -21608,7 +21710,7 @@
         "mjcf_ms": 3.569775726646185,
         "compile_ms": 5.52669120952487,
         "graph_ms": 156.1120469123125,
-        "render_total_ms": 1371.4533299207687
+        "render_total_ms": 1437.921870034188
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21669,16 +21771,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.827870219945908,
-        "render_ms": 1195.317798294127,
-        "compose_ms": 82.98916788771749,
-        "write_ms": 67.91057670488954,
-        "foreground_fraction": 0.72545
+        "compile_ms": 6.236070301383734,
+        "render_ms": 1275.0142430886626,
+        "compose_ms": 73.44585191458464,
+        "write_ms": 69.37732780352235,
+        "foreground_fraction": 0.72545,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "10a31d0f3bdce3b00b3fb57ac9206fd19da0e9bcdd69d405a5abac7920ca8c94",
         "meshes.tar": "aeea437e10759577342985f5cf6932db20e25b7353476bceb19fe65548122c93",
-        "render.png": "7ab5ff2ad4c9321d723840bceb23d9b46ba8a1f85446b438ad57d76b8f87f167",
+        "render.png": "2dfcf8fdeebaeee59ef90e6b54611d2e630f1a9f0db4b75ab5d350e1d4f72acc",
         "graph-raw.svg": "df643c196b9bfbb170f54cbfd986227490c773faf751ac9d1472ca284e18fa61",
         "graph-robot.svg": "919347fb9d756b496e305300b5395eb33e60c0c1dd0bacfcf662db4d3b983aa2",
         "robot.urdf": "278aacc1f120301cf1f2748f5c729320a7b54bdfdc8e3aebd918c06d5c451e7a"
@@ -21720,7 +21824,7 @@
         "mjcf_ms": 2.816488966345787,
         "compile_ms": 47.39694902673364,
         "graph_ms": 138.6697948910296,
-        "render_total_ms": 1739.7573590278625
+        "render_total_ms": 1535.1317622698843
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21768,16 +21872,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 48.97305788472295,
-        "render_ms": 1536.5907386876643,
-        "compose_ms": 61.109150759875774,
-        "write_ms": 80.2983152680099,
-        "foreground_fraction": 0.59455
+        "compile_ms": 29.933772049844265,
+        "render_ms": 1341.1375703290105,
+        "compose_ms": 60.76431227847934,
+        "write_ms": 91.60546399652958,
+        "foreground_fraction": 0.59455,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "d217d00fd75f5827e18c23cd78d0ae0111181fb0fe2d3b0522e40ae74e0dfb1e",
         "meshes.tar": "a25353bba6e4679ee5124560b5056116478a1cf835fed84a3740d6151f336d01",
-        "render.png": "e7590c1c88a6991003b293af36192f7c376b69aac10bc34408569bb30ce46cfd",
+        "render.png": "e8acc828e59283915e7cfe1f06bef6801a8012b3035a196750b7067c396cdf38",
         "graph-raw.svg": "51b498eb0f439344d5cb841b84d5e4e0796bb7e75b397d6b8aa55ef80ba9dbab",
         "graph-robot.svg": "62ad703b200a378ccdaad4f4dae7cea477fb601566d80a23d4e06a7321ee721a"
       },
@@ -21819,7 +21925,7 @@
         "mjcf_ms": 2.9352172277867794,
         "compile_ms": 22.644837852567434,
         "graph_ms": 182.765225879848,
-        "render_total_ms": 1386.900365818292
+        "render_total_ms": 1376.8117018043995
       },
       "mesh_preparation": {
         "status": "complete",
@@ -21946,16 +22052,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.843176886439323,
-        "render_ms": 1210.5764891020954,
-        "compose_ms": 80.57538885623217,
-        "write_ms": 63.062569592148066,
-        "foreground_fraction": 0.63305
+        "compile_ms": 12.88118725642562,
+        "render_ms": 1226.0223790071905,
+        "compose_ms": 63.12761828303337,
+        "write_ms": 62.9767207428813,
+        "foreground_fraction": 0.63305,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "7c8d5744feb452524d4fd0287091eda375cbef67640312b17e52e01b1f553436",
         "meshes.tar": "e2454d6fba4e45c3a95aeee45377a544f304b238b19119261f7164c1220c7a0b",
-        "render.png": "76953175b9d2a4800d30d45a654fce83c96e4231c6a289abec4c6ce5e289f95e",
+        "render.png": "2571a372bf911716f78d019718344c004f58426244ba953dbef3cce08e7aa6ce",
         "graph-raw.svg": "de1f9600e19deb0d100e74eafb0a8c4efc498422529794a79b8c832acfc2111b",
         "graph-robot.svg": "03f85867243882d5b8e85d338c310b17b7ebc5c5de831a482300d32a0a96e135"
       },
@@ -21995,7 +22103,7 @@
         "mjcf_ms": 2.738871145993471,
         "compile_ms": 20.49516886472702,
         "graph_ms": 87.91443100199103,
-        "render_total_ms": 1575.514694210142
+        "render_total_ms": 1469.481629319489
       },
       "mesh_preparation": {
         "status": "complete",
@@ -22043,16 +22151,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.71534004062414,
-        "render_ms": 1381.4600249752402,
-        "compose_ms": 79.96884034946561,
-        "write_ms": 73.41792620718479,
-        "foreground_fraction": 0.7446833333333334
+        "compile_ms": 20.32405510544777,
+        "render_ms": 1301.931232213974,
+        "compose_ms": 63.73201496899128,
+        "write_ms": 71.70563004910946,
+        "foreground_fraction": 0.7446833333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "880646097d99c980a2f7202b7f7c6144396beb317df56fa18a0d7eda1726155f",
         "meshes.tar": "daaa824332e3d6ba590adf02544e7a7f0c06a7e9f7a0f3c6c5344b6ebfd9486a",
-        "render.png": "94c83de4b6bf756fc548ea1270f1ca7fbc29818d2f9d35cfb8e3100edc23e553",
+        "render.png": "368198dca55572070497e90328cb2d88e2902e8f9e07436c0f77983302845043",
         "graph-raw.svg": "3804a4091cdf094a20ef9b1522b3e52babea5e94ca19f4c41bfe875a7b75e504",
         "graph-robot.svg": "8f8629c4c12cd16897d369724ca185a67ba7b09e1feda873a91ff12cadf3e7cc"
       },
@@ -22088,7 +22198,7 @@
         "mjcf_ms": 3.4356568939983845,
         "compile_ms": 14.880327973514795,
         "graph_ms": 511.9639988988638,
-        "render_total_ms": 1472.7897988632321
+        "render_total_ms": 1433.0554129555821
       },
       "mesh_preparation": {
         "status": "complete",
@@ -22462,16 +22572,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.289326034486294,
-        "render_ms": 1313.8538720086217,
-        "compose_ms": 65.02210488542914,
-        "write_ms": 66.75135483965278,
-        "foreground_fraction": 0.63305
+        "compile_ms": 13.529056217521429,
+        "render_ms": 1279.575795866549,
+        "compose_ms": 61.56560964882374,
+        "write_ms": 66.780602093786,
+        "foreground_fraction": 0.63305,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "bd9fff095b6f059abff8598996ccf92879d00b4c22607ac741e8f30455c2fb2f",
         "meshes.tar": "0e337ef07fdd01eecaf716ced79070e69375218af46f5105c0189c851f33ef5b",
-        "render.png": "57ad15444ed04848a73ee42776fbee7f5ce99eb6cc4ca13e52f1d781da7c9cec",
+        "render.png": "602b8f56baec7bce802e967fbd8ba5e0f62b708b3790a91fa26060375a267eb4",
         "graph-raw.svg": "28bc22e50c944ca37b9dc03941192f71dd7f3e6f3463491302a344adf9890a01",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "38eddca543a5a201511b719e62ae84a70138995d9c18d23c680abf6333873040"
@@ -22503,7 +22615,7 @@
         "mjcf_ms": 2.397694159299135,
         "compile_ms": 24.773345794528723,
         "graph_ms": 69.33973403647542,
-        "render_total_ms": 1559.3041288666427
+        "render_total_ms": 1481.9238721393049
       },
       "mesh_preparation": {
         "status": "complete",
@@ -22564,16 +22676,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.17226694524288,
-        "render_ms": 1346.8541856855154,
-        "compose_ms": 78.17362388595939,
-        "write_ms": 93.49000686779618,
-        "foreground_fraction": 0.605
+        "compile_ms": 22.88910001516342,
+        "render_ms": 1270.0359062291682,
+        "compose_ms": 59.453987050801516,
+        "write_ms": 117.65794176608324,
+        "foreground_fraction": 0.605,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "3d05a749e23ca01ae8ba4d4ad935d3d1fe99f5f5b23f608aa7df00fc0e5dd7ec",
         "meshes.tar": "b4b79cedb9815a33eefb908d5c6e0f26b4f7e8dd9fdce2976074a9c8951eee71",
-        "render.png": "4f43f59a7da61b21791946e695d1d70781c8934ac28c3c441a77501cb605d563",
+        "render.png": "523565762fee05c5e486ea841eedc7de0e8e246c10c7a00ac73de335412df76d",
         "graph-raw.svg": "f7568d98800734c1e0c10c98f24befd21bc771e9f4a5b95c0477577295957930",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f802792ad48fce514a899f3ee3aa26b7c18ab06e008fcad09e3789791de84f3c"
@@ -22606,7 +22720,7 @@
         "mjcf_ms": 2.293093129992485,
         "compile_ms": 22.85642269998789,
         "graph_ms": 85.0958889350295,
-        "render_total_ms": 1584.018955938518
+        "render_total_ms": 1418.7111370265484
       },
       "mesh_preparation": {
         "status": "complete",
