diff --git "a/onshape/shard-01154.report.json" "b/onshape/shard-01154.report.json"
--- "a/onshape/shard-01154.report.json"
+++ "b/onshape/shard-01154.report.json"
@@ -217,7 +217,7 @@
         "mjcf_ms": 3.3736801706254482,
         "compile_ms": 2.8558396734297276,
         "graph_ms": 107.23393829539418,
-        "render_total_ms": 1758.2492479123175
+        "render_total_ms": 1754.47536399588
       },
       "mesh_preparation": {
         "status": "complete",
@@ -265,16 +265,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.6560877449810505,
-        "render_ms": 1552.7859688736498,
-        "compose_ms": 99.2261958308518,
-        "write_ms": 80.19547211006284,
-        "foreground_fraction": 0.7970083333333333
+        "compile_ms": 4.415295086801052,
+        "render_ms": 1548.2912408187985,
+        "compose_ms": 100.90571129694581,
+        "write_ms": 86.93606918677688,
+        "foreground_fraction": 0.7970083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "72d2ac45dbd865950192e0411b818af306ec3ebeffbeb8141aa1b31dbc60225b",
         "meshes.tar": "969c7f747d4b56e74d9e43233dc363c6f833440ddb02ee1d99326f921688a3cf",
-        "render.png": "af9a30e0df113dad611dc534a22de6b34d51bc18a7884d9e516b7506effaccc8",
+        "render.png": "b561bae46343adf49bf55167850633392b9401f48b61f9a9f969e1143e41e57a",
         "graph-raw.svg": "6d1245df36b5264e29db6f56c870009617d053b10e3000e37ca9022cf679db0d",
         "graph-robot.svg": "ef28825ae91b34c467d7166c5aef24180d9bface9b99d14c011a1526c1ea4037"
       },
@@ -317,7 +319,7 @@
         "mjcf_ms": 2.8886571526527405,
         "compile_ms": 27.51822117716074,
         "graph_ms": 212.33334625139832,
-        "render_total_ms": 1707.9810458235443
+        "render_total_ms": 1738.4654842317104
       },
       "mesh_preparation": {
         "status": "complete",
@@ -365,16 +367,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.941128056496382,
-        "render_ms": 1540.1550941169262,
-        "compose_ms": 54.84056379646063,
-        "write_ms": 92.77154970914125,
-        "foreground_fraction": 0.5038
+        "compile_ms": 31.776816118508577,
+        "render_ms": 1494.1156329587102,
+        "compose_ms": 79.5933110639453,
+        "write_ms": 109.97938504442573,
+        "foreground_fraction": 0.5038,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "a467a07332876a83c85e1805490c6ca29d50bda1c685790c16c7d898d29cf198",
         "meshes.tar": "8aca43f68331dd36cd9d995c0e2433a08b02c73daa4a829bf23adbf6d78d3b52",
-        "render.png": "cd729a282c014f94733ac6f48321f9ffd9a047030b9a3d9bee18dccd2114a310",
+        "render.png": "4d2619852b10b5e4660f51dbeb10c08a3d026ab638d05163dfdfe8b2da1e55f4",
         "graph-raw.svg": "98604dfc484133df558013a37bff9280fe10a998ff5b97ca1d9c3cd9cad93f37",
         "graph-robot.svg": "fbba46a7b51c679bc397011d5ecd7f01d1f100e3df0c89d45bcc64e939701c29"
       },
@@ -409,7 +413,7 @@
         "mjcf_ms": 3.220506012439728,
         "compile_ms": 11.314368806779385,
         "graph_ms": 157.45975635945797,
-        "render_total_ms": 1646.303760819137
+        "render_total_ms": 1643.135660327971
       },
       "mesh_preparation": {
         "status": "complete",
@@ -483,16 +487,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.012785084545612,
-        "render_ms": 1488.059300929308,
-        "compose_ms": 66.04628032073379,
-        "write_ms": 73.70407972484827,
-        "foreground_fraction": 0.5137
+        "compile_ms": 15.742306597530842,
+        "render_ms": 1460.8855950646102,
+        "compose_ms": 69.20493021607399,
+        "write_ms": 77.46093580499291,
+        "foreground_fraction": 0.5137,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "a0d42b578e8383c94145c3f0ffd0bb3c92f727a70e152fa2c228ae21e56689e5",
         "meshes.tar": "8825f6f7bbd82fdd10b123ae582575365c7fc1dc53a124ee1047a568cf6b9767",
-        "render.png": "f4febba533f81b1e2e07fc3dfec6bace1a18bf180c7e2b2a5bad80b32d7d2b6b",
+        "render.png": "029b470b8689562203d7f76e2ad258c9c18107f0f2470d01dda8ce1540d25540",
         "graph-raw.svg": "ac1917d96df5ac01cc82ec758eea952a159640ce74c1b4e9ea566d615e55379d",
         "graph-robot.svg": "4eadb07e232dbdbf438ae2188d683f0a291343ceab15e7f66be36b5ba893b326",
         "robot.urdf": "de7d8e0adf4aa0d7a87d380fe100d3c99209e840a2c5c1a5b4bba57151522820"
@@ -536,7 +542,7 @@
         "mjcf_ms": 3.537497017532587,
         "compile_ms": 382.90872098878026,
         "graph_ms": 275.70707723498344,
-        "render_total_ms": 1982.4931030161679
+        "render_total_ms": 2175.2095809206367
       },
       "mesh_preparation": {
         "status": "complete",
@@ -711,16 +717,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 119.54628815874457,
-        "render_ms": 1696.8043688684702,
-        "compose_ms": 70.30806737020612,
-        "write_ms": 78.18263210356236,
-        "foreground_fraction": 0.7151083333333333
+        "compile_ms": 359.5051779411733,
+        "render_ms": 1646.097828168422,
+        "compose_ms": 72.37942889332771,
+        "write_ms": 81.74261823296547,
+        "foreground_fraction": 0.7151083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "0d88ca52e33f1526001c8e6924c20e06aa3c379b2d152aa00ec84b98e4a10b91",
         "meshes.tar": "f1f48ffa777b10908c7065c8182c0150a790d284655e8083b95e6538bcc8f34e",
-        "render.png": "8641a38e5700deb2389f3af6bc812d5c1fc5f6a9a48cd077a8779cbdc1ede207",
+        "render.png": "67f6e430cfe5cb86213125206f70bd70ed485083854822e72c2d87bf0058f84d",
         "graph-raw.svg": "357939595f8a0df80cbf6ccaee1e5b97ae15c9376060ddeff4843ff404832038",
         "graph-robot.svg": "3132d899dcea247a8ce92ca8d7f782bb98b956012948cef43c89eda177876bfe"
       },
@@ -768,7 +776,7 @@
         "mjcf_ms": 3.8249697536230087,
         "compile_ms": 6.1122882179915905,
         "graph_ms": 185.10163761675358,
-        "render_total_ms": 1635.98698284477
+        "render_total_ms": 1594.5452358573675
       },
       "mesh_preparation": {
         "status": "complete",
@@ -823,16 +831,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.409050241112709,
-        "render_ms": 1489.5844371058047,
-        "compose_ms": 66.58132281154394,
-        "write_ms": 64.15239907801151,
-        "foreground_fraction": 0.65615
+        "compile_ms": 4.697726108133793,
+        "render_ms": 1450.7110179401934,
+        "compose_ms": 62.293299939483404,
+        "write_ms": 64.73065400496125,
+        "foreground_fraction": 0.65615,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "5fc6d819efbf3fc2520b157e90544a1c0fce271f22309972c75932c21b852942",
         "meshes.tar": "3e2d8213232561d02d1efbf43d0fb20c8dab718069b2bf84559c90fb5e87f2fe",
-        "render.png": "78722815d3567364582c124e880ad8ff896f87782b6ebbaa0fdb71098ee48921",
+        "render.png": "f59d3229b2331fd450c2c22e1c9ffbbc52785586b22a350fe344b738935c7e9f",
         "graph-raw.svg": "0b88eb5375e0db5b234393295248abc31f2a42b8a47c74cd28ce96a7edf203ec",
         "graph-robot.svg": "07a800bd742941797b41d9a4f07c67c403992f1b85c914e8fc283b8202d06d8f"
       },
@@ -870,7 +880,7 @@
         "mjcf_ms": 127.37499503418803,
         "compile_ms": 643.8211910426617,
         "graph_ms": 190.26546319946647,
-        "render_total_ms": 1905.914254952222
+        "render_total_ms": 2452.33336603269
       },
       "mesh_preparation": {
         "status": "complete",
@@ -918,16 +928,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 119.49976813048124,
-        "render_ms": 1647.6840153336525,
-        "compose_ms": 44.849073980003595,
-        "write_ms": 77.73583987727761,
-        "foreground_fraction": 0.23815
+        "compile_ms": 683.4256541915238,
+        "render_ms": 1627.5237607769668,
+        "compose_ms": 44.85367005690932,
+        "write_ms": 84.56375589594245,
+        "foreground_fraction": 0.23815,
+        "style": "link-palette-v1",
+        "colored_bodies": 23
       },
       "artifacts": {
         "robot.mjcf": "538f41044f54792c137587dbde7b1b518eb07d5a8f90875c20eb922f2f32858b",
         "meshes.tar": "59b5bebfbc2e3025fe4414f32552957c41eacfff01e1f72488e3f9487ada9ebf",
-        "render.png": "447bf9e56b019a6401f68c896af7d7667355578fa5625e3e1aca07d307dce8c7",
+        "render.png": "be8d91a7e7c4931700d3ec94eeb587d2d594eb44cf1174689e3884c5f89187aa",
         "graph-raw.svg": "f5c4286e5f5cb6de0958c5a831199d5d98571ba0abb648a29eb197df5d498a35",
         "graph-robot.svg": "efc0a30629bd04123c7bf8cf63c03a046c5f84adcf6e37b54715676105d93fce"
       },
@@ -965,7 +977,7 @@
         "mjcf_ms": 2.490776125341654,
         "compile_ms": 34.5223369076848,
         "graph_ms": 108.68661617860198,
-        "render_total_ms": 1620.5149670131505
+        "render_total_ms": 1623.0645906180143
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1013,16 +1025,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.757334943860769,
-        "render_ms": 1473.9754498004913,
-        "compose_ms": 63.288736157119274,
-        "write_ms": 65.93077396973968,
-        "foreground_fraction": 0.2849
+        "compile_ms": 38.10045914724469,
+        "render_ms": 1442.2878278419375,
+        "compose_ms": 57.39124398678541,
+        "write_ms": 70.07988402619958,
+        "foreground_fraction": 0.2849,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4ef1df2aef217a498682e5f290f06fca431b81d8584158310452a91e31210405",
         "meshes.tar": "ce1ce1211229facc14a5baa1b474095579b85ceee34fe0f233fb3a83e5cfa28b",
-        "render.png": "c4323657267db99ddc91e8220f2d44438e35a4360ae951e3d8a7e2f685d7c7b6",
+        "render.png": "1c9dcd022123bc3e84ba14a4dc177762f14bdd25d280a9d1585eeb2599c14bcd",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -1053,7 +1067,7 @@
         "mjcf_ms": 2.8166980482637882,
         "compile_ms": 2.3223538883030415,
         "graph_ms": 73.29128310084343,
-        "render_total_ms": 1626.1113211512566
+        "render_total_ms": 1620.161441154778
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1114,16 +1128,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.4840477854013443,
-        "render_ms": 1501.8126447685063,
-        "compose_ms": 65.87969930842519,
-        "write_ms": 43.13372913748026,
-        "foreground_fraction": 0.78595
+        "compile_ms": 3.509650006890297,
+        "render_ms": 1460.039630997926,
+        "compose_ms": 80.01347305253148,
+        "write_ms": 59.329390060156584,
+        "foreground_fraction": 0.78595,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "5dadff2acca53d16992872f32d52f8867bbd93814069c481da5108053fdfc0c8",
         "meshes.tar": "4b73eee77c5672c18eea2d855e2b29af0e63d7780e5eb1fd64bfb0acd6108b90",
-        "render.png": "f62166f2a67f198225622adb46688ad5b4c6bc42499156709440477117ccb4e2",
+        "render.png": "909ef46a42f31086c481942604f0c345167a59f2473d415f79719894684a330e",
         "graph-raw.svg": "ea2ddf4ac8b104cd3e9e7003678649503d80ebafd792619e77599e7782533e5a",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "76b312b056572650ebd1a3f32d0c7efca24477ecbe9928e44c2460e44e8471c3"
@@ -1155,7 +1171,7 @@
         "mjcf_ms": 2.463890705257654,
         "compile_ms": 13.567776884883642,
         "graph_ms": 67.71672004833817,
-        "render_total_ms": 1783.6837037466466
+        "render_total_ms": 1669.3126689642668
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1216,16 +1232,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.477720104157925,
-        "render_ms": 1473.5730499960482,
-        "compose_ms": 82.51650910824537,
-        "write_ms": 208.12368486076593,
-        "foreground_fraction": 0.79475
+        "compile_ms": 23.97684007883072,
+        "render_ms": 1449.4849517941475,
+        "compose_ms": 67.31973495334387,
+        "write_ms": 115.73340091854334,
+        "foreground_fraction": 0.79475,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "a12448eef033962776b08376c08d75740194d1384aea5b228d479b2333b618a4",
         "meshes.tar": "cae73834ac7025f6381cf3e7b50b482bf9f65026140a54ac457de7ca16a77ef7",
-        "render.png": "5fa103fafa5fcb4783bb8ccaabe9f69f2d19e00571169e600ce5e911bda077df",
+        "render.png": "515fb52c47ed8a1866e17a6ec7132d5a3eb1c108d28fb8b1faa39ef403a049e8",
         "graph-raw.svg": "dd0388018cd21d3243d2ea771fdc68592cadf81abdabf1020306cd9173d59b87",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "5a3d31effee085f16b92ab22b46be12ee104021e3e446400632e06e03fdf2d4e"
@@ -1260,7 +1278,7 @@
         "mjcf_ms": 3.5280617885291576,
         "compile_ms": 2.2689728066325188,
         "graph_ms": 160.21275939419866,
-        "render_total_ms": 1592.3689627088606
+        "render_total_ms": 1501.0837791487575
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1321,16 +1339,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.3422441445291042,
-        "render_ms": 1443.4009920805693,
-        "compose_ms": 78.63311097025871,
-        "write_ms": 54.91557298228145,
-        "foreground_fraction": 0.51205
+        "compile_ms": 3.1465021893382072,
+        "render_ms": 1358.7509002536535,
+        "compose_ms": 71.5726432390511,
+        "write_ms": 55.118716321885586,
+        "foreground_fraction": 0.51205,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "57b5b6d236397bed55e6c84e4dfad42aab0d7cdb9390c11b72be904322a6e132",
         "meshes.tar": "b2b809ace8b59fef51c2a5ece706b1351b276d5bf10a2c3f25a766210f8530a5",
-        "render.png": "63058b7af4f16af514e080fecd0d83836db33d56693772f9750ef087eee79bb6",
+        "render.png": "2e7e8ee03b09f19739eec98545f8e9162b690aac172ce4dda08ba5366809fec7",
         "graph-raw.svg": "93664f491310778bf15c27e15a7931892c4ba10e7378a29589f7b7f182be119f",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "5598cc49d537bbf1ed920cfa03d7acb82092e60f1c3181943f68533609a3da15"
@@ -1362,7 +1382,7 @@
         "mjcf_ms": 3.299269825220108,
         "compile_ms": 7.570391986519098,
         "graph_ms": 67.35972594469786,
-        "render_total_ms": 1646.7250031419098
+        "render_total_ms": 1648.7109907902777
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1423,16 +1443,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.0302819795906544,
-        "render_ms": 1472.8679489344358,
-        "compose_ms": 78.31097627058625,
-        "write_ms": 79.46053659543395,
-        "foreground_fraction": 0.7656
+        "compile_ms": 8.489190135151148,
+        "render_ms": 1481.98445700109,
+        "compose_ms": 61.99387600645423,
+        "write_ms": 84.07011814415455,
+        "foreground_fraction": 0.7656,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "be61a1bb8f35c9b2f721e2d357727fe643285c0d8532c9c70aecab7ad04e9ac8",
         "meshes.tar": "aec585d89238b99b70f7b825d36c3d718571b938f28d01111895cea90c2c2c79",
-        "render.png": "f8e254666a940f62a7530a69e939247042ac88b867723f2117887e283bbe6e7b",
+        "render.png": "e1ead2b7ebdc9603820111ba2d020c4a4ce4402d0b7ff17ff00f4e03758add77",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a7f7de8980afa430a295ba75bbeddddc233c9139e19a065af31a14271826d2a6"
@@ -1464,7 +1486,7 @@
         "mjcf_ms": 2.936751116067171,
         "compile_ms": 27.979078236967325,
         "graph_ms": 81.30346424877644,
-        "render_total_ms": 1634.5480266027153
+        "render_total_ms": 1690.350047312677
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1525,16 +1547,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.633063778281212,
-        "render_ms": 1469.5999352261424,
-        "compose_ms": 61.340550892055035,
-        "write_ms": 84.42983962595463,
-        "foreground_fraction": 0.6655
+        "compile_ms": 27.178716380149126,
+        "render_ms": 1495.7523792982101,
+        "compose_ms": 61.85534177348018,
+        "write_ms": 93.38444005697966,
+        "foreground_fraction": 0.6655,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "c86b89d4d27ac38a51b1111abc28d4c394f437ef5d94313498909053623c054e",
         "meshes.tar": "a01cf5a1f490f67caf32879bf1cc1a7db43754a7d814b0bc1f935b13171a0937",
-        "render.png": "bc2f15845e8eb2f6cda9524b480f20282a32d855b4644799d5091050881f3e66",
+        "render.png": "a0888f904ca6e102ef0694ce573abc8a8bcd6385d2aea1277496030319626034",
         "graph-raw.svg": "428a3e355c221f458e28c131abbf094962ed7789a9a7b2e892b30179a0e0f9de",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "b305d180b054eebc253ff5ac492be2a9ba21c103b96efd87bcc02ccd18de6f90"
@@ -1571,7 +1595,7 @@
         "mjcf_ms": 3.565541934221983,
         "compile_ms": 25.223194155842066,
         "graph_ms": 152.87834405899048,
-        "render_total_ms": 1638.9897498302162
+        "render_total_ms": 1669.0258411690593
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1645,16 +1669,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.747770588845015,
-        "render_ms": 1473.8272060640156,
-        "compose_ms": 68.87606717646122,
-        "write_ms": 76.26297092065215,
-        "foreground_fraction": 0.76725
+        "compile_ms": 24.570245761424303,
+        "render_ms": 1485.4376199655235,
+        "compose_ms": 68.96063406020403,
+        "write_ms": 76.54732884839177,
+        "foreground_fraction": 0.76725,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "b5597963f5dc0a94f3836a2ff95536ee3ad4a89cd98f05e023557d58d0965373",
         "meshes.tar": "3a4371a385147c3615fb8dafad4efed15db057bd209e557e081255a484a9c93c",
-        "render.png": "ddf242354e53af94325e661da0a80be66f9bf5ed983d0327e90538e0fc601c6c",
+        "render.png": "d772bde21eb202f0bc6543940fe91efc60f3e56b86fdc5e5a49f34e820164600",
         "graph-raw.svg": "f96f9f33afbe0995a9489c120dc1f6e1f84036dda59a0a80c5d9363695f0a614",
         "graph-robot.svg": "29b8110828b1e740ec39a2e48d004a18cc88136fc59ac614a4d7dfa863ef09f3",
         "robot.urdf": "e179398490df3eba1e9d189a0931b34fd9890a57a33d6e531a413c9610f05381"
@@ -1695,7 +1721,7 @@
         "mjcf_ms": 6.976372562348843,
         "compile_ms": 87.10836200043559,
         "graph_ms": 570.8989561535418,
-        "render_total_ms": 1819.8639210313559
+        "render_total_ms": 2241.065348032862
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1829,16 +1855,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 27.386359870433807,
-        "render_ms": 1593.563828151673,
-        "compose_ms": 89.53840797767043,
-        "write_ms": 96.5743800625205,
-        "foreground_fraction": 0.7018
+        "compile_ms": 251.6393489204347,
+        "render_ms": 1531.7474491894245,
+        "compose_ms": 80.62495337799191,