@@ -22667,16 +22781,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.648746147751808,
-        "render_ms": 1373.9606933668256,
-        "compose_ms": 75.46510268002748,
-        "write_ms": 92.55660092458129,
-        "foreground_fraction": 0.6424
+        "compile_ms": 14.23185970634222,
+        "render_ms": 1232.6437220908701,
+        "compose_ms": 59.27067017182708,
+        "write_ms": 100.73986230418086,
+        "foreground_fraction": 0.6424,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "4ac3c8f51e3475dc8cf6b6158fcb30fa6379113b9a9c0315ae6b24ced378bb3f",
         "meshes.tar": "37346ddd8b6dcc4f8e472254fcb88c8cd0b388fbb8dc8a54858414144e779c44",
-        "render.png": "def27213d2229e7f51491c912be65b88db8dc37527b998e5dc6d3f26e791c8f9",
+        "render.png": "d6adcaa65c863a5e84c6ae452c6941723f5caadf05c2253b787d19a29b881ff3",
         "graph-raw.svg": "b6d533a8f2da73a746ae6ea3ac7da43bfa8aaba2f3b4135c0254f140e140a715",
         "graph-robot.svg": "20b112c5ac1074c507ef80705515e063773809e3348c646223e98e9824897639",
         "robot.urdf": "6e417d4df6be82b514ca814a831e3b98382e7337e312c06c95d470e9a2599514"
@@ -22716,7 +22832,7 @@
         "mjcf_ms": 5.228326190263033,
         "compile_ms": 36.800074856728315,
         "graph_ms": 286.14415787160397,
-        "render_total_ms": 1580.4816260933876
+        "render_total_ms": 1489.6795433014631
       },
       "mesh_preparation": {
         "status": "complete",
@@ -22783,16 +22899,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 36.65292961522937,
-        "render_ms": 1359.0768710710108,
-        "compose_ms": 82.45662087574601,
-        "write_ms": 80.88396722450852,
-        "foreground_fraction": 0.7067666666666667
+        "compile_ms": 23.255912121385336,
+        "render_ms": 1306.7770791240036,
+        "compose_ms": 65.18986402079463,
+        "write_ms": 82.67759531736374,
+        "foreground_fraction": 0.7067666666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 30
       },
       "artifacts": {
         "robot.mjcf": "7245adbd83cc953eea518c96875ce042a5a4cbeee12bba9843bf5ce35c7aca1a",
         "meshes.tar": "2084c206e45d269969a40e4a830e7c85045a8d8bd749234f10016d680b5ca9b0",
-        "render.png": "79355023383fee5439646650f508b0424121632ae747fb8558f7a48adb7982d4",
+        "render.png": "d093d648baf5b3a4ade1e2c0067cc04f5a7421155b4244f138e0bed226539cd4",
         "graph-raw.svg": "9b6a54cdc0148a940e1586a0a0ec48547b7e6c7d3aca1a35ce5e26d6afd6ae18",
         "graph-robot.svg": "398b5df0cd4f1b8261e3dd70cd1cdbeff073c5670c0f0cc1945e32764df43447"
       },
@@ -22833,7 +22951,7 @@
         "mjcf_ms": 4.230712074786425,
         "compile_ms": 33.655617386102676,
         "graph_ms": 316.45810790359974,
-        "render_total_ms": 1623.8970695994794
+        "render_total_ms": 1526.3880719430745
       },
       "mesh_preparation": {
         "status": "complete",
@@ -22888,16 +23006,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 32.313115894794464,
-        "render_ms": 1388.289692811668,
-        "compose_ms": 104.76912278681993,
-        "write_ms": 76.68940722942352,
-        "foreground_fraction": 0.69685
+        "compile_ms": 30.660842079669237,
+        "render_ms": 1322.1472199074924,
+        "compose_ms": 87.1269446797669,
+        "write_ms": 74.38612915575504,
+        "foreground_fraction": 0.69685,
+        "style": "link-palette-v1",
+        "colored_bodies": 16
       },
       "artifacts": {
         "robot.mjcf": "052a478c891a2391b9500ddbc336aac765a4a95b93de3467b68f8f7d6246f831",
         "meshes.tar": "d659b69f5036ee7e57f467ce8d7f208b742628f8bfef9fd675ce66fe50887e0e",
-        "render.png": "36556b5c2eaa041976602008c97777c5a7a173d106a8b33087f4518f11af52d4",
+        "render.png": "1828870ac9df5d3c01acf720cc7eec8a0b5fc5d79ad7b9bfc98c2431fc8249b4",
         "graph-raw.svg": "83da69f981d9759be5cebc84de94863201e2f532b4cf7cf7bbf6b30ab7e10b41",
         "graph-robot.svg": "113a44565930133253aa1d2bd809f05648d2858dc4de0d375f8cef49f317cc95"
       },
@@ -22938,7 +23058,7 @@
         "mjcf_ms": 8.078725077211857,
         "compile_ms": 82.49125676229596,
         "graph_ms": 323.17602820694447,
-        "render_total_ms": 1741.2883872166276
+        "render_total_ms": 1474.0024046041071
       },
       "mesh_preparation": {
         "status": "complete",
@@ -23005,16 +23125,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 77.58970186114311,
-        "render_ms": 1483.509813901037,
-        "compose_ms": 71.93729793652892,
-        "write_ms": 90.56574525311589,
-        "foreground_fraction": 0.49885
+        "compile_ms": 42.978033889085054,
+        "render_ms": 1268.4278362430632,
+        "compose_ms": 62.66243476420641,
+        "write_ms": 87.99941232427955,
+        "foreground_fraction": 0.49885,
+        "style": "link-palette-v1",
+        "colored_bodies": 58
       },
       "artifacts": {
         "robot.mjcf": "fba8d9c9e58f890b6e09955757be654daf00215c069ee8d3b84ff1587507ac5a",
         "meshes.tar": "191d56cd999f50850a6c84d900cf86b7d59628c340ccb0b1ca265367a2248782",
-        "render.png": "1efc7077ef4a1519a2ff29b8a99b452a075e746dc3c0f09586adb2295cb02c32",
+        "render.png": "901a52477607140c1fc63520a2b39634753182826410b8feea15f922ba73f552",
         "graph-raw.svg": "719be797f5c3d34227fb330370664d976d6080d26cc3b1c2c3e245381b35093f",
         "graph-robot.svg": "84f0f169072be3950716f5e7ebfc8312cf6ce3c7dec6785b8b06f83c8f954800"
       },
@@ -23053,7 +23175,7 @@
         "mjcf_ms": 8.3265770226717,
         "compile_ms": 45.51500175148249,
         "graph_ms": 436.9490467943251,
-        "render_total_ms": 1672.2454861737788
+        "render_total_ms": 1499.097981955856
       },
       "mesh_preparation": {
         "status": "complete",
@@ -23138,16 +23260,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 48.96325012668967,
-        "render_ms": 1424.8569780029356,
-        "compose_ms": 84.87844001501799,
-        "write_ms": 93.62108819186687,
-        "foreground_fraction": 0.6900833333333334
+        "compile_ms": 36.9397746399045,
+        "render_ms": 1284.7525090910494,
+        "compose_ms": 67.21814628690481,
+        "write_ms": 98.14453730359674,
+        "foreground_fraction": 0.6900833333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 55
       },
       "artifacts": {
         "robot.mjcf": "a677a18bca9dc0d51a7fc082ba023f1c71ba0b94beb94e7570a0b47ac9a2f549",
         "meshes.tar": "d11314b56c80d260547dd656cf072e5f1b441319303c46b3f514253be143ffc2",
-        "render.png": "80b51716aee98b17d30f58da99bfd1d0c47ba7c130938bdabd0966c21eb3d192",
+        "render.png": "8412cdf59e32522a512e0e227a4d70c4cafd7024ff92d1495c30830e6676b146",
         "graph-raw.svg": "8a962723135916affb91029ecd87cb64256a300ea2b10d436560241458713493",
         "graph-robot.svg": "67c48152cd84599d2f36e9dc3dd1d07a6983d4067946f30ca4fb1a1ff5c47b4c"
       },
@@ -23196,7 +23320,7 @@
         "mjcf_ms": 4.638896323740482,
         "compile_ms": 172.27518931031227,
         "graph_ms": 318.9046657644212,
-        "render_total_ms": 1840.0468090549111
+        "render_total_ms": 1623.3487762510777
       },
       "mesh_preparation": {
         "status": "complete",
@@ -23335,16 +23459,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 123.91657521948218,
-        "render_ms": 1532.0433620363474,
-        "compose_ms": 76.60351507365704,
-        "write_ms": 92.77296299114823,
-        "foreground_fraction": 0.78375
+        "compile_ms": 94.52927205711603,
+        "render_ms": 1351.4301059767604,
+        "compose_ms": 65.17111603170633,
+        "write_ms": 100.60103703290224,
+        "foreground_fraction": 0.78375,
+        "style": "link-palette-v1",
+        "colored_bodies": 15
       },
       "artifacts": {
         "robot.mjcf": "3fc8a057c9d233171395a4b19690a8afc2aa40b14b83d4a3dddb1cf8138298f6",
         "meshes.tar": "cfc8fefeee1e3b840f02606a29bc1f84ef327690e3dfea7799731b17f0dce4e4",
-        "render.png": "61699f6a9211cf87d204b1739f29affd7bee7225586dc6fabaf889dad2919f5a",
+        "render.png": "788bb5cfad84e20385908640ea19f24fb83358f64428a18bc7fa478d81a1f135",
         "graph-raw.svg": "d1ca6229ebc7c596097a692310b93096e05db31964650cf989837075e4e8f50e",
         "graph-robot.svg": "1013a2c8857c17bf5fcb4b9fb0ab1cca8a25c171f887cbf5a5830ac4b3a25f4f"
       },
@@ -23375,7 +23501,7 @@
         "mjcf_ms": 2.7207261882722378,
         "compile_ms": 4.387668799608946,
         "graph_ms": 72.85718340426683,
-        "render_total_ms": 1468.5324640013278
+        "render_total_ms": 1370.5998519435525
       },
       "mesh_preparation": {
         "status": "complete",