+        "write_ms": 364.57984196022153,
+        "foreground_fraction": 0.7018,
+        "style": "link-palette-v1",
+        "colored_bodies": 33
       },
       "artifacts": {
         "robot.mjcf": "c992ad5e5e29f9e28ce5f0c14ed4cd1d63aa339f82f215c45ed5f0a8bf660a53",
         "meshes.tar": "a0c90ce7a5c6d788dde7b7f109d7a92c14ccea89196252864a1f820ca0b5175e",
-        "render.png": "563b296cfa93c3a45ce0cf243b7e276fdc31b3fa9651d70505047f8946d57b6a",
+        "render.png": "ed10a36fa2c7078126ab08df08e7db8634e40c98580ce7244562e8fdfdd9c1db",
         "graph-raw.svg": "12bd1a6bbfb9c5154b511e088cccf6c23cb320e1a6c7d792cdb01164fd5491be",
         "graph-robot.svg": "89c6810d41ddae985fe94e09676a69bb8c0d8cb5750dd3584dcd992e64e349b1",
         "robot.urdf": "d02ec38460883dea9a2bc3b5ece9361b7872d2a0ec5f128d20dd436572bf7e73"
@@ -1872,7 +1900,7 @@
         "mjcf_ms": 3.914081957191229,
         "compile_ms": 29.18901015073061,
         "graph_ms": 158.1970159895718,
-        "render_total_ms": 1684.6569860354066
+        "render_total_ms": 1652.346160262823
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1933,16 +1961,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.900177173316479,
-        "render_ms": 1512.818081304431,
-        "compose_ms": 66.63807388395071,
-        "write_ms": 83.29470222815871,
-        "foreground_fraction": 0.5907
+        "compile_ms": 29.755734838545322,
+        "render_ms": 1454.5129328034818,
+        "compose_ms": 66.7278366163373,
+        "write_ms": 89.1448869369924,
+        "foreground_fraction": 0.5907,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "7a3a6856c1d89a913fefcecb8554a01e5df84a6695b9b27299d2bb65a0ab21d2",
         "meshes.tar": "4ad65732a37212e5108d9cd0fc60f5f8a00e01ada1e867eca9161b569fc4aaf5",
-        "render.png": "cda97a52c05a0f9cc49b234438cd9a9093b243e6e0723b1ac6efb6f9de18150e",
+        "render.png": "91666c119c6705b5c4f0b7b11fd439ed3a16a86caa0b31a7db1b9372d9603b1f",
         "graph-raw.svg": "8e13b56d032ba7fd35d12bf20f1f001571624785185ff721f34065b1eabe896e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "71084355afcddb7bc052ce0e249c7ce16317674f7eb418d3d030917b35f4335a"
@@ -1983,7 +2013,7 @@
         "mjcf_ms": 6.275535095483065,
         "compile_ms": 84.25703085958958,
         "graph_ms": 710.6937449425459,
-        "render_total_ms": 1786.1696276813745
+        "render_total_ms": 1807.4295781552792
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2117,16 +2147,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.860279962420464,
-        "render_ms": 1553.5130561329424,
-        "compose_ms": 90.65524069592357,
-        "write_ms": 97.17336902394891,
-        "foreground_fraction": 0.70235
+        "compile_ms": 98.36255200207233,
+        "render_ms": 1501.0750880464911,
+        "compose_ms": 73.88081587851048,
+        "write_ms": 121.24272994697094,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 29
       },
       "artifacts": {
         "robot.mjcf": "8a450724a42e14f3d2e88109dc08e12ca8f0e44876068a1a1510586785790854",
         "meshes.tar": "a53ebe7cef80da11f8515b4016ebdb50d58996157a9a178580ac889cefeff563",
-        "render.png": "e8dd8e7d8555a70fb2ee5a1a0d56895b3fd4dc9187c050d06d41b6deb6387221",
+        "render.png": "6308416245172e7080497f8ad6c9bf445184af4c37334364cc86c7634de3aa95",
         "graph-raw.svg": "990cc07ffb1bb8b55ad282508f336757c0f342576367c3bdf94b6f1d64abfa0b",
         "graph-robot.svg": "8769d0c033bc8221b01d1e92696bc1551ef19b0bbb8b728c806b75e3c67660a3",
         "robot.urdf": "735226cc166907e1546dd1a1c9446798657d30e6d7b283a3eddc6e1b9b0db28d"
@@ -2165,7 +2197,7 @@
         "mjcf_ms": 7.047046907246113,
         "compile_ms": 128.04602412506938,
         "graph_ms": 579.0456510148942,
-        "render_total_ms": 1792.833457235247
+        "render_total_ms": 1876.8094084225595
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2335,16 +2367,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 35.07717885077,
-        "render_ms": 1588.9674173668027,
-        "compose_ms": 71.12644799053669,
-        "write_ms": 84.00321984663606,
-        "foreground_fraction": 0.7499916666666666
+        "compile_ms": 146.9711260870099,
+        "render_ms": 1563.5765958577394,
+        "compose_ms": 67.11525190621614,
+        "write_ms": 85.22475603967905,
+        "foreground_fraction": 0.7499916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 22
       },
       "artifacts": {
         "robot.mjcf": "531a130e0bb452344454bffcd09363dbd12443707e2307b3ff42f1414220df37",
         "meshes.tar": "7414f12b03fbd59d01634b6153cc42ac0c806c0c2b00b0a8366fc1041378ffc7",
-        "render.png": "f6301d224a82a92180c317eaa1704300d3b21183815ce464a398c9715a91a22d",
+        "render.png": "45d8e3081144d5c29657bdacfdef3b617ef9f99e3ab466191bbf73b27f347477",
         "graph-raw.svg": "842706c3b6f7636c9f5afb0d66daef6b8f53b22f6eefbfddefbebd54c5b014f8",
         "graph-robot.svg": "0b428646d407dff5cdb1d0dff2abaf319434d7f2a74a361d0021a3e0a0479788",
         "robot.urdf": "2bf0d454fdc72f474a973c07e9ea17e513d76647d8223a4a51563ecd372e4b38"
@@ -2382,7 +2416,7 @@
         "mjcf_ms": 5.558391101658344,
         "compile_ms": 87.90363324806094,
         "graph_ms": 383.9147980324924,
-        "render_total_ms": 1698.4389601275325
+        "render_total_ms": 1807.8890047036111
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2516,16 +2550,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.68631597608328,
-        "render_ms": 1527.8984680771828,
-        "compose_ms": 57.476726826280355,
-        "write_ms": 81.2368686310947,
-        "foreground_fraction": 0.3256
+        "compile_ms": 88.61842704936862,
+        "render_ms": 1551.776064094156,
+        "compose_ms": 64.58803592249751,
+        "write_ms": 83.71044602245092,
+        "foreground_fraction": 0.3256,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "a677ab04c7531f7f8e608ebbb6696e92f378057b1add18e927d07fabf7e571e8",
         "meshes.tar": "b5c626ff0c2399b153c01c37d75deef2c80048c42d58b55fbe6407cb298fba60",
-        "render.png": "3f87721b0a9760ab834889c9dc1f28910afd1a984d63e793154fb301b8c74cfa",
+        "render.png": "56637e3e1290f4f137c00c34653b95e124c4b1da8069917d0ac7b4c37002d078",
         "graph-raw.svg": "3f0da41b5ea79df280df0c66dcc194b7ace6be6731813824f58c33aae45c24fe",
         "graph-robot.svg": "49ff8efc91f2ae3618bae77ff7ea1f8f7a102464a17839bbcf16cab295c3d221",
         "robot.urdf": "51e584f6db076986441657845f6fbfd34adf0c633b6ad8cb0bab0f0e352efa74"
@@ -2559,7 +2595,7 @@
         "mjcf_ms": 4.372983239591122,
         "compile_ms": 31.453784089535475,
         "graph_ms": 203.15630082041025,
-        "render_total_ms": 1669.2770081572235
+        "render_total_ms": 1727.4475949816406
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2620,16 +2656,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.627010948956013,
-        "render_ms": 1488.6448341421783,
-        "compose_ms": 76.18116773664951,
-        "write_ms": 85.33464511856437,
-        "foreground_fraction": 0.6633
+        "compile_ms": 39.425075985491276,
+        "render_ms": 1517.592050600797,
+        "compose_ms": 67.1128467656672,
+        "write_ms": 89.52880976721644,
+        "foreground_fraction": 0.6633,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "51e8230b7b9057c0714e018889b410eded926d0dfa9b3596d07f2fea6bccee1e",
         "meshes.tar": "079dac75e10ed45e1f93b6f5396269b6588c7a17412733ca5f5e14b7b0883852",
-        "render.png": "ed1a78daf051a0ed5d182ca35c2c0dea13046aa87d37bba4064536a842bc10ff",
+        "render.png": "2a35083502c66750af48c0d208f437ae19d8f7c697acd0d213699677956ca787",
         "graph-raw.svg": "cb20a80ee92a29917a49d07ba1bed72c1228e3cea90422d68db02da3dc64fc70",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "883f9e8f74f4a1ef6b7be301148d24386155b8e8419fa84a71db7c6fc89b8da3"
@@ -2663,7 +2701,7 @@
         "mjcf_ms": 3.619999159127474,
         "compile_ms": 11.729761958122253,
         "graph_ms": 114.21710485592484,
-        "render_total_ms": 1676.9405342638493
+        "render_total_ms": 1648.7644440494478
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2724,16 +2762,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.4334749691188335,
-        "render_ms": 1510.790433268994,
-        "compose_ms": 71.85579091310501,
-        "write_ms": 76.351054944098,
-        "foreground_fraction": 0.4763
+        "compile_ms": 12.27016607299447,
+        "render_ms": 1483.6937626823783,
+        "compose_ms": 62.07894207909703,
+        "write_ms": 78.2492090947926,
+        "foreground_fraction": 0.4763,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "9e34815510ee01bd3bcd904d2de0a6d7e4cbb7f428b3c91b4ec8816cf5dfddb1",
         "meshes.tar": "68b74fbfd7e0ad2bbcb801ae1ebb9b3500696916517e79fc9755bb9b12d8f3d8",
-        "render.png": "0837b3f3dffe35cc9310afda66f032ebfe19db0a6ffc9c71cd0b240a134dfb5f",
+        "render.png": "f7af1290534cceb474dd1429c748868137e1d44a121deb2ee2beef6e4afb315a",
         "graph-raw.svg": "84a16b1057d8cec82ebed30cc2bb91aa014aa58554ca914d280575880aff2d00",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "c65d9fa3699df6123d4859840347f61052756408564442f31b826293f18a8a84"
@@ -2765,7 +2805,7 @@
         "mjcf_ms": 2.795184962451458,
         "compile_ms": 11.877627111971378,
         "graph_ms": 68.80759540945292,
-        "render_total_ms": 1677.931628189981
+        "render_total_ms": 1712.1232068166137
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2826,16 +2866,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.2444437965750694,
-        "render_ms": 1518.7581647187471,
-        "compose_ms": 62.3251530341804,
-        "write_ms": 80.98596800118685,
-        "foreground_fraction": 0.6028
+        "compile_ms": 10.876602958887815,
+        "render_ms": 1534.7777740098536,
+        "compose_ms": 62.38929880782962,
+        "write_ms": 91.5180379524827,
+        "foreground_fraction": 0.6028,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ca4d5af326f61bab46418b10c0ba07c239a6dc7d7098afbc46db94fff8cd1dfe",
         "meshes.tar": "10adc634b8e1c082805fcc2732ec9ef1c547c124ac68ed0bdee8fe1dd157865c",
-        "render.png": "c0be255c14954924d5dd2b5e7c7f828543bde59186ce0a17c5f27b1684cd7a64",
+        "render.png": "1d83173cb71349d798b0447b1e59880442f89e7fc37535904b5112a8ac996221",
         "graph-raw.svg": "84b3c579d3c5a3da579a8e48ccb536d646b386b6d76cc08892e79794b38c1e77",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "bb63c5f78e641221b4151305db65508d25046517eb452eb32eb6f9553fcfade0"
@@ -2868,7 +2910,7 @@
         "mjcf_ms": 2.9894360341131687,
         "compile_ms": 14.479168690741062,
         "graph_ms": 89.07127613201737,
-        "render_total_ms": 1640.4071543365717
+        "render_total_ms": 1629.4264076277614
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2929,16 +2971,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.93917178735137,
-        "render_ms": 1457.7174843288958,
-        "compose_ms": 91.86024079099298,
-        "write_ms": 74.03728691861033,
-        "foreground_fraction": 0.6963
+        "compile_ms": 16.168602742254734,
+        "render_ms": 1453.2543760724366,
+        "compose_ms": 71.9830859452486,
+        "write_ms": 75.5711616948247,
+        "foreground_fraction": 0.6963,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "466512fbeb8ea86b7bc31604e43ad71c90762f8a7bda89eef1c565596355fc61",
         "meshes.tar": "a558506db693528a581acc86027104025f9976f9f5f6b312fee81435a7ee4098",
-        "render.png": "d43c66c3e25599701d48eb16779246d64657d81d952d8bdbf48a58b8cdea4563",
+        "render.png": "b23701cfd13c27de9a29d453a1e633b606b00a9dedb4b06163ac750a99dc42f3",
         "graph-raw.svg": "71ab10f29013f643b5a7c42241b1eb283279af422fc42fc510a1a9bd9299862b",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "838a42bb1c9eb5e39e6336d9439016aa27c5484690b3cac3b6cd437e3d3429fe"
@@ -2977,7 +3021,7 @@
         "mjcf_ms": 6.693189963698387,
         "compile_ms": 110.17579631879926,
         "graph_ms": 621.6484056785703,
-        "render_total_ms": 1828.2293379306793
+        "render_total_ms": 1833.1124121323228
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3147,16 +3191,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.306541197001934,
-        "render_ms": 1630.0889910198748,
-        "compose_ms": 72.68125470727682,
-        "write_ms": 83.79023196175694,
-        "foreground_fraction": 0.7492333333333333
+        "compile_ms": 127.37324787303805,
+        "render_ms": 1541.1800160072744,
+        "compose_ms": 66.20609713718295,
+        "write_ms": 85.6181918643415,
+        "foreground_fraction": 0.7492333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "68b2b570911a49b95be6eb1f953200ae2348ff4cd441c806a6bda0da7f06cb38",
         "meshes.tar": "f76bfa6db0d9b51abf5818b96e6a970d9424c49fb22ae85f24afccb07167dedd",
-        "render.png": "1486eef582919696a9547d72e017a5b3770d6e1ea00d81a722d1c1b1580feb1d",
+        "render.png": "f1224a495338e48036ab6c9b271affcfa21a97818f9fa9491e95cd181563ee9c",
         "graph-raw.svg": "23cd77924ff68c9844a2fac156ff99d60d9e6bbc965f364e3e5c5c2c90a0b61e",
         "graph-robot.svg": "6d4e1becb3168b178bf5cd9d5d55512e5e80f400c1e73e180b33180626899ffe",
         "robot.urdf": "d6cc908682a9116e7dad7e31ec28e00e1c44ee188f8e12d1f7dfe4edc827bfe1"
@@ -3189,7 +3235,7 @@
         "mjcf_ms": 2.7929130010306835,
         "compile_ms": 12.029773090034723,
         "graph_ms": 239.38499996438622,
-        "render_total_ms": 1628.0691847205162
+        "render_total_ms": 1773.491664789617
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3250,16 +3296,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.717395640909672,
-        "render_ms": 1441.0200831480324,
-        "compose_ms": 66.07009191066027,
-        "write_ms": 103.91275025904179,
-        "foreground_fraction": 0.53075
+        "compile_ms": 16.07648190110922,
+        "render_ms": 1557.048917748034,
+        "compose_ms": 61.131317634135485,
+        "write_ms": 125.020413659513,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "4fb2c9cd9df23acdc1e032ce186e57d136b08255c2e00ff39a967b2716f5d3cb",
         "meshes.tar": "ae0b9e74de3e4400a84a8eb26891cc6af14154130af6012ad39a8e21641328f5",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "430b270361f8122636f5a7a64cd3967251a15a516910452544a9fe744b23b12c",
         "graph-raw.svg": "73927b60ad3e258e4817fce021abd4e0172c266be620a9f1910b63f7cd98f753",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "1565c51206efbed6fb3d0f91e1db1e1635b5a677e040fa9837699f7fb5bf3abf"
@@ -3301,7 +3349,7 @@
         "mjcf_ms": 7.646211888641119,
         "compile_ms": 111.70516302809119,
         "graph_ms": 674.3495957925916,
-        "render_total_ms": 1758.271107915789
+        "render_total_ms": 1938.6001350358129
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3411,16 +3459,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 34.969036001712084,
-        "render_ms": 1523.4614019282162,
-        "compose_ms": 78.63340899348259,
-        "write_ms": 108.59936708584428,
-        "foreground_fraction": 0.7645
+        "compile_ms": 138.05121323093772,
+        "render_ms": 1580.8590999804437,
+        "compose_ms": 72.6002031005919,
+        "write_ms": 131.95896707475185,
+        "foreground_fraction": 0.7645,
+        "style": "link-palette-v1",
+        "colored_bodies": 39
       },
       "artifacts": {
         "robot.mjcf": "596d2eb74053af5e2d62359a2a85911774e5f24d3829f87d45a7cdc90a94c65e",
         "meshes.tar": "e11e6d9df448b7696e3d808615b84e7f6cbd2ab6e449dc673ddfa3afa5f5ca2e",
-        "render.png": "54c4838cf32425a4db45f08ddb11beaeb05e88911ed7a6f225b6b568bc9c6b43",
+        "render.png": "694a5e26842a1907bd1bae03e6652f225d2d2757cabfdb7bc22cc254ded1e35f",
         "graph-raw.svg": "9bae118800cded7cd2b2ba02b82817ef4ee765c14bb9ce0b38cdf56d6e6cdcc4",
         "graph-robot.svg": "861afc26bb64615e5f6d5361e45e35a8d3aa29f2f498f67ddce4a533f69f7eb7",
         "robot.urdf": "e5ceee826557213e26979b1dadee0fee367e5004abc4830aad6eaa9ce08109d1"
@@ -3456,7 +3506,7 @@
         "mjcf_ms": 5.372183863073587,
         "compile_ms": 65.60524879023433,
         "graph_ms": 360.5784229002893,
-        "render_total_ms": 1656.0229468159378
+        "render_total_ms": 1718.7128691002727
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3590,16 +3640,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.127506874501705,
-        "render_ms": 1480.5986993014812,
-        "compose_ms": 71.25481171533465,
-        "write_ms": 78.0452978797257,
-        "foreground_fraction": 0.77055
+        "compile_ms": 75.63155889511108,
+        "render_ms": 1477.7845800854266,
+        "compose_ms": 72.76550307869911,
+        "write_ms": 79.19347286224365,
+        "foreground_fraction": 0.77055,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "919d4975d50f8b9a85d99282ff863f8064d7640f6d91670d69397a7b47a8dcb8",
         "meshes.tar": "ace0f881e7299cf8d4c9e670cfb6585c8b9002d184a78117188d31e9b810a31e",
-        "render.png": "04cd2d28a78f38616477c64aa28b63423cd2ec41b30c6ac7bfefa83556bb5acd",
+        "render.png": "0a6f92bc46215c2b5112f7026dc5b2a857a3c0b7dfdff9731cfc8a17712d582e",
         "graph-raw.svg": "8a6e79ef730cda9611a66acdb330f66d5b78a3fdfee3a036d2d5f6f45191dc65",
         "graph-robot.svg": "d486fd7fb249f7df368c770edb24eaae125a063b74ab55a11efbbf4b98232ee7",
         "robot.urdf": "7b1fdb9e15319645f8883140ae8249aec8dcc84ddcfc7ceacc3c2fa52b8e8978"
@@ -3639,7 +3691,7 @@
         "mjcf_ms": 7.509951014071703,
         "compile_ms": 80.79057326540351,
         "graph_ms": 544.400486163795,
-        "render_total_ms": 1752.4985480122268
+        "render_total_ms": 1856.8744328804314
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3773,16 +3825,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.323310866951942,
-        "render_ms": 1535.4693890549242,
-        "compose_ms": 80.4871367290616,
-        "write_ms": 98.38943416252732,
-        "foreground_fraction": 0.70235
+        "compile_ms": 93.75528199598193,
+        "render_ms": 1540.2971687726676,
+        "compose_ms": 92.667271848768,
+        "write_ms": 117.22172284498811,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 31
       },
       "artifacts": {
         "robot.mjcf": "539ff66948849cdb1fd8778903a37f5da32a18dbd1abccf2a0eea0d073e35a18",