@@ -23436,16 +23562,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.823845949023962,
-        "render_ms": 1289.7448209114373,
-        "compose_ms": 89.25420790910721,
-        "write_ms": 69.33096284046769,
-        "foreground_fraction": 0.7667
+        "compile_ms": 3.3366233110427856,
+        "render_ms": 1217.6734111271799,
+        "compose_ms": 70.06668858230114,
+        "write_ms": 67.91645893827081,
+        "foreground_fraction": 0.7667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "286d7d5588754c00e5f1117299c9b1ff36c22229f50c184b021d689be2607efb",
         "meshes.tar": "37d9a3ec404ebb917248422ff90e37923d4e122975119918ca15131c86d4b40c",
-        "render.png": "afd8636ac12ac90f989363188d975a0c44541b320e26c6cbb972adce67d32db4",
+        "render.png": "21e932f7e378dfe6f449f63bbd2b4323300d3eebf147aedf924bc189fd808283",
         "graph-raw.svg": "0b776e66e331b636beb70622253b396f836be545e16e35b53816acddeb4f3060",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a7371c4f78e336fea470b8271d20206be7fbd5b044584dee3a13a0f862e3de15"
@@ -23485,7 +23613,7 @@
         "mjcf_ms": 2.777994144707918,
         "compile_ms": 4.045996814966202,
         "graph_ms": 128.62377241253853,
-        "render_total_ms": 1447.0989778637886
+        "render_total_ms": 1402.634799014777
       },
       "mesh_preparation": {
         "status": "complete",
@@ -23533,16 +23661,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.419227130711079,
-        "render_ms": 1282.3671950027347,
-        "compose_ms": 81.24343818053603,
-        "write_ms": 60.18819194287062,
-        "foreground_fraction": 0.5016
+        "compile_ms": 4.0466380305588245,
+        "render_ms": 1265.9095441922545,
+        "compose_ms": 58.88170097023249,
+        "write_ms": 62.14845413342118,
+        "foreground_fraction": 0.5016,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "0b1049cb734e3d67ebfe52fedb2053f0f5a2c053e18397ed4a3bcb2b3748f07c",
         "meshes.tar": "47f327e12c33d0a6a14afe0eef4190447c10beb881db51b2caa4786bdba63038",
-        "render.png": "72cacfb079ae39efa3fb0eed24a91b7e2bcdd67ff2a41fbe3168422980c2b3f8",
+        "render.png": "49eb234bc1f1618441560ab64e71c69180915dc22d3508ea908332509e591273",
         "graph-raw.svg": "ca0acbfedba9dd01f1ae9738a4f757aa84eac7ab7cf544782c34d9c716b8dd27",
         "graph-robot.svg": "5d4685fe88d1f117f2a381848aa90c1a64c37f7a93397dc3e32618387fa4512b"
       },
@@ -23581,7 +23711,7 @@
         "mjcf_ms": 2.6755789294838905,
         "compile_ms": 70.13674173504114,
         "graph_ms": 99.19832600280643,
-        "render_total_ms": 1520.6372481770813
+        "render_total_ms": 1440.3945347294211
       },
       "mesh_preparation": {
         "status": "complete",
@@ -23648,16 +23778,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 57.5144593603909,
-        "render_ms": 1312.5449349172413,
-        "compose_ms": 63.04611312225461,
-        "write_ms": 71.09877793118358,
-        "foreground_fraction": 0.73645
+        "compile_ms": 45.57771608233452,
+        "render_ms": 1253.1422427855432,
+        "compose_ms": 61.345635913312435,
+        "write_ms": 68.63704323768616,
+        "foreground_fraction": 0.73645,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "79cc11a6ae1256a68229ccba8c82a74086062ad5170822fee2f18ef3b35a5e93",
         "meshes.tar": "f394b7fea6a98edad6c3a6aafff849bc53989823747fe9e4d19ca331a40fd815",
-        "render.png": "22fc9738f6fafbf0360d123d0b215aeb44ab6d923cf699e4b4340e81f4ebd8e3",
+        "render.png": "a84c50147dbec2f1bd5b1e264f78fed40ab7c6d6d388d942e2cb487a8603733c",
         "graph-raw.svg": "da539cda984f7878217d191662abdf1da54f6a2930c310e1c85ab9b0d95178b9",
         "graph-robot.svg": "13c8908c922aeddf28ab9b44c07f83191b49838b436bb9ff621627f743605fc7"
       },
@@ -23698,7 +23830,7 @@
         "mjcf_ms": 2.9839971102774143,
         "compile_ms": 91.45796298980713,
         "graph_ms": 109.92531571537256,
-        "render_total_ms": 1687.1180031448603
+        "render_total_ms": 1527.0359478890896
       },
       "mesh_preparation": {
         "status": "complete",
@@ -23759,16 +23891,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 92.18497294932604,
-        "render_ms": 1349.5923453010619,
-        "compose_ms": 92.994948849082,
-        "write_ms": 136.86431059613824,
-        "foreground_fraction": 0.7560583333333334
+        "compile_ms": 83.81059486418962,
+        "render_ms": 1255.9521850198507,
+        "compose_ms": 81.80062100291252,
+        "write_ms": 93.84293295443058,
+        "foreground_fraction": 0.7560583333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "5d7b398a872e349f70d3fa3147098dedf390b9dd0478b4d95a82f62afa093714",
         "meshes.tar": "7199278b0dcad35c09696e2afae6de9fcf86d5b845d9edfffadf84a868e77968",
-        "render.png": "4cdf589f0e0e17b42ca1c3178309a6f36a3f074e5c5a59a071509aead36eefb3",
+        "render.png": "046c180cf0809ceba87d10149c694b6a69ad5d757c0c1c424251e3add7969090",
         "graph-raw.svg": "dfd7f03e8bf08519114532e608611bb579e8ef03223da49605a95b8fc59d4db2",
         "graph-robot.svg": "8ab6016baf8a3f5a3e53060fe092f3cd16820ae1ab01545e482ae354c45f4fb2"
       },
@@ -23806,7 +23940,7 @@
         "mjcf_ms": 3.6251619458198547,
         "compile_ms": 10.173569899052382,
         "graph_ms": 188.87670477852225,
-        "render_total_ms": 1479.3147738091648
+        "render_total_ms": 1381.8024671636522
       },
       "mesh_preparation": {
         "status": "complete",
@@ -23867,16 +24001,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.419725302606821,
-        "render_ms": 1294.2233378998935,
-        "compose_ms": 81.1113198287785,
-        "write_ms": 70.10638574138284,
-        "foreground_fraction": 0.725725
+        "compile_ms": 9.66599676758051,
+        "render_ms": 1224.434772040695,
+        "compose_ms": 65.09959418326616,
+        "write_ms": 70.81508915871382,
+        "foreground_fraction": 0.725725,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "9901573530fbbedb591054085aaa7036411e46f3ee9f1d2a59e3ba39c652c881",
         "meshes.tar": "35018afb7e0901dddf38beb8f87dc368a2720ea5a89025c6f7ff50597f35d73c",
-        "render.png": "5292a4f99cd441d1f91d66aff5c18ffdc4c5296201e2a1ac838a9e630a92dc51",
+        "render.png": "5aa553c3bb5fb933d23358209c56d5f80ff226bbb7418d92999e83df3e27a1ea",
         "graph-raw.svg": "1724eb5af9ed7061adff9b2e80969ccdf2ea5345ea57ecf622dcc5ec9d0bce57",
         "graph-robot.svg": "3aef04572baf759b80878924d85e4faa74933b325cc036c87d942051d0f3efab",
         "robot.urdf": "c25783df41b8aa2bf069e69047e083286bc31755261c8ff4bef025ea00560940"
@@ -23921,7 +24057,7 @@
         "mjcf_ms": 2.8524459339678288,
         "compile_ms": 9.610475040972233,
         "graph_ms": 250.71987230330706,
-        "render_total_ms": 1539.8765178397298
+        "render_total_ms": 1376.824863255024
       },
       "mesh_preparation": {
         "status": "complete",
@@ -23976,16 +24112,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.553204290568829,
-        "render_ms": 1375.1078769564629,
-        "compose_ms": 74.4519610889256,
-        "write_ms": 66.3854950107634,
-        "foreground_fraction": 0.6423083333333334
+        "compile_ms": 8.819377049803734,
+        "render_ms": 1229.4224281795323,
+        "compose_ms": 60.714168939739466,
+        "write_ms": 65.96804084256291,
+        "foreground_fraction": 0.6423083333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "397ed16198921c9884011fd419741f71101dd799a15769662e6a2cf86bde1bd1",
         "meshes.tar": "be84f3bf710e45b1dd7b673da04f0ecb1bb6aa895ca38b5f3c4a6e5d3b58e982",
-        "render.png": "c8a8edf7aedbf63489e17efcb781b051b1437e865b9e6095b8c5f4ef50fcd60d",
+        "render.png": "8f79c11cb378ade6cc05729dcdf2e541e7ceba7cfb2dbfbb283ee590d831f809",
         "graph-raw.svg": "1b97543840dcb3576619af9b33f82b97f0d673b150b69289fbb21b549a3d47f5",
         "graph-robot.svg": "7aefa2e610c610125748ec39173aff6b5e90350eeb6e66f9d3f66b03efe9bc07"
       },
@@ -24034,7 +24172,7 @@
         "mjcf_ms": 6.503337994217873,
         "compile_ms": 401.4620236121118,
         "graph_ms": 385.7611920684576,
-        "render_total_ms": 2260.522927157581
+        "render_total_ms": 1985.5161281302571
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24082,16 +24220,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 444.852895103395,
-        "render_ms": 1648.5380167141557,
-        "compose_ms": 84.21356696635485,
-        "write_ms": 70.1045049354434,
-        "foreground_fraction": 0.59455
+        "compile_ms": 349.26884714514017,
+        "render_ms": 1479.9105641432106,