         "meshes.tar": "45d62186fbb04fa274807f235f60169d5cb52f2329af8b6bf010c8af22c0ec4c",
-        "render.png": "be11cde83725e656b8d7ad9986979e22ac9f89f20692a31af73cf13d3cd4c44d",
+        "render.png": "9dbc823cc3f84135754740d4c7a1022ea08880bb8c38fbd94218ee1bee86b31d",
         "graph-raw.svg": "4061f00a3bee560a21e855c6e2ac468026098b3ad4eb1158ccb085abaf59b768",
         "graph-robot.svg": "ca53453cc44aa004d94cbe4680fdead60862a87fd0f1674b6f061adaa335d1a1",
         "robot.urdf": "9ff3d2c530c85046e1df607b4eb826737836fbd9a8811ee610462b4238c3d163"
@@ -3826,7 +3880,7 @@
         "mjcf_ms": 5.0835153087973595,
         "compile_ms": 91.27108985558152,
         "graph_ms": 432.35601717606187,
-        "render_total_ms": 1714.8979241028428
+        "render_total_ms": 1839.8159607313573
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3923,16 +3977,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.498307939618826,
-        "render_ms": 1512.8885130397975,
-        "compose_ms": 79.51379893347621,
-        "write_ms": 82.05561805516481,
-        "foreground_fraction": 0.689325
+        "compile_ms": 112.21354268491268,
+        "render_ms": 1558.4794702008367,
+        "compose_ms": 69.0666320733726,
+        "write_ms": 84.79804173111916,
+        "foreground_fraction": 0.689325,
+        "style": "link-palette-v1",
+        "colored_bodies": 25
       },
       "artifacts": {
         "robot.mjcf": "c36fe829050b08ee55350fc1cfe11435c982052af3089d2db63535973be66050",
         "meshes.tar": "35b5ec13887c3196ad01b691e73f403b06ce71733c589b5acfa828c0d78a90fb",
-        "render.png": "7e68bd39e9c2efd0c7718f67e498b41806f9c9593bb0a184bc263ba38139cc69",
+        "render.png": "8c4bb48614db46d7810f5098b97c753030a22cddc1f871d8a4f09389efbb549a",
         "graph-raw.svg": "e89a3730731f884ef43120a90184ecf670cbfbbcb3e982856df1bf7d97111bc7",
         "graph-robot.svg": "ce472b01fafab196d887a58faee67c3f5e80fa125b2cc64bbe2ececdee894b11"
       },
@@ -3964,7 +4020,7 @@
         "mjcf_ms": 3.020253963768482,
         "compile_ms": 13.772273436188698,
         "graph_ms": 95.99166410043836,
-        "render_total_ms": 1622.4444499239326
+        "render_total_ms": 1598.6669179983437
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4025,16 +4081,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.9094225503504276,
-        "render_ms": 1461.2767519429326,
-        "compose_ms": 66.03524228557944,
-        "write_ms": 77.77968561276793,
-        "foreground_fraction": 0.40865
+        "compile_ms": 13.487828895449638,
+        "render_ms": 1431.8356127478182,
+        "compose_ms": 54.98122097924352,
+        "write_ms": 85.93633770942688,
+        "foreground_fraction": 0.40865,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "908aad6dc7038d7699ad2f8f7a8db5e3e5fd69fb9f6187c64302995f06740d8f",
         "meshes.tar": "714348b1298cdad6b46a23558cf6cbc5f03c731954dac2f32468472d2a663e1e",
-        "render.png": "ebcea944ca4eb9dfb0bc9f0ca96e1f1873dd74b13aaca6e4b089ad5fe02072e9",
+        "render.png": "3560e740fe537d3395a6c8d9e465f205f41c957ccd4926104f227c1f0c1b415c",
         "graph-raw.svg": "ccb1cd6d6efb73c044a464cab2638f4ae3288b61eaa23dee4d534421c029e548",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "b45ab817805482f65ab06ebaa791cb029646eb0f9daab3b3d425864dae8237dc"
@@ -4071,7 +4129,7 @@
         "mjcf_ms": 3.8627581670880318,
         "compile_ms": 41.730019729584455,
         "graph_ms": 180.08270673453808,
-        "render_total_ms": 1710.7850988395512
+        "render_total_ms": 2125.8562272414565
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4139,16 +4197,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.565831929445267,
-        "render_ms": 1502.9287859797478,
-        "compose_ms": 72.44989601895213,
-        "write_ms": 114.22781134024262,
-        "foreground_fraction": 0.6226
+        "compile_ms": 46.39443522319198,
+        "render_ms": 1507.7685047872365,
+        "compose_ms": 69.21750819310546,
+        "write_ms": 489.13914896547794,
+        "foreground_fraction": 0.6226,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "66e6a8b5ed321908d1eceb33231dceaab8dfd7842940e833f243df28844c138b",
         "meshes.tar": "ed7ec16ccfa7fd2d724f6a8851501b6134b73d8d293409265d57d10d221b71ef",
-        "render.png": "72b00a1411acfd0939bbcd5462783f17d3586c97281672a76bb342bf710faecd",
+        "render.png": "958566f5b39cf5d4ddd017db088eb22bafafc2d4448f737b94741540c841288c",
         "graph-raw.svg": "d942437733e6999e5ad5995a9b8ce8c8cc681cced126dd2a8acc23b5660f85b8",
         "graph-robot.svg": "8174b0a7a306ff25e0f956e2bd3034dd799cd61c8830254e8f2bab0e60a60318",
         "robot.urdf": "eb22b0e3500c0c06845a681370c9f77e362d001ff502cca1faab551a8249edbd"
@@ -4181,7 +4241,7 @@
         "mjcf_ms": 3.011890221387148,
         "compile_ms": 14.94511403143406,
         "graph_ms": 90.73748113587499,
-        "render_total_ms": 1733.9105741120875
+        "render_total_ms": 2046.9178538769484
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4242,16 +4302,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.9448789320886135,
-        "render_ms": 1547.969336155802,
-        "compose_ms": 80.76331997290254,
-        "write_ms": 88.00794975832105,
-        "foreground_fraction": 0.8008
+        "compile_ms": 15.345276333391666,
+        "render_ms": 1521.323624998331,
+        "compose_ms": 67.60976696386933,
+        "write_ms": 430.1961059682071,
+        "foreground_fraction": 0.8008,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ce49853c5763c7888dfcd63181b8de40c5152c94b2e3c30eb1a6e134e5da655f",
         "meshes.tar": "dfd962e1c9b367ba41b718f1517b8c226f080a397cac4f70a270c66e6b77cfd0",
-        "render.png": "adf9fa24e4d082256aabce11247b14aba4981535476956fd0f307f3e7d400373",
+        "render.png": "d211eb83f7c7810b649b0ba36c21f6c47ffe73888160227531a1c59eaf131079",
         "graph-raw.svg": "ada52e7d6a4cb6835e11891e49098e85625409d76112e813810251a58ef71e96",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "b0ea6a5649bcbfa549ed2623ace832d08c3f2019ab70dd9abfe4a22798d3eeeb"
@@ -4285,7 +4347,7 @@
         "mjcf_ms": 3.3128587529063225,
         "compile_ms": 13.577340170741081,
         "graph_ms": 603.5943231545389,
-        "render_total_ms": 1646.3175960816443
+        "render_total_ms": 1764.2754511907697
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4346,16 +4408,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.585544880479574,
-        "render_ms": 1481.6041132435203,
-        "compose_ms": 71.49980682879686,
-        "write_ms": 76.8221733160317,
-        "foreground_fraction": 0.4752
+        "compile_ms": 145.14182973653078,
+        "render_ms": 1466.0060768947005,
+        "compose_ms": 59.623884968459606,
+        "write_ms": 81.2468291260302,
+        "foreground_fraction": 0.4752,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d47d666684d7e62e87235bf999191d2405ba8f43c379e9b83c891fca242c049e",
         "meshes.tar": "e8134c8f03a4b1f5fa0c1285deaa08b704847e31ff15688dfb05705d2b004fa4",
-        "render.png": "805d959fec67a81db0838254f2f8106db8ee3550ddff89c480e579e9d836b268",
+        "render.png": "b8f54867a69dfa6924474f3f3c17caf9e5bacb286a5cd1e484ea4630210a29da",
         "graph-raw.svg": "4ded95f9c8ba86f4ae2470c06e192ea4c94178f9712284490d5f6a3e50f84df3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "cc0fdc69cfd1f2b861c17a4a75b25a88f2bb65a63b91ddcdedda452792c38dc4"
@@ -4388,7 +4452,7 @@
         "mjcf_ms": 3.292200155556202,
         "compile_ms": 10.98937215283513,
         "graph_ms": 91.71642176806927,
-        "render_total_ms": 1666.5655123069882
+        "render_total_ms": 1609.3242149800062
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4449,16 +4513,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.692190792411566,
-        "render_ms": 1496.559944935143,
-        "compose_ms": 74.60957113653421,
-        "write_ms": 78.131222166121,
-        "foreground_fraction": 0.50325
+        "compile_ms": 12.876204214990139,
+        "render_ms": 1438.1833891384304,
+        "compose_ms": 63.79348132759333,
+        "write_ms": 82.04481331631541,
+        "foreground_fraction": 0.50325,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "216b26881afa25dc588506ddab8a5ee97ec8318ba48b1d4bc74976b7e5554999",
         "meshes.tar": "e6929989c3a66d9e67deb6a3a7d268d8eb9f8b14df1667154a52df7e0cf1e2b9",
-        "render.png": "ebd12e72ffe7757d1640dbcfd2f1743fb391423ecce2863618615af7980f66b7",
+        "render.png": "9046bed0b5e2ed1cbe285eb92e3a9619f73460141e6bccfacfb3868049f25a07",
         "graph-raw.svg": "0ec6099c18e7a3f87300896dc77ece43cd3cb444739e4da69f4c28714bbbfb8c",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "0318c9e59e25566fbb77ee5f49a6faa645b259b2a3ee2066a00eb9dbb2e5c892"
@@ -4492,7 +4558,7 @@
         "mjcf_ms": 3.290007822215557,
         "compile_ms": 24.070180021226406,
         "graph_ms": 129.4454880990088,
-        "render_total_ms": 1631.2571209855378
+        "render_total_ms": 1622.500419151038
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4553,16 +4619,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.652113679796457,
-        "render_ms": 1473.1878913007677,
-        "compose_ms": 62.48445110395551,
-        "write_ms": 74.6815069578588,
-        "foreground_fraction": 0.6182
+        "compile_ms": 23.819456808269024,
+        "render_ms": 1444.6211978793144,
+        "compose_ms": 61.800064984709024,
+        "write_ms": 79.3630126863718,
+        "foreground_fraction": 0.6182,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "da849470bc312b2bb0c9efea4abddd50ab07353b7a37e5e22e72c580b89a273c",
         "meshes.tar": "95056d39e8b3082505583146c31abadb4a4298692ac370238a8819026a4b521b",
-        "render.png": "c45c1aecbd2512fe39c2bb242fdaa0ec20fd18c3f2b5e681ac81136f1e5bb420",
+        "render.png": "b7db36aaf2912410386c07460724d7d6186c82a9c8491506526c6d1d13c56ee7",
         "graph-raw.svg": "883e0595cf29d2063aceead1cc94024a37cea4ac04a080911aa98ee70d14061d",
         "graph-robot.svg": "b477f9a026a693b52950743c984a598c147b7a716e7ca6c60bf78f86af8248d1",
         "robot.urdf": "a0a6276bedc7ecb8136b89fd7943dc22222a8d8f4733ce17a9dd9dbf8b65204e"
@@ -4595,7 +4663,7 @@
         "mjcf_ms": 2.9074628837406635,
         "compile_ms": 11.534220073372126,
         "graph_ms": 114.89915708079934,
-        "render_total_ms": 1651.6576539725065
+        "render_total_ms": 1675.446345936507
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4656,16 +4724,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.384312778711319,
-        "render_ms": 1462.1082660742104,
-        "compose_ms": 67.62634078040719,
-        "write_ms": 104.01793196797371,
-        "foreground_fraction": 0.53075
+        "compile_ms": 13.03998101502657,
+        "render_ms": 1463.349576573819,
+        "compose_ms": 60.34998316317797,
+        "write_ms": 126.35433115065098,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "3be82444f2f9dac33dd9e6366b809a9bf1d05f7149e32f6e1472c55692a42c09",
         "meshes.tar": "a65fa41493c6bf75eaa0c4842456e163d9cf7067c4a5487953a037add3619855",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "333d1cab317921cb7e3f0f9d86d18a85ae1794eb94d4f2b2f5b2a854a0934a90",
         "graph-raw.svg": "02966f114251a920b0abc9e6312bc5dd5577a86dfaee6725fd365f31b0911d91",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "5df0aea06881b3aa2891241a3019d9b667dd598635748a2104f98ed68d4c96d5"
@@ -4697,7 +4767,7 @@
         "mjcf_ms": 2.6765847578644753,
         "compile_ms": 6.496539805084467,
         "graph_ms": 68.73329309746623,
-        "render_total_ms": 1695.0104827992618
+        "render_total_ms": 1600.7455084472895
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4758,16 +4828,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.0193557031452656,
-        "render_ms": 1459.156557917595,
-        "compose_ms": 56.076331064105034,
-        "write_ms": 163.6236421763897,
-        "foreground_fraction": 0.47135
+        "compile_ms": 8.734615985304117,
+        "render_ms": 1441.841111984104,
+        "compose_ms": 54.89168222993612,
+        "write_ms": 82.43231195956469,
+        "foreground_fraction": 0.47135,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "078ba9b293285dc2b731774dc89b2baadf6836021a904915a9a3c5baa984b527",
         "meshes.tar": "b295c5afe94517237c4078596b939c80787870f232ab84200d48cf9d32e04439",
-        "render.png": "8172b663ca088f20dc3234b1e06aa5d59fe6e4e786a4e74c7fcd712e0a2e6719",
+        "render.png": "7c47acfd4e17cd124ab888dcae499fa629dbb33158fba3ae22ce755b4ff2d2b5",
         "graph-raw.svg": "adefa5b664f8a4f8db42e3aec5b2a06c55ce15459f07771dccba572cb9d61ed3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "46d1420eaef925400a1fbf8c0b8bae34b90e43019ba6d594edbc85e5f4f5fd1b"
@@ -4816,7 +4888,7 @@
         "mjcf_ms": 3.4110532142221928,
         "compile_ms": 520.2463092282414,
         "graph_ms": 251.30262691527605,
-        "render_total_ms": 2528.611595276743
+        "render_total_ms": 2553.0241108499467
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4864,16 +4936,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 626.6694073565304,
-        "render_ms": 1708.2114899531007,
-        "compose_ms": 70.31064108014107,
-        "write_ms": 108.64383680745959,
-        "foreground_fraction": 0.61655
+        "compile_ms": 661.9720761664212,
+        "render_ms": 1692.650887183845,
+        "compose_ms": 62.90980987250805,
+        "write_ms": 120.6998280249536,
+        "foreground_fraction": 0.61655,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "12695c49476fb0f42c17793aef4ad358f12d7ff97655aad372be24104b119dd6",
         "meshes.tar": "f566bf5bf6f51fdffe5d06a31516036e049cb95821683d5968a4828a4311f270",
-        "render.png": "d2f75a72de91ac2fa8d055d8ac396302bef78c145597f46a3f6625e565bcf3ae",
+        "render.png": "d90626b75b6ed7958873a991c554accca62e88a2f212d571c3993cee589869eb",
         "graph-raw.svg": "56f551bc5f0ea5f7f816992efbe13223b1e2873a4a18d7af50a57480e7a9a97e",
         "graph-robot.svg": "9139f067d785e597ca8c788427ed1d0dcea2d4e71515ecfbaf128de502451558"
       },
@@ -4914,7 +4988,7 @@
         "mjcf_ms": 3.6668018437922,
         "compile_ms": 362.22010804340243,
         "graph_ms": 143.69228295981884,
-        "render_total_ms": 2501.203236170113
+        "render_total_ms": 2096.3568328879774
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4975,16 +5049,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 810.4849089868367,
-        "render_ms": 1538.743888027966,
-        "compose_ms": 54.03435276821256,
-        "write_ms": 83.44931667670608,
-        "foreground_fraction": 0.6271416666666667
+        "compile_ms": 377.7564037591219,
+        "render_ms": 1561.6236058995128,
+        "compose_ms": 55.05585391074419,
+        "write_ms": 88.67579698562622,
+        "foreground_fraction": 0.6271416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a2a8161cee30b1d8bbad89fe7895940fb61d63b40e952a29738bcc4ee8794719",
         "meshes.tar": "de0c1e0267827fe0002cef361786eb4ecd0f7babd72477288fa5db665fc8893b",
-        "render.png": "114c20fb193dfc33bd1002cbb9448bafc5b40fdcf095c88a731afc5bf67072b2",
+        "render.png": "eef1aa9dbb6dcaa24d43eead1038959ca06a4e13be7fbaf91b9cd1144443c47a",
         "graph-raw.svg": "3455c75cc22052166e4fc93c98761937a9716250c768fbdf1011a8a9dc7eb758",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "5010747b8f6c5776d54f3cefe5e40649492d136d4083809377331d2b2d5bb130"
@@ -5026,7 +5102,7 @@
         "mjcf_ms": 4.51495498418808,
         "compile_ms": 653.5413102246821,
         "graph_ms": 264.82955273240805,
-        "render_total_ms": 2536.652646958828
+        "render_total_ms": 2450.1134478487074
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5087,16 +5163,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 678.7087297998369,
-        "render_ms": 1684.9289978854358,
-        "compose_ms": 58.98663820698857,
-        "write_ms": 99.02268694713712,
-        "foreground_fraction": 0.60445
+        "compile_ms": 606.3825087621808,
+        "render_ms": 1645.0097179040313,
+        "compose_ms": 60.57998212054372,
+        "write_ms": 122.78243619948626,
+        "foreground_fraction": 0.60445,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "c5f064140fe41b8367bbf9ab9a08608fe13f64c9abeda602e2fa21e6d5351407",
         "meshes.tar": "1a7b85dd381ebb0f633f73fa55d83d500fb6f392329b2365e0f9a818b539dc4d",
-        "render.png": "faf5520b7961bbe2f081f94b819e0187399eafa48040b25ae8fb68d9a9ba7e49",
+        "render.png": "a0045077f67bcfc25179124850414f0410dbfe0bbf018964bdbf6788050897ec",
         "graph-raw.svg": "b87304dac3688694f9211a41b2e53d6beee1a428d5fc42fe2542a01d1040c102",
         "graph-robot.svg": "269edad0aff60113c70623215a7c77d4a90a94e1957aa3ec957cd91823474ec7",
         "robot.urdf": "0c7c1a52ab551aec0ca2ff72993d15526d01a5b3c097c3258e9309cab397ec91"
@@ -5131,7 +5209,7 @@
         "mjcf_ms": 2.736516296863556,
         "compile_ms": 66.29232689738274,
         "graph_ms": 135.97910618409514,
-        "render_total_ms": 1710.200286936015
+        "render_total_ms": 1703.0887273140252
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5199,16 +5277,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 44.41427160054445,
-        "render_ms": 1508.9806569740176,
-        "compose_ms": 55.12415710836649,
-        "write_ms": 88.24690571054816,
-        "foreground_fraction": 0.4565
+        "compile_ms": 56.50526192039251,
+        "render_ms": 1489.6142138168216,
+        "compose_ms": 54.025889839977026,
+        "write_ms": 90.09746788069606,
+        "foreground_fraction": 0.4565,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "9b908f90190c2508443819428c53056a071a491c5277dc03f6184290475a2447",
         "meshes.tar": "6b5d9a806b9fce3e229c6d3ab7665d8416fe7b3418bbf76d2a84948e92c65bde",
-        "render.png": "6a4997e459c4ccfeb8f17cb6311e720431f8d7f7861bce12c66f1a9ba4c2cdd9",
+        "render.png": "a871919784f7ee53248ededa3f26560f90c938758d949e5c9a46becef9221b7f",
         "graph-raw.svg": "5e1ae6f713f7b0c01bff8107587e52b771d346e025c22d0e9851c5fd0443af77",
         "graph-robot.svg": "b5f63aff869dbbee2010df83ec56395277ea03d24d9cd18282573462d8044603",
         "robot.urdf": "9d698a1e517247435701a212d02ae399e12f21c55e737110a78d39dd83374bcd"
@@ -5240,7 +5320,7 @@
         "mjcf_ms": 3.134901635348797,