+        "compose_ms": 75.77394787222147,
+        "write_ms": 69.02931956574321,
+        "foreground_fraction": 0.59455,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "a92991bba47cbd4d7db38342af8ffd816dd41badb895b04cb98e8bd8bd62fb73",
         "meshes.tar": "1472f99885abd0843fb0b363cfbcdb4ef801ebfc7ff8883a954351a56db02da5",
-        "render.png": "b56cbbd2fc4f923ab99ae1bf418c69089712a89d35fff2a45414b3f907f55f2c",
+        "render.png": "cba209f1636c47db9c206522d27a8470a7d85e9b7c6b2de843f0766dc95702de",
         "graph-raw.svg": "297829509da939470570a535f527104a634af7bed0cf96832748ff40c50875e1",
         "graph-robot.svg": "577b1a10ac815906dd473579082d852b8c97ae84e4db7d5abf45066aba2161ea"
       },
@@ -24133,7 +24273,7 @@
         "mjcf_ms": 6.255527958273888,
         "compile_ms": 143.1246530264616,
         "graph_ms": 672.7961781434715,
-        "render_total_ms": 1659.4870421104133
+        "render_total_ms": 1571.6110356152058
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24225,16 +24365,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 189.51603583991528,
-        "render_ms": 1309.6915008500218,
-        "compose_ms": 67.70401122048497,
-        "write_ms": 73.7329488620162,
-        "foreground_fraction": 0.5103583333333334
+        "compile_ms": 112.5787147320807,
+        "render_ms": 1319.657243322581,
+        "compose_ms": 52.54061706364155,
+        "write_ms": 74.65610234066844,
+        "foreground_fraction": 0.5103583333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 30
       },
       "artifacts": {
         "robot.mjcf": "e8e63f235ebfb84544fc2ae6c2e556465f31dfa77b5f6a95a691953a944dfa73",
         "meshes.tar": "9758dd819b6a5048b9fd7eeaed5572a14c835d6e454a4d6478c7dd8dc205a714",
-        "render.png": "7a0e4f4582bca4bf466b98f4b0d64d0eef129bbd0043fb72031dad70a12a1fb7",
+        "render.png": "4c8120b085fc58c8ffcfe324599deaff69e96ad8e4f769b9b65aa770bd344b75",
         "graph-raw.svg": "e500ff2a8bd7939ea30562e9645b353199459421314e359c4189d3df483a46a2",
         "graph-robot.svg": "4b5ab4c2253f9f409b70b891ed8ca90bfc8a1f36ed0b368a2e8577e2177792fc",
         "robot.urdf": "8165d55977fa7f903177e463979c775f8875d751b12cf2b4f4bce54b36d588c1"
@@ -24274,7 +24416,7 @@
         "mjcf_ms": 2.4444470182061195,
         "compile_ms": 5.13860397040844,
         "graph_ms": 86.82790771126747,
-        "render_total_ms": 1545.6383558921516
+        "render_total_ms": 1398.1672208756208
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24329,16 +24471,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.3475449308753014,
-        "render_ms": 1365.1543478481472,
-        "compose_ms": 83.42975797131658,
-        "write_ms": 79.45460919290781,
-        "foreground_fraction": 0.7271
+        "compile_ms": 4.673338029533625,
+        "render_ms": 1225.2742080017924,
+        "compose_ms": 76.05622569099069,
+        "write_ms": 80.54830878973007,
+        "foreground_fraction": 0.7271,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "1afda9243ba119fc2e1f074a136511ca54766eb72808695fe2ccbd664c03cae3",
         "meshes.tar": "97c4e2bd4913a0f68c169963d6f04359dee8abca6fd7efa705c91fc97946012e",
-        "render.png": "f9568bae11a7cb7748079762768614e9286de1287d4bc17554380230844d875e",
+        "render.png": "dbec929b7e6fac5d63a1f4df0e6e729065d658a0b66dc2047f1269b6ccdb325d",
         "graph-raw.svg": "c1f82d3dc47b363a74d86785c38bae6641176ef76daedd94b80b9e0d0f1a88f6",
         "graph-robot.svg": "f50985730a4f4d492f5eacde00e8272c182832617a8bf264cb603efa813ad869"
       },
@@ -24376,7 +24520,7 @@
         "mjcf_ms": 4.743380006402731,
         "compile_ms": 56.23735999688506,
         "graph_ms": 155.22789396345615,
-        "render_total_ms": 1584.0217121876776
+        "render_total_ms": 1464.108389802277
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24424,16 +24568,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 43.746113777160645,
-        "render_ms": 1392.246461007744,
-        "compose_ms": 62.036197166889906,
-        "write_ms": 71.37326989322901,
-        "foreground_fraction": 0.6559583333333333
+        "compile_ms": 31.637924257665873,
+        "render_ms": 1291.3144957274199,
+        "compose_ms": 57.87194985896349,
+        "write_ms": 71.63454219698906,
+        "foreground_fraction": 0.6559583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 23
       },
       "artifacts": {
         "robot.mjcf": "745d2dd0e97060f46374de78ce2b062a56a142eeae4d4b0c355de9c40a5060c2",
         "meshes.tar": "d92a184498ab719b73f1fa6626ce74d379782deb35427a13b6e26cbc16ee21d9",
-        "render.png": "25a13a3f8d25cd47547ca961f85f22f3a7dd79378af2e123702a1980f7aff050",
+        "render.png": "c10bc898f1d4b73c81d12688dfada86b0582396a34fb926feb6da5ccc796219a",
         "graph-raw.svg": "eea338f385e3ed1de836ce65e19a046a7ad3ebc134d7ba6929c87ba8459bc3f7",
         "graph-robot.svg": "5c06a965f3076497dad7741345962a163a1cde6a99babcbc5d593b0bd9a925ae"
       },
@@ -24480,7 +24626,7 @@
         "mjcf_ms": 6.2916637398302555,
         "compile_ms": 131.3489251770079,
         "graph_ms": 419.55094737932086,
-        "render_total_ms": 1642.2819821164012
+        "render_total_ms": 1538.5831319727004
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24528,16 +24674,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 130.68623514845967,
-        "render_ms": 1341.1200921982527,
-        "compose_ms": 71.19752699509263,
-        "write_ms": 83.03303690627217,
-        "foreground_fraction": 0.743925
+        "compile_ms": 99.70742976292968,
+        "render_ms": 1283.494383096695,
+        "compose_ms": 60.72281673550606,
+        "write_ms": 82.97320315614343,
+        "foreground_fraction": 0.743925,
+        "style": "link-palette-v1",
+        "colored_bodies": 20
       },
       "artifacts": {
         "robot.mjcf": "c0005a81a0cf7ed34c730d731bc1e76b93aad670b2f4150b5c188c43bd4d294a",
         "meshes.tar": "41b1729c358b87c135765eec458eca09f5ac92d3de0879b2b48675946b64da0f",
-        "render.png": "0b8149b3cf48fe3afdf3f6ead185adade0303e323a3e72ec829758bb829cd550",
+        "render.png": "65683301ea8445a7e53e75e4e412c889560de5072a34ce09a130cf74ed40db15",
         "graph-raw.svg": "1d5760626fb443d1b803aba9cf5a3ab82a99ee07b62f736f38976e9c1381cacf",
         "graph-robot.svg": "c487f78c3744e4f44b0a42b24ce71b73aca6642f1b6e3dd2a5c76625be61f1a3"
       },
@@ -24599,7 +24747,7 @@
         "mjcf_ms": 6.939850281924009,
         "compile_ms": 413.7284439057112,
         "graph_ms": 477.4663597345352,
-        "render_total_ms": 2152.3158703930676
+        "render_total_ms": 1957.7206182293594
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24647,16 +24795,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 404.81485798954964,
-        "render_ms": 1579.031449276954,
-        "compose_ms": 61.41297006979585,
-        "write_ms": 95.07883060723543,
-        "foreground_fraction": 0.70525
+        "compile_ms": 353.9461330510676,
+        "render_ms": 1440.3884909115732,
+        "compose_ms": 59.73851587623358,
+        "write_ms": 92.16560516506433,
+        "foreground_fraction": 0.70525,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "14e3375ec05e06020974acb028c32c5b06536b1abd56ef554dcc3dbb21d601ec",
         "meshes.tar": "29dff2726f9cfcdc81a1498e9b8e2452e0b0d36ddeb32b98f8aa333eaa34513c",
-        "render.png": "8ea91eac526256367db29573ba653e5931da8ddf1bdf8bdccc2f141144578300",
+        "render.png": "e5bf787a24044102f780993e8fe57c5ec438b6aca7c22295a79f162420f38c83",
         "graph-raw.svg": "25751af17c761f71c103c62c1cdc9c3cbb5317ee9806c9e8dff9217a12ff123e",
         "graph-robot.svg": "9430a12de90b965b9b27ce5f4d2ed06038d66f1e07e9095025efefd7642c1c31"
       },
@@ -24691,7 +24841,7 @@
         "mjcf_ms": 2.9787998646497726,
         "compile_ms": 44.03302911669016,
         "graph_ms": 269.57311388105154,
-        "render_total_ms": 1449.5247984305024
+        "render_total_ms": 1431.337172165513
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24752,16 +24902,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.48214419931173,
-        "render_ms": 1206.2554210424423,
-        "compose_ms": 72.53276463598013,
-        "write_ms": 108.95732836797833,
-        "foreground_fraction": 0.31295
+        "compile_ms": 40.36770388484001,
+        "render_ms": 1260.165120009333,
+        "compose_ms": 50.43229786679149,
+        "write_ms": 68.8413018360734,
+        "foreground_fraction": 0.31295,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "79d50bc271e22fa2d7dcd0f55d6fc89704fbbfd01b7ad7c2aeb4d98eecadb782",