         "compile_ms": 24.181067943572998,
         "graph_ms": 68.72216891497374,
-        "render_total_ms": 1631.9085089489818
+        "render_total_ms": 1676.0809468105435
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5301,16 +5381,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.029167152941227,
-        "render_ms": 1455.110817681998,
-        "compose_ms": 70.5059296451509,
-        "write_ms": 76.62856625393033,
-        "foreground_fraction": 0.784875
+        "compile_ms": 16.80162502452731,
+        "render_ms": 1492.8620387800038,
+        "compose_ms": 72.46231706812978,
+        "write_ms": 81.25251391902566,
+        "foreground_fraction": 0.784875,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "99d9b9f4543776127036d4acd2bd96627751f5a38b683d45c58de41072520270",
         "meshes.tar": "7d6ee8e325f37b110f83fe021d47485671bdf17f2ed2fd6d2f6a140b2ffbedc6",
-        "render.png": "fb5dcd6741f20dbf1afe3c54378db795c48a0125c84f5630468260fc24e2c453",
+        "render.png": "187548290132362c5450eeed6ee9aa5cf039051f06788f40dedecfc5000b6a4a",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55",
         "robot.urdf": "876e50d025e0bcc6b6f5af56c6a5b153c9b597970a22e0e5bddf29d8ecb45862"
@@ -5346,7 +5428,7 @@
         "mjcf_ms": 3.6409078165888786,
         "compile_ms": 62.94677685946226,
         "graph_ms": 114.45169383659959,
-        "render_total_ms": 1907.8396786935627
+        "render_total_ms": 1732.0830887183547
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5407,16 +5489,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 89.00558995082974,
-        "render_ms": 1659.447057172656,
-        "compose_ms": 59.73143456503749,
-        "write_ms": 85.78105177730322,
-        "foreground_fraction": 0.48455
+        "compile_ms": 61.56753096729517,
+        "render_ms": 1497.8528041392565,
+        "compose_ms": 60.63689570873976,
+        "write_ms": 99.13113294169307,
+        "foreground_fraction": 0.48455,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "179001a072e3814c13e67c056dc04aae9c84b4e6267b31dd5e5ac6f7c74d01bd",
         "meshes.tar": "2f277eb766644d9ad5a597015b0cbb62cf5a294584a998bf9bd3946483c911c4",
-        "render.png": "b6cc739aef8d8bb0dc798858a45306301474d1d2c7866cf00a9498d7324146db",
+        "render.png": "2b570e49885505e8e2a751eb0820f9a52b87bade8f19b80039f9dafa74612c8f",
         "graph-raw.svg": "0f7e87f1f442cd497194da82d25fdff1de464ff0cf057dc1549cccbb3c1f0fec",
         "graph-robot.svg": "17070b6cf2fc405f0a959a04f47695d22431ca33bddb59cae45a4a5069cf8ec4",
         "robot.urdf": "182dc8bb82fe3d63d9f28537fe33a874d9a953bb6c87949cfce78c0dcc6d2dcb"
@@ -5457,7 +5541,7 @@
         "mjcf_ms": 2.881040330976248,
         "compile_ms": 102.65938891097903,
         "graph_ms": 97.15340984985232,
-        "render_total_ms": 1769.2093537189066
+        "render_total_ms": 1742.8016192279756
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5505,16 +5589,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 104.22142408788204,
-        "render_ms": 1504.6708951704204,
-        "compose_ms": 52.20312066376209,
-        "write_ms": 91.32656967267394,
-        "foreground_fraction": 0.38555
+        "compile_ms": 102.01915772631764,
+        "render_ms": 1473.2565279118717,
+        "compose_ms": 51.20826978236437,
+        "write_ms": 101.31286783143878,
+        "foreground_fraction": 0.38555,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "c490272484f389e550e482ecece5f81d801fb7c6d6d0eb3eea91b624d7ed5ace",
         "meshes.tar": "9977598e7dd412b6f932dcdb07d7af14309ba2f066749c53716a187bc8e3c5bd",
-        "render.png": "c1d844fef1d35c813d9c05e007f694b34e82999b48046c730be9056a9c695e9d",
+        "render.png": "8a02060060e16abd647f3e3017c006a842bce788347116ebcc61e66c393d80cd",
         "graph-raw.svg": "5dcaef54cca4f198a63650e7cf9a172b11c492c53927e0845f1f8077ac712713",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -5554,7 +5640,7 @@
         "mjcf_ms": 5.232907831668854,
         "compile_ms": 46.027736738324165,
         "graph_ms": 150.11530928313732,
-        "render_total_ms": 1633.2031330093741
+        "render_total_ms": 1629.3756421655416
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5609,16 +5695,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 54.35979925096035,
-        "render_ms": 1479.2606579139829,
-        "compose_ms": 38.373707327991724,
-        "write_ms": 47.6879570633173,
-        "foreground_fraction": 0.06985
+        "compile_ms": 46.33868997916579,
+        "render_ms": 1482.6532630249858,
+        "compose_ms": 38.8247799128294,
+        "write_ms": 48.53519191965461,
+        "foreground_fraction": 0.06985,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "ec8eb4df32d9607bf1fd8933bd8f490a3d5004ce3d65234a15a66a165dbda665",
         "meshes.tar": "2c5b6619cde31508027422784f5112c1a8672b63decb245d538ef52e9e5f0949",
-        "render.png": "55a5f15aedf2791f5bc78b694863eef894f8af6a352fb9d6e3004ec77cc7c935",
+        "render.png": "8bffe2012b62bf17a2235978ed0725c03cbf1e848874bef830216ea5f79c8f8d",
         "graph-raw.svg": "4baee0a61f812af56860913a742542e3582c986b8742fbd247ac6dc9a2ec8c7b",
         "graph-robot.svg": "75efc8e604637a9c6a4b2c55c8e855652e19fcfbeb458603073f172a0f6d5e01"
       },
@@ -5656,7 +5744,7 @@
         "mjcf_ms": 3.1540021300315857,
         "compile_ms": 19.75581096485257,
         "graph_ms": 123.03723907098174,
-        "render_total_ms": 1676.2376660481095
+        "render_total_ms": 1664.8587859235704
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5717,16 +5805,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.521818194538355,
-        "render_ms": 1496.5646788477898,
-        "compose_ms": 75.5560458637774,
-        "write_ms": 70.74111280962825,
-        "foreground_fraction": 0.7568166666666667
+        "compile_ms": 19.980211276561022,
+        "render_ms": 1481.7726854234934,
+        "compose_ms": 76.09594613313675,
+        "write_ms": 74.28016606718302,
+        "foreground_fraction": 0.7568166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4d7a0787cba40194acfcb6ab89c528b13559a4f32ea98a569442d134137f02a6",
         "meshes.tar": "7fbcebfe186755a7c35675abef5ba6e626edbac6467e2b0caef81dbdb014f9ec",
-        "render.png": "2558235c3d26bb229fa4d98989c09b14873c944ec6f1106715b0f60d94d58e69",
+        "render.png": "4824b9888708a2fd0a8724b5c1888ad5adfa3508b7ea34510fa806dcb6b2a3f9",
         "graph-raw.svg": "9adaff604638262f1f23d1601735ad669da3d0697b2108112f0d88d52662f07f",
         "graph-robot.svg": "b10b6ca8da845dc654942faec9a563c63a4a1d148677c7775bdb1f3bde7bfe4b"
       },
@@ -5764,7 +5854,7 @@
         "mjcf_ms": 3.05304117500782,
         "compile_ms": 2.726176753640175,
         "graph_ms": 78.05319037288427,
-        "render_total_ms": 1609.246384818107
+        "render_total_ms": 1638.220977038145
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5825,16 +5915,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.431080210953951,
-        "render_ms": 1455.9718547388911,
-        "compose_ms": 59.113557916134596,
-        "write_ms": 79.05330508947372,
-        "foreground_fraction": 0.7205
+        "compile_ms": 3.582105040550232,
+        "render_ms": 1456.2236219644547,
+        "compose_ms": 75.66095795482397,
+        "write_ms": 86.13743586465716,
+        "foreground_fraction": 0.7205,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "8db68f62cbd7e5aeae2cc61cbb0ff08be032c96b74589cab0b10de94f455e3d2",
         "meshes.tar": "12259409747436dcfe7a084c7494235019f71bb01063c8d38f87179601054e15",
-        "render.png": "d2c1169dabddddc38cfa963246d6f34fe5d1dadd59378bb266ef91980f025a22",
+        "render.png": "16574d787ce0a162e6aaaf6329f571282a7c21520f954e15414f94451f8b4e0d",
         "graph-raw.svg": "0d3fe620afd261481487696e8a9aa09da1ae88f509a225830a5bdd505e97afcc",
         "graph-robot.svg": "b62eb9ad0bfabde2512e1e6cdafd44505c817c5530413761c9931b5aa85c048f"
       },
@@ -5868,7 +5960,7 @@
         "mjcf_ms": 4.984668921679258,
         "compile_ms": 12.260606978088617,
         "graph_ms": 382.5234388932586,
-        "render_total_ms": 1638.1083698943257
+        "render_total_ms": 1594.7394771501422
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5942,16 +6034,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.329617213457823,
-        "render_ms": 1503.34766600281,
-        "compose_ms": 39.38007215037942,
-        "write_ms": 69.55318618565798,
-        "foreground_fraction": 0.28875
+        "compile_ms": 14.439041260629892,
+        "render_ms": 1456.7627920769155,
+        "compose_ms": 40.67698586732149,
+        "write_ms": 70.42711321264505,
+        "foreground_fraction": 0.28875,
+        "style": "link-palette-v1",
+        "colored_bodies": 16
       },
       "artifacts": {
         "robot.mjcf": "1d1aa12c93dd56ca3fdea5f7525a3936455a75aca0747fb95f724af26a64d92f",
         "meshes.tar": "5ed3ceb669739d801c31a72ad38c6ad25f23593273b31a6f3cf82b69c3c28d93",
-        "render.png": "397602b56e1a30518f18fd4bf90803b8ff99ee391c458f44048ccde3837fdbfc",
+        "render.png": "80fac6c229e207a0b4b1e875f317fd5a3a9356358adbf7b9975f63019bb2bfb0",