         "meshes.tar": "1142a49d410496e7c2415ed6bec493298c16adcc1dfc5704415dc0a29c325695",
-        "render.png": "1b54b37a524491889774140219e4372182e0e8cf2971405110ef3e183a7cffe8",
+        "render.png": "88deacbc1cfb6903e22104cb13f87d9e501b358985984a4f88ef6191d6824239",
         "graph-raw.svg": "95d08057039b03666194949946742a087cbf28d472b0bb9ce835a4e35d4f15df",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "1d4fef89bc5dda3a9423bc57477763e4be05b2e655ea593c759b5d9515eb4d5b"
@@ -24794,7 +24946,7 @@
         "mjcf_ms": 2.4597584269940853,
         "compile_ms": 7.40754185244441,
         "graph_ms": 74.32842394337058,
-        "render_total_ms": 1675.5703468807042
+        "render_total_ms": 1423.1187771074474
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24855,16 +25007,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.986597087234259,
-        "render_ms": 1511.0930390655994,
-        "compose_ms": 68.70947265997529,
-        "write_ms": 71.38444483280182,
-        "foreground_fraction": 0.5533
+        "compile_ms": 6.244361866265535,
+        "render_ms": 1275.356023106724,
+        "compose_ms": 58.623266872018576,
+        "write_ms": 71.28196489065886,
+        "foreground_fraction": 0.5533,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "8d8085889303c18a81f3661d23744d88c491067b0c9ccbfd6a0210c1523d4809",
         "meshes.tar": "d6aa1ef842b6333b4ba02d39004ea067f2576e28a14f2b188659dba85ba35724",
-        "render.png": "52dcd51f64ac7a6dd037cf22d2a57a129396f0ff973462f72ab083f6f37e505d",
+        "render.png": "8c62f49bd7f968f5c7bf210e02585316190c8cb1df7b96d720f13594d59c0c22",
         "graph-raw.svg": "84b3c579d3c5a3da579a8e48ccb536d646b386b6d76cc08892e79794b38c1e77",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "ef00c08c19ba38cf41957919181978d60d248c6af60f55ae13b8edefd37be5f6"
@@ -24900,7 +25054,7 @@
         "mjcf_ms": 3.7144129164516926,
         "compile_ms": 3.2782875932753086,
         "graph_ms": 151.8363868817687,
-        "render_total_ms": 1735.668522771448
+        "render_total_ms": 1400.481916964054
       },
       "mesh_preparation": {
         "status": "complete",
@@ -24961,16 +25115,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.863680176436901,
-        "render_ms": 1582.592646125704,
-        "compose_ms": 75.45809308066964,
-        "write_ms": 59.51084801927209,
-        "foreground_fraction": 0.48675
+        "compile_ms": 3.556115087121725,
+        "render_ms": 1267.0965720899403,
+        "compose_ms": 60.00012019649148,
+        "write_ms": 58.28048102557659,
+        "foreground_fraction": 0.48675,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "7340a9bc62b3e41e83c1ad691d4f349bf03a99f6cfccdcb5b1c58744d3b79d24",
         "meshes.tar": "0927a588525f46ff0659dd118502c4538d34d21b6bf475576ebec92930dd4270",
-        "render.png": "d133b3cdbbab7992ff568febac3f090cb64f417370129695341d1c8d4576d4e0",
+        "render.png": "aef661527a3e33dddea80ef47b7a8faafca926896b12e97154216d364dbac27f",
         "graph-raw.svg": "3da6a61f0d0b48ac2192fc52a263d8e43d4a81c3868178847672e84192d52884",
         "graph-robot.svg": "8e470c408a69901e1c3192d4f31a56ae7af9cd2a06241c84908ef1fe080589d0",
         "robot.urdf": "24754aef296340069b4c85bf139d51f06ec6c97cf0e6cdf8df34c8632e65a2f7"
@@ -25012,7 +25168,7 @@
         "mjcf_ms": 2.946872729808092,
         "compile_ms": 7.883276790380478,
         "graph_ms": 88.13472371548414,
-        "render_total_ms": 1455.985488370061
+        "render_total_ms": 1368.484864011407
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25060,16 +25216,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.354829624295235,
-        "render_ms": 1294.620337896049,
-        "compose_ms": 63.587403390556574,
-        "write_ms": 69.72137792035937,
-        "foreground_fraction": 0.6875
+        "compile_ms": 7.237342651933432,
+        "render_ms": 1221.7550119385123,
+        "compose_ms": 59.284531977027655,
+        "write_ms": 68.68797913193703,
+        "foreground_fraction": 0.6875,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ab24297dbf1eb8cc3b858e3a52892b32664b5f0ac80edd90fdb428a89b79421c",
         "meshes.tar": "812c4ec3a507a9aa81822286e17909cfa17442bcfac65e5ace945cee35fb9f27",
-        "render.png": "9076bea981119351d144397c4e52a8d83ef0a13f39d8eaef7efdd6019e1f7322",
+        "render.png": "4d03bbb0d7eed4f22ed12c9632b6c2533dbe9dad5182cf11c0050151fc7b6b41",
         "graph-raw.svg": "38f1db0dea62718f5fe08e00f4b0a9ed2181100d443fd82d24534fa5a54064a4",
         "graph-robot.svg": "dbb8aca7caa2607d4407120bbcd9cf76bcde070f827ccce7cb7fab0e22f5bbcc"
       },
@@ -25109,7 +25267,7 @@
         "mjcf_ms": 2.6970477774739265,
         "compile_ms": 91.92645782604814,
         "graph_ms": 96.1595349945128,
-        "render_total_ms": 1827.431813813746
+        "render_total_ms": 1537.7883221954107
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25157,16 +25315,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 112.15684236958623,
-        "render_ms": 1548.4412019141018,
-        "compose_ms": 64.81103412806988,
-        "write_ms": 83.4267190657556,
-        "foreground_fraction": 0.3322
+        "compile_ms": 113.40938694775105,
+        "render_ms": 1274.5646042749286,
+        "compose_ms": 48.71705174446106,
+        "write_ms": 89.4865682348609,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "83ad890d4f99cf97507351ca0fb35aefeb5a448c3f8e8f081d09906bcb490883",
         "meshes.tar": "75ba2385a27f011244eab69233f713bab49aa88e5ab2466a19f84b847b05a0ec",
-        "render.png": "2c79dca91f53181504c2516208da6762b5b6f72c8cb91155d5b6b42979defc57",
+        "render.png": "798a696a4fbda4b3cd83ff66975f7915c6ac283946590c4ba3a04c81bc3a1834",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -25206,7 +25366,7 @@
         "mjcf_ms": 2.5283358991146088,
         "compile_ms": 92.01539168134332,
         "graph_ms": 89.18058406561613,
-        "render_total_ms": 1685.7431060634553
+        "render_total_ms": 1505.3175780922174
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25254,16 +25414,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 88.33996206521988,
-        "render_ms": 1434.5648032613099,
-        "compose_ms": 59.77003602311015,
-        "write_ms": 86.29121398553252,
-        "foreground_fraction": 0.4103
+        "compile_ms": 86.19482768699527,
+        "render_ms": 1259.6522099338472,
+        "compose_ms": 51.752953324466944,
+        "write_ms": 96.04395600035787,
+        "foreground_fraction": 0.4103,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "815718eb08ca0d930bacb8aab96307b23732303aeb20d3a1502cc90dd8ebf657",
         "meshes.tar": "406722e2ca26e6e3f3fff6bc105e4e51a898518a69dc570431b6309df1eb7163",
-        "render.png": "29e7670dfb22fe601957c3a4adbb24ad8fb493be70a755719f889c447c155ead",
+        "render.png": "8e09249b701a926081cd2d1242acd4c5f618baddd4b7a94bfc9b3b4a5d051fe7",
         "graph-raw.svg": "e5680ff20782f8e226d33d998ea795cfff2c828b00880bdf1fb89803d5f4f533",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -25301,7 +25463,7 @@
         "mjcf_ms": 2.3094159550964832,
         "compile_ms": 73.4991212375462,
         "graph_ms": 75.6313381716609,
-        "render_total_ms": 1580.3725239820778
+        "render_total_ms": 1556.1674209311604
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25356,16 +25518,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 81.95810206234455,
-        "render_ms": 1299.182629212737,
-        "compose_ms": 83.5301517508924,
-        "write_ms": 99.2270358838141,
-        "foreground_fraction": 0.70345
+        "compile_ms": 72.38099491223693,
+        "render_ms": 1285.030561964959,
+        "compose_ms": 65.93072321265936,
+        "write_ms": 121.19181174784899,
+        "foreground_fraction": 0.70345,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "578958d93a1e8aea153a80ec904a9326663e4209d927851fb736d1d35d4bfd0d",
         "meshes.tar": "7179a256c2e5513338dd264bf4497f996e43eda1f15757b759d57d9987c651aa",
-        "render.png": "8dfd7ff3caf785a4db4868dbeb8c3ed66ebbabdf91e5fc89d7f64d0f1c59294f",
+        "render.png": "f171bc3da7ec8bb08f26d9028e47f40e855811b65d5e11902f33c79dbee9b149",
         "graph-raw.svg": "f551d0a1271ec951e2b91557b444fd52200a3ad4b1d0e36ee92807e08a79495f",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -25404,7 +25568,7 @@
         "mjcf_ms": 2.933062147349119,
         "compile_ms": 26.6588618978858,
         "graph_ms": 127.87085911259055,
-        "render_total_ms": 1679.0721090510488
+        "render_total_ms": 1463.8372957706451
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25477,16 +25641,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 28.4005138091743,
-        "render_ms": 1480.418630875647,
-        "compose_ms": 80.05058020353317,
-        "write_ms": 71.89215812832117,
-        "foreground_fraction": 0.4521
+        "compile_ms": 18.133838195353746,
+        "render_ms": 1299.188269302249,
+        "compose_ms": 62.10238998755813,
+        "write_ms": 72.86276621744037,
+        "foreground_fraction": 0.4521,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "4a72a759369d9654d5417ca246b9d2dd8026061947ce3349b2b9c4e8f031f5f8",
         "meshes.tar": "3bd124ae07e495c53335d34158519e60724e8d5c501b70815745fa275e369af9",
-        "render.png": "a4f2833ba096d17dd40d3b08a045123d125548a7a5df2c3833cf940a7cf7e60d",
+        "render.png": "6bf4ce27a25a2a53a932058faa80d0a3e3adb238b23e6a7bf14e60df1405607e",
         "graph-raw.svg": "8aaac81f2ee98e145f5484e83c85da9c398b282dcea09c8fbcd3a33d18705419",
         "graph-robot.svg": "6531de7bc4b6d1210e5a6670c2fa0a1c9f696863125d584809654a6047cad73e"
       },
@@ -25537,7 +25703,7 @@
         "mjcf_ms": 3.8744378834962845,
         "compile_ms": 214.83714506030083,
         "graph_ms": 298.15647192299366,
-        "render_total_ms": 2188.370157033205
+        "render_total_ms": 1683.0591228790581
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25598,16 +25764,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 213.40182423591614,
-        "render_ms": 1838.2119140587747,
-        "compose_ms": 51.95724358782172,
-        "write_ms": 67.8943102248013,
-        "foreground_fraction": 0.15675
+        "compile_ms": 202.0144914276898,
+        "render_ms": 1357.9118330962956,
+        "compose_ms": 45.06776807829738,
+        "write_ms": 66.44230103120208,
+        "foreground_fraction": 0.15675,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "da6823190c5e073ee909b284bf14eaf92c07cba07677f68007bef7121bd75253",
         "meshes.tar": "aa00750caae83338207c52a128d8f43a905011997999d1cceaa50c03c91944ea",
-        "render.png": "9663031b208786a53cc20306cbedabcc1322071d5883b69a2fdc0bc21ac3a837",
+        "render.png": "2b907accf2d7a2a50ffaface9c4ed1d777dc0b77871dcf976f3261d9f41a268f",
         "graph-raw.svg": "df0c381a0c88d2c9e21f3bb44e45c6294284e686a20f5c9b6cf7e18666e49352",
         "graph-robot.svg": "81b8beb8a6e2e07686f962ef75b765006e31afa5fde1a1fec411dbe0c2d588b9"
       },
@@ -25639,7 +25807,7 @@
         "mjcf_ms": 2.422693185508251,
         "compile_ms": 11.573209892958403,
         "graph_ms": 107.29577904567122,
-        "render_total_ms": 1598.605371080339
+        "render_total_ms": 1380.656796041876
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25700,16 +25868,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.601283982396126,
-        "render_ms": 1413.4860173799098,
-        "compose_ms": 79.35216603800654,
-        "write_ms": 75.5259096622467,
-        "foreground_fraction": 0.725725
+        "compile_ms": 9.54681122675538,
+        "render_ms": 1219.1787231713533,
+        "compose_ms": 60.00714423134923,
+        "write_ms": 80.421042162925,
+        "foreground_fraction": 0.725725,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "b7000538dc3fbcff4c2fb8497d4c64e98817d9b530b6f676dcd7f5bd6db54ff2",
         "meshes.tar": "beb9919f1002a1b63da64a51509e6ebe8d9d93775697ed1ba7b20b3873eda47c",
-        "render.png": "39cfffa861bc3465e7ac06cb39f2994f59d943d223b7a2efd5100ae2b855e4d2",
+        "render.png": "2f55869a98b0b22211e4de70dea84db56a15cd0cb1c5b6a20da6baf607b0f270",
         "graph-raw.svg": "46bbdacc64401dc7e62b6d85984dbeb982fb6cd47865f99f805952144f3136b0",
         "graph-robot.svg": "bea7960b134f81cc7a952c94eb74a0da40acc669f738bfa44ff9409b6c77a99a",
         "robot.urdf": "8f2f7c47d58b7f1b9f8646fcdf39d8eb24b8ed3c0d1be69a7c9b38abfe1d309f"
@@ -25752,7 +25922,7 @@
         "mjcf_ms": 3.5583400167524815,
         "compile_ms": 158.66633830592036,
         "graph_ms": 170.8717169240117,
-        "render_total_ms": 2036.3267716020346
+        "render_total_ms": 1709.5943531021476
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25800,16 +25970,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 133.07154178619385,
-        "render_ms": 1672.2480999305844,
-        "compose_ms": 97.57290268316865,
-        "write_ms": 101.3285182416439,
-        "foreground_fraction": 0.55935
+        "compile_ms": 126.64577690884471,
+        "render_ms": 1402.5024841539562,
+        "compose_ms": 58.10227012261748,
+        "write_ms": 110.51876237615943,
+        "foreground_fraction": 0.55935,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "83b1a0e01cfdc1cd0fa0469e93202a740dd3c37c2f3b2f1b26be28ae5e2e278e",
         "meshes.tar": "2e75c0121f9f9dab272441413cb3b54c9e626528de288e67b92d7674dfa811c9",
-        "render.png": "ea467d9e666be1a87a1bc9361c216200bab5460266ddf45008a438bba3e0ab7b",
+        "render.png": "302ed18ef8b3da0a984fae173d8080613f441664c5b97ab5cf9bb54282f9044f",
         "graph-raw.svg": "9e6d8746eb95a9e2bde004c443f88fb6b22ba094381d5f1d4af1c8bbaf610ebb",
         "graph-robot.svg": "24242bd1c60e06189985c929d895798990db29ada0104e8697281447ff271ca6"
       },
@@ -25849,7 +26021,7 @@
         "mjcf_ms": 2.1992437541484833,
         "compile_ms": 17.38107018172741,
         "graph_ms": 97.17335971072316,
-        "render_total_ms": 1782.2407940402627
+        "render_total_ms": 1391.1541067063808
       },
       "mesh_preparation": {
         "status": "complete",
@@ -25910,16 +26082,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.973907869309187,
-        "render_ms": 1601.1038548313081,
-        "compose_ms": 73.96608917042613,
-        "write_ms": 74.30526986718178,
-        "foreground_fraction": 0.5269
+        "compile_ms": 11.847762856632471,
+        "render_ms": 1239.7664850577712,
+        "compose_ms": 54.55828690901399,
+        "write_ms": 73.4807075932622,
+        "foreground_fraction": 0.5269,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "7b87cba5f1ee20a3bcd4f9ae3d892602fdec167358f71c7374e8a83e01f06258",
         "meshes.tar": "8cca6966495de4a9256ed78311a3286451a835690eb71d0f2f356803033cb8d2",
-        "render.png": "baf23792a740ff9bc8397e6a3dd9e7e6cc0e4132d24294fbb3ea3b295a2ca5e6",
+        "render.png": "718ee7d43d6a45a7169db804b348e1208b00a53211bbaf7e9c9253fdeeeebe67",
         "graph-raw.svg": "6cae4ee6b3dccef3649d47edce011eda5526f783498ef12afe1dbf490ab74680",
         "graph-robot.svg": "f58c60cc32e05a1653d02aea881ad7b1d09eba3c257a608ebceec971fd2e9919"
       },
@@ -25953,7 +26127,7 @@
         "mjcf_ms": 3.0772732570767403,
         "compile_ms": 84.97946802526712,
         "graph_ms": 106.6058911383152,
-        "render_total_ms": 1797.0141530968249
+        "render_total_ms": 1505.850532092154
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26021,16 +26195,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 79.5211479999125,
-        "render_ms": 1522.9833531193435,
-        "compose_ms": 79.75038699805737,
-        "write_ms": 89.49113776907325,
-        "foreground_fraction": 0.4565
+        "compile_ms": 50.433621276170015,
+        "render_ms": 1304.1736306622624,
+        "compose_ms": 52.39020986482501,
+        "write_ms": 87.38002786412835,
+        "foreground_fraction": 0.4565,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "aef7fe4f8ff7714fd41860c5dac36049189ebd25c42d0ede67f5822a48fc2456",
         "meshes.tar": "71f280dc4307b4236041ffc39fbb2fa4d183d9499c6b2d23dac56d32f0b9729a",
-        "render.png": "af5bcf4ecdefe5e217151c207015019c71ae955e4307e9f2e2116209f661c29f",
+        "render.png": "c7488d56000e4314e67ab3c1bb8d5031eaab23804aa7bbf4dcb7907389a1d474",
         "graph-raw.svg": "5e1ae6f713f7b0c01bff8107587e52b771d346e025c22d0e9851c5fd0443af77",
         "graph-robot.svg": "b5f63aff869dbbee2010df83ec56395277ea03d24d9cd18282573462d8044603",
         "robot.urdf": "527f0fa612369cf3dbcc90dd605f04ee2c4d9aba76f015110454f0e62f90b76a"
@@ -26070,7 +26246,7 @@
         "mjcf_ms": 50.40568020194769,
         "compile_ms": 4329.442640766501,
         "graph_ms": 4638.622618280351,
-        "render_total_ms": 7447.12198106572
+        "render_total_ms": 6857.630534097552
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26125,16 +26301,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3441.3615791127086,
-        "render_ms": 3791.4165486581624,
-        "compose_ms": 104.04039779677987,
-        "write_ms": 73.18083429709077,
-        "foreground_fraction": 0.6182
+        "compile_ms": 2848.807280883193,
+        "render_ms": 3785.4069001041353,
+        "compose_ms": 99.27080711349845,
+        "write_ms": 86.33879199624062,
+        "foreground_fraction": 0.6182,
+        "style": "link-palette-v1",
+        "colored_bodies": 27
       },
       "artifacts": {
         "robot.mjcf": "9a459fac028faaa6c8e483dfb6f8f8861a0ce2259d47f6c7a79bea393b9582fe",
         "meshes.tar": "cac805fa1788a27c1cc660036d461999b9a8e5130b042447596d4dce46104adc",
-        "render.png": "d99baabbc53d667a4ed3e59d0ff618492d84c9ecbcfacd8fabe5ce5859fc1442",
+        "render.png": "21f4d9872dad6b0fa9abb6b0737878456b90ca01e8d922409fb5befb91841cb1",
         "graph-raw.svg": "1576e38d48c4933ce065f954b30280d83cc76399f1f0e14ca946009505e773fd",
         "graph-robot.svg": "516eb7229cc91f1377fe4090272aec47b7b699e1491da210e67d20d5fcfa2355"
       },
@@ -26173,7 +26351,7 @@
         "mjcf_ms": 55.37515180185437,
         "compile_ms": 3682.5372111052275,
         "graph_ms": 5205.278448294848,
-        "render_total_ms": 8186.873116996139
+        "render_total_ms": 7582.708506844938
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26228,16 +26406,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3586.7007761262357,
-        "render_ms": 4378.111399710178,
-        "compose_ms": 105.50650581717491,
-        "write_ms": 79.84252506867051,
-        "foreground_fraction": 0.74305
+        "compile_ms": 3273.5641971230507,
+        "render_ms": 4058.9678059332073,
+        "compose_ms": 120.74410682544112,
+        "write_ms": 92.17678988352418,
+        "foreground_fraction": 0.74305,
+        "style": "link-palette-v1",
+        "colored_bodies": 30
       },
       "artifacts": {
         "robot.mjcf": "1d508993a8ac68a6d3d984eff6e5cea2af47b1d08bdec3a10f63c5d5afb1c599",
         "meshes.tar": "551b14abf52c7937a3c94487f91b9561478c49e9ba5a3cc5ab3e216ba6e931d6",
-        "render.png": "42f44ce7a2995145cea72a52415fd6882b2a97a951c8c2d3c67d37df3e5a746b",
+        "render.png": "e7a786ca0d989326900ac1e05badf393019ead1d803aa103dc24cf2e5f23b6dd",
         "graph-raw.svg": "37f42fb5eb0d86e2189f72f24f7081e346c358a0182c6901105921947d3796cb",
         "graph-robot.svg": "65649319dc91ae8524f8f396fd188095638b76abe763a0c887b765cbdcb94f35"
       },
@@ -26276,7 +26456,7 @@
         "mjcf_ms": 2.3909462615847588,
         "compile_ms": 497.4072016775608,
         "graph_ms": 83.23169406503439,
-        "render_total_ms": 2088.4301266632974
+        "render_total_ms": 2103.1353399157524
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26324,16 +26504,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 376.96031108498573,
-        "render_ms": 1551.312203053385,
-        "compose_ms": 67.31552677229047,
-        "write_ms": 78.33320694044232,
-        "foreground_fraction": 0.3828
+        "compile_ms": 525.9276716969907,
+        "render_ms": 1432.694838847965,
+        "compose_ms": 52.740790881216526,
+        "write_ms": 79.19780490919948,
+        "foreground_fraction": 0.3828,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "832e306a8d1dedcb1c944d2b73a790460f4cf8fc624ec60b77f17cc963d20e9f",
         "meshes.tar": "41e42855c9d3e8fe5d81bb170d1897376c216559ef9ef39f412cd4ab1762e2bd",
-        "render.png": "99f08b51c39392d44f9a9b113191c518ecc76a3957c38987ef7dee44b8d09f0f",
+        "render.png": "a5700c6bea11f2aa1835649f7dfafa2813959da3e2f3fe417e9e67a38b3f3ce6",
         "graph-raw.svg": "cdb9606bd810400a141b8405e5c3f5169e7694daec821bd7e541ad2a49a7301d",
         "graph-robot.svg": "92b302a505994bd87e05203489478522cffa8220264e0b97299b6e08a34a7e7f"
       },
@@ -26375,7 +26557,7 @@
         "mjcf_ms": 2.434241585433483,
         "compile_ms": 210.2413671091199,
         "graph_ms": 111.85757303610444,
-        "render_total_ms": 1944.7395498864353
+        "render_total_ms": 1503.4364480525255
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26436,16 +26618,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 175.87107932195067,
-        "render_ms": 1407.1886092424393,
-        "compose_ms": 51.74152599647641,
-        "write_ms": 290.53380293771625,
-        "foreground_fraction": 0.0847
+        "compile_ms": 127.92856991291046,
+        "render_ms": 1256.4703528769314,
+        "compose_ms": 40.0657569989562,
+        "write_ms": 67.54142511636019,
+        "foreground_fraction": 0.0847,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "1ee4f8e6feb9fd9eb1463c716fb078aa8e28bf5546702fd7b15a0a61377b4ef4",
         "meshes.tar": "5cdb6e94fb2c492ee6ea9db955e7cbc53dbf360709e6bbd0f9e0035d7c992c3e",
-        "render.png": "a2354fb9140f60108a50117ccc615a968c1e3a2120f8cc52043cb52955b969f7",
+        "render.png": "a967822ae29f30acc4136512cc6f5498dedce6a91768b1f6f88b8a39cfbfc281",
         "graph-raw.svg": "07d3699637eb065123633021e8c74c163d03067e4dc48ccbac9e9fef5a810b26",
         "graph-robot.svg": "5a41d39be0cd978139d04349cb3fecf85361af378e949fcb8209689d513c7137"
       },
@@ -26480,7 +26664,7 @@
         "mjcf_ms": 2.8313747607171535,
         "compile_ms": 142.7571401000023,
         "graph_ms": 101.73289803788066,
-        "render_total_ms": 1748.0049831792712
+        "render_total_ms": 1565.2885059826076
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26554,16 +26738,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 130.7650450617075,
-        "render_ms": 1491.149386856705,
-        "compose_ms": 48.68814395740628,
-        "write_ms": 62.83734319731593,
-        "foreground_fraction": 0.1287
+        "compile_ms": 191.2750811316073,
+        "render_ms": 1263.0832949653268,
+        "compose_ms": 38.72217098250985,
+        "write_ms": 60.688243713229895,
+        "foreground_fraction": 0.1287,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "5e0fd5489fd5398d5bc46f105b53ebb3d90f5fd973b1e97f83f5a6b65ff93a9a",
         "meshes.tar": "25283e7943233797f140c71f94c49be23159436ed73fc52ccef6cf08d032e840",
-        "render.png": "9e9a577284f26c942817600912a86e941a32b2ca716368b42c0a00ac530f25cf",
+        "render.png": "bbb8e4badb5975223ad813d465c08e0224db3ba649057b1b23d608d3808ebfe7",
         "graph-raw.svg": "b51e100553a460162d87610e0716a1a2e9e553d11bbfa1ea484454d9ca750bf3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "e1a6aefa21b4aa7c59f3d33c4f7c94103c483f11a4ade3c8d834fa05a9d851c8"
@@ -26601,7 +26787,7 @@
         "mjcf_ms": 3.8049491122365,
         "compile_ms": 28.221885673701763,
         "graph_ms": 211.44167007878423,
-        "render_total_ms": 1568.2332492433488
+        "render_total_ms": 1375.8524260483682
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26687,16 +26873,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.669355876743793,
-        "render_ms": 1380.9995870105922,
-        "compose_ms": 76.42039796337485,
-        "write_ms": 68.95578419789672,
-        "foreground_fraction": 0.3597
+        "compile_ms": 15.590992756187916,
+        "render_ms": 1224.5806860737503,
+        "compose_ms": 56.27166898921132,
+        "write_ms": 68.06306215003133,
+        "foreground_fraction": 0.3597,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "8e56d4fdfbda73ed245299494bd3cc0fbcea56fd3cfbb074d085e0611644a1d6",
         "meshes.tar": "79c070a2132869675d7c6c97528492bad7109e74178624113b77a9db9839dff5",
-        "render.png": "a72fcd9b4b4c8783e7d245cf2e60eb74f8124fd985102092909514c77e2d764a",
+        "render.png": "c5a1b90520043552fec310a9e75e944d845cc5791406123500636bbe571382a6",
         "graph-raw.svg": "17dff53d3c860e51c7e8dee312a25f7f1e0656236c07f2db7b72ed8180a23361",
         "graph-robot.svg": "4294881d609b90b32f26b607282bf5f6c72983afb22a0d85ce149508efd01618",
         "robot.urdf": "1313640d4097bc886d788474304547aea1077096d6dc5985ce1a869cc5028657"
@@ -26739,7 +26927,7 @@
         "mjcf_ms": 2.691129222512245,
         "compile_ms": 87.89253979921341,
         "graph_ms": 152.85148099064827,
-        "render_total_ms": 1679.4033078476787
+        "render_total_ms": 1573.3001176267862
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26787,16 +26975,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 103.57391089200974,
-        "render_ms": 1386.7450240068138,
-        "compose_ms": 72.2082662396133,
-        "write_ms": 100.37723602727056,
-        "foreground_fraction": 0.6446
+        "compile_ms": 81.74742432311177,
+        "render_ms": 1301.3987466692924,
+        "compose_ms": 58.20776801556349,
+        "write_ms": 120.5674409866333,
+        "foreground_fraction": 0.6446,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "1fa826551794451c9de85a973e9d2e1a2ea567526cd0ec1b1a696863898c63ba",
         "meshes.tar": "ec2f626a2ab1300a0565ed70273b4733ffc168a0e78d00a3346daf8b88054254",
-        "render.png": "094a31d580fe584090bde0db8a98f58f63cb3ab70bef0c44a015b67c6f53e750",
+        "render.png": "7f5ce2089d613899a96ab6764f218918d1d2b2f7cd06e84fe412ffb69d53d7b6",
         "graph-raw.svg": "e5c49f9b614056ba6ef75591dd510dce2f76709de38c4b02d17b3c77d8ba4b73",
         "graph-robot.svg": "276aecaf0bb9ea77f9c2e7a69dadb4164ff29dbcd8ac586a6c4b6232744bf4b4"
       },
@@ -26830,7 +27020,7 @@
         "mjcf_ms": 2.5100046768784523,
         "compile_ms": 5.023877136409283,
         "graph_ms": 113.7036019936204,
-        "render_total_ms": 1411.486831959337
+        "render_total_ms": 1371.9576289877295
       },
       "mesh_preparation": {
         "status": "complete",
@@ -26891,16 +27081,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.950477112084627,
-        "render_ms": 1237.5706592574716,
-        "compose_ms": 87.56738621741533,
-        "write_ms": 63.62539017572999,
-        "foreground_fraction": 0.7810833333333334
+        "compile_ms": 4.444619175046682,
+        "render_ms": 1218.2383188046515,
+        "compose_ms": 67.60577484965324,
+        "write_ms": 69.98795690014958,
+        "foreground_fraction": 0.7810833333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "314455362c039a94336c2b5550a67aafe1639fb55e6b15ae704ab49c931b0b87",
         "meshes.tar": "8b8dca2d26cff271882486d365cb9bfdafda533c7bd81b7d64933280e6bd8461",
-        "render.png": "209ce223dc1e954b2aadab866576587384be0eb4491d891c261a7fb95bda96f4",
+        "render.png": "55845be2c59106dd0dd9798a792cd41a91239ab912a9757ce44a01348ff97893",
         "graph-raw.svg": "e524fee0c1470d601e8f6993c34dda0bbdcde1a0069805b73d0f7511c2534e9a",
         "graph-robot.svg": "f1a5f021bf1c728c3f3ced1684a56dbf15d127ec08a5d56a9b76572bbf563364",
         "robot.urdf": "08efd7e492c3d89e6a41772d4e874b5f099f8f17d3a24b5bb3adecf3f8210bea"
@@ -26952,7 +27144,7 @@
         "mjcf_ms": 8.7429229170084,
         "compile_ms": 844.6502876468003,
         "graph_ms": 885.5597176589072,
-        "render_total_ms": 3120.702758897096
+        "render_total_ms": 2753.63853527233
       },
       "mesh_preparation": {
         "status": "complete",
@@ -27013,16 +27205,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 912.9019668325782,
-        "render_ms": 1979.4319793581963,
-        "compose_ms": 103.26205333694816,
-        "write_ms": 105.8963150717318,
-        "foreground_fraction": 0.6226
+        "compile_ms": 739.7581082768738,
+        "render_ms": 1817.6388358697295,
+        "compose_ms": 83.63137440755963,
+        "write_ms": 100.86930403485894,
+        "foreground_fraction": 0.6226,
+        "style": "link-palette-v1",
+        "colored_bodies": 53
       },
       "artifacts": {
         "robot.mjcf": "60bbc06d2973a8a6f706316c8b6b82f165d32a6a7781c6589b241bd4d78778d2",
         "meshes.tar": "cf4a5eff429dde836225ee82b178cdb1e31bc65ba58c1171e69c84730754edcd",
-        "render.png": "9e3efa772579392681eece9680dfc013b8ea111c0ac2e6ca17e919ebf4b994ef",
+        "render.png": "2e3698c9397fac7c59256c2dbe5909fa22392564d4e16f1a0d2bcc6763279209",
         "graph-raw.svg": "1d12f5060af0330b807e08ccd3cb65eef1d39b964d73ffa309fc6347054016ce",
         "graph-robot.svg": "9c0f25f9ada73852fe247c37870cbc46758d243ee76f7c163208c3cbb8d3c22b"
       },
@@ -27069,7 +27263,7 @@
         "mjcf_ms": 5.0010960549116135,
         "compile_ms": 258.2132597453892,
         "graph_ms": 296.31122574210167,
-        "render_total_ms": 2100.503047928214
+        "render_total_ms": 1734.9897250533104
       },
       "mesh_preparation": {
         "status": "complete",
@@ -27117,16 +27311,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 247.5968007929623,
-        "render_ms": 1587.9624644294381,
-        "compose_ms": 78.82237527519464,
-        "write_ms": 176.18479812517762,
-        "foreground_fraction": 0.726
+        "compile_ms": 174.43963792175055,
+        "render_ms": 1365.7210478559136,
+        "compose_ms": 74.92086896672845,
+        "write_ms": 108.19926159456372,
+        "foreground_fraction": 0.726,
+        "style": "link-palette-v1",
+        "colored_bodies": 16
       },
       "artifacts": {
         "robot.mjcf": "71adcbf8d910dc7f4ac3831e64d3011d5f4625fb5bd90699371f9676eda806ed",
         "meshes.tar": "0076cbb89aed0e5c6155568990e44bcfcf97609e762d805b5e01a5bb43a70e28",
-        "render.png": "7cb7160fcc774a0ee302d26ba29c605e7dd73c8f2e2e0ff02b06410d76502a5a",
+        "render.png": "47201dc7d4d1ca27caa35cafe29337f0bb729c25d02a3efdd4cca0006915635b",
         "graph-raw.svg": "b14d538fc51a81633e8e81212a482705393e97ece0a13fc2cc6ef158dceda6f8",
         "graph-robot.svg": "319661bcf76958dac6352ab1829db4aac5d3503fd009c6bc16c1266782b62f63"
       },
@@ -27175,7 +27371,7 @@
         "mjcf_ms": 7.738383952528238,
         "compile_ms": 400.9826662950218,
         "graph_ms": 560.9189569950104,
-        "render_total_ms": 2291.4337823167443
+        "render_total_ms": 2164.766123984009
       },
       "mesh_preparation": {
         "status": "complete",
@@ -27236,16 +27432,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 346.4718610048294,
-        "render_ms": 1721.0958148352802,
-        "compose_ms": 89.03936389833689,
-        "write_ms": 115.64715998247266,
-        "foreground_fraction": 0.72105
+        "compile_ms": 318.5064001008868,
+        "render_ms": 1643.3809413574636,
+        "compose_ms": 71.08477083966136,
+        "write_ms": 120.13807380571961,
+        "foreground_fraction": 0.72105,
+        "style": "link-palette-v1",
+        "colored_bodies": 29
       },
       "artifacts": {
         "robot.mjcf": "cc1e84dc9fa0aef93d791d769650ba6fc8861a542d865f41a60738680952f7ef",
         "meshes.tar": "a8ebf0115daa6eb1fc83499c01ca785450d0e757bc6bbd7123cab393474c070e",
-        "render.png": "6193b34df17ef35941bc98679d124450e841f34b2758d31a8ba4fd49f537560a",
+        "render.png": "49376bb51c4428f7903fe7062d4b5d057e4dacbc80fb3b167169ec0bc300a03e",
         "graph-raw.svg": "09d60cd1a8d02dd2812c0d805f0124fc4c73ab38396e10c481a06517541c2337",
         "graph-robot.svg": "085ce5f9d9c2a1ba63ea9d498d0b063a4b7d0dd487bdef3c9e78f5466edb3b3a"
       },
@@ -27277,7 +27475,7 @@
         "mjcf_ms": 2.7691260911524296,
         "compile_ms": 1412.2743378393352,
         "graph_ms": 81.2095059081912,
-        "render_total_ms": 3390.2711058035493
+        "render_total_ms": 3375.5534649826586
       },
       "mesh_preparation": {
         "status": "complete",
@@ -27338,16 +27536,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1319.6136020123959,
-        "render_ms": 1879.3876678682864,
-        "compose_ms": 69.81767294928432,
-        "write_ms": 107.21721639856696,
-        "foreground_fraction": 0.780325
+        "compile_ms": 1554.4026419520378,
+        "render_ms": 1625.7785367779434,
+        "compose_ms": 64.60056314244866,
+        "write_ms": 119.16391970589757,
+        "foreground_fraction": 0.780325,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "9b955322475a449ce0ec4cccd26229748e72a9e76c336e89f4e3f394fa17948c",
         "meshes.tar": "165f40d60b8c735d9dbaeb663827abd2022f59789c649c2069c7599d25293c00",
-        "render.png": "36ebae77f62ef811818c986bd9e53c26ebe775db18fcdefac980ffce6f46a66d",
+        "render.png": "91c932d363373e7eade850265fd02f62c504f3d8d103d5ff275dd0061f4b1031",
         "graph-raw.svg": "6709e8d5f8a14e2b0253fabdd7b5c708e4ccfc69813c33c3bc765b602efc8059",
         "graph-robot.svg": "7313c4c9d05fe8f66e8e5046340aa7bc1d54e3462a91edd76d58b2efa7ffccac",
         "robot.urdf": "e000bc109f226ff062936078acb8e1d20584678f4a885416b14bc4b223f54665"
@@ -27360,12 +27560,89 @@
   ],
   "output": {
     "archive": "shard-01152.tar",
-    "archive_sha256": "3661e28224826557e368cc32ab8a15e248f5b1490b29c7792f3f616f5f1de285",
+    "archive_sha256": "94a028d2f2ae90cfdc7fc8b9fbd4ddfb7f4903ff65dcb2cba85ebe64600d9eb8",
     "packaged_samples": 100
   },
+  "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": "3661e28224826557e368cc32ab8a15e248f5b1490b29c7792f3f616f5f1de285",
+      "report_sha256": "42c34d724af63111b8d22c7c3930dc8027388280a8fa887ba90564da89ba8448"
+    },
+    "scheduler": {
+      "job_id": "60317945",
+      "array_job_id": "60317938",
+      "array_task_id": "1152",
+      "node": "gl3336",
+      "host": "gl3336.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 100,
     "compiled_models": 100,
-    "archive_sha256": "3661e28224826557e368cc32ab8a15e248f5b1490b29c7792f3f616f5f1de285"
+    "archive_sha256": "94a028d2f2ae90cfdc7fc8b9fbd4ddfb7f4903ff65dcb2cba85ebe64600d9eb8"
   }
 }