         "graph-raw.svg": "c8e39ecaf68ff86f7b9d1043c714035566343010a9999a872484b47e80545790",
         "graph-robot.svg": "9aa553e051399c66ea16c64fb8eeb20308faf523acbe28a789b6b775a1f8086e",
         "robot.urdf": "94068565535fde9103a3f7d8a62671b723f4edc5d0c76d1ac4e7f3c3e6b72b28"
@@ -6012,7 +6106,7 @@
         "mjcf_ms": 6.2965028919279575,
         "compile_ms": 480.792875867337,
         "graph_ms": 427.51797288656235,
-        "render_total_ms": 2663.4526955895126
+        "render_total_ms": 2229.731203056872
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6067,16 +6161,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 844.5782139897346,
-        "render_ms": 1650.9799752384424,
-        "compose_ms": 72.75772886350751,
-        "write_ms": 77.22618617117405,
-        "foreground_fraction": 0.7524
+        "compile_ms": 480.54650938138366,
+        "render_ms": 1586.644880939275,
+        "compose_ms": 69.342200178653,
+        "write_ms": 78.5623430274427,
+        "foreground_fraction": 0.7524,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "c5a64b4f53fec65f959c4f52c2b995a630d8f50f2cfa285573ee2f3b64acb37f",
         "meshes.tar": "9aecfae99d922f557573577f9c9c8f62f52741fd8bb425ca6130812193b7f80b",
-        "render.png": "1a03ce7397d50a170f575130e4a8bef1ec9769214c730beb1d8499d25267be6c",
+        "render.png": "c845903f8219a2efde147bbc7019fc5f5bcd136d5eaf5b0ed89b38480981fb66",
         "graph-raw.svg": "86db4277ad1ff483b70bc212fe289e73e8bf73808f089ddeb527d9995ba91613",
         "graph-robot.svg": "4f1e583118504683de1a23693876184e8ab0b011ac7d2784c751723cfa13650b"
       },
@@ -6135,7 +6231,7 @@
         "mjcf_ms": 5.829200614243746,
         "compile_ms": 741.8317003175616,
         "graph_ms": 324.2108291015029,
-        "render_total_ms": 3062.903213314712
+        "render_total_ms": 2796.2478189729154
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6183,16 +6279,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1277.0639271475375,
-        "render_ms": 1623.4831507317722,
-        "compose_ms": 68.66266718134284,
-        "write_ms": 77.33241701498628,
-        "foreground_fraction": 0.75295
+        "compile_ms": 973.9949703216553,
+        "render_ms": 1654.151561204344,
+        "compose_ms": 70.95393165946007,
+        "write_ms": 82.58393919095397,
+        "foreground_fraction": 0.75295,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "831683387bb2d8d95a909fbe3d24a76e2360d18d17ec2fb34c19fa64cae6b174",
         "meshes.tar": "8fba9238d51db924d98f4967c6350e747f5e6376c95fa6a95d5cfa8ee0920cb1",
-        "render.png": "f8a189db547c6fe0189dbbd2fe755dd58429ca6446ff3e95b295af5180ad612d",
+        "render.png": "4ca8f8b956e523bbbad04a454b3851374a846089a7f253021c639dd51e7f7e6f",
         "graph-raw.svg": "0a86e4d31c0989dc77c9d5803bcb5d997297079b744a57b67bb9de4ceabc7e92",
         "graph-robot.svg": "ce22208c3929fec604d16b58f7aa45c47c06f6df658c88dc017100a67d3bb6c5"
       },
@@ -6223,7 +6321,7 @@
         "mjcf_ms": 2.7577821165323257,
         "compile_ms": 5.171195138245821,
         "graph_ms": 74.99255519360304,
-        "render_total_ms": 1712.364714127034
+        "render_total_ms": 1603.8951058872044
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6284,16 +6382,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.425018887966871,
-        "render_ms": 1558.9773440733552,
-        "compose_ms": 70.82200376316905,
-        "write_ms": 62.66729487106204,
-        "foreground_fraction": 0.5038
+        "compile_ms": 11.10551506280899,
+        "render_ms": 1443.6613782308996,
+        "compose_ms": 72.72077491506934,
+        "write_ms": 64.13283618167043,
+        "foreground_fraction": 0.5038,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "977879fbb8e984db408c6189ee12faa57bb74e26c5d38c07f7860ade458c2e0c",
         "meshes.tar": "44a195ae838445ead273bd166e9a86763901141f46300d6f1e54f0676b516483",
-        "render.png": "c37aa44cf91e2d2b795f41a1327887bee7a53df99eb8a1934437b16a0edab6b2",
+        "render.png": "34b308a866bdc047947a0585ecd20b120b57084f30a2b9ba93d32926f33e39f3",
         "graph-raw.svg": "194fbe7ea515662b95edd135a80804ad93ce4ab734288121b04d7df2dffecabd",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "de4f359ca0e8ea22824987b68c377d189b1ae79cab6fc47832955d3f0dedd889"
@@ -6334,7 +6434,7 @@
         "mjcf_ms": 3.490870352834463,
         "compile_ms": 40.064350701868534,
         "graph_ms": 130.36955893039703,
-        "render_total_ms": 1632.6225260272622
+        "render_total_ms": 1656.02386277169
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6389,16 +6489,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 36.10012587159872,
-        "render_ms": 1484.6456907689571,
-        "compose_ms": 43.00335794687271,
-        "write_ms": 54.839231073856354,
-        "foreground_fraction": 0.1936
+        "compile_ms": 36.73883294686675,
+        "render_ms": 1509.2585207894444,
+        "compose_ms": 40.93280900269747,
+        "write_ms": 56.93081580102444,
+        "foreground_fraction": 0.1936,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "b89d3868062198b0a08e4c87a2589ae45fc0aa020248643c20ec6cd2fc7e6bc8",
         "meshes.tar": "163b77c78bc1f16cd82e093d7a0881723a37f55f4145df0ec25e9f522b082afb",
-        "render.png": "d5582229c41091d352b0bdefa956a8737f126919132598a6cb41ce8845b39167",
+        "render.png": "3cf34a9149a6800ae0b87ea923c0c451d3fd83257190853df08741104dab7269",
         "graph-raw.svg": "0ae6f0fc19a0307c5519df85e364f3f563ed397c2b5411d3315feffe72eed34b",
         "graph-robot.svg": "0d4d9e93f0e71c148d89899a108453895100f6af4c3222aac5b4ad8882ea4bfb"
       },
@@ -6429,7 +6531,7 @@
         "mjcf_ms": 3.0248048715293407,
         "compile_ms": 5.3012678399682045,
         "graph_ms": 82.9283632338047,
-        "render_total_ms": 1594.4168390706182
+        "render_total_ms": 1558.6849167011678
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6490,16 +6592,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.896459799259901,
-        "render_ms": 1455.2732179872692,
-        "compose_ms": 56.67326971888542,
-        "write_ms": 63.09282500296831,
-        "foreground_fraction": 0.6468583333333333
+        "compile_ms": 5.933864042162895,
+        "render_ms": 1419.7543249465525,
+        "compose_ms": 57.243316899985075,
+        "write_ms": 63.40765720233321,
+        "foreground_fraction": 0.6468583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "68e4f046809393138e1f04a365f9b6bce17457b3ad429fecf83f78998443cec5",
         "meshes.tar": "5d40a410edea213bda40ce283ac2f6775eebb47cc35c2da6c6ae42e30501c309",
-        "render.png": "7fa1f620dbfff5aafd5d5418a7fb6b728a6e9c45533a83679bd3b033e3c71391",
+        "render.png": "fc8726e5c496c7b70d8c73288130b2ccef8ebd41b9dd854637bd6262f0457c00",
         "graph-raw.svg": "3054ece385bb95dbf5ceb90a3830d53b07a81039e438e7324f1ff5121b0cf88f",
         "graph-robot.svg": "8417cb830a8e6535cc2566bd1db58ca00b54f510e25c04295c1131bb0598187e",
         "robot.urdf": "fa47650777fa00ca2c4a74b33ee991a1f2915bf50408b8977a21b1bba458ada4"
@@ -6534,7 +6638,7 @@
         "mjcf_ms": 4.277274943888187,
         "compile_ms": 2.0404672250151634,
         "graph_ms": 333.2755072042346,
-        "render_total_ms": 1574.2428828962147
+        "render_total_ms": 1674.4144270196557
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6595,16 +6699,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.059381153434515,
-        "render_ms": 1428.299709688872,
-        "compose_ms": 62.02221382409334,
-        "write_ms": 68.11587698757648,
-        "foreground_fraction": 0.4598
+        "compile_ms": 3.0603082850575447,
+        "render_ms": 1512.5079108402133,
+        "compose_ms": 62.08018213510513,
+        "write_ms": 83.74393172562122,
+        "foreground_fraction": 0.4598,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "706dabacffc5504204e603897f894210da1ec18c9aa3155e3e1c69ecd064c776",
         "meshes.tar": "9f1ae9cc88561f5ca139505fb4c6ef11d12fa218a58a0b1fa3b3e61a09936acd",
-        "render.png": "7f81e6907667a711dc0d6d97c7ce388b15033cbf8c97fca22671888b6e1a5eb0",
+        "render.png": "8946a5e87c19202781866148067b6c36cbd98b40f71ba5a9ecde852cae24e233",
         "graph-raw.svg": "d4f08f02fc6cc83d1389ad344cfcc4fcb8161ac4064553d75fa0b8bd90b68693",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "9f434e57fcf7a4386705db84120745e477661fef455c12a2d2611a1ff5b512f1"
@@ -6647,7 +6753,7 @@
         "mjcf_ms": 4.517665598541498,
         "compile_ms": 63.35926195606589,
         "graph_ms": 267.31141610071063,
-        "render_total_ms": 1628.2369610853493
+        "render_total_ms": 1673.7665683031082
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6720,16 +6826,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 64.97743166983128,
-        "render_ms": 1449.3673290126026,
-        "compose_ms": 49.14187407121062,
-        "write_ms": 51.69512610882521,
-        "foreground_fraction": 0.35695
+        "compile_ms": 73.08949111029506,
+        "render_ms": 1481.8131607025862,
+        "compose_ms": 50.052226055413485,
+        "write_ms": 55.99626712501049,
+        "foreground_fraction": 0.35695,
+        "style": "link-palette-v1",
+        "colored_bodies": 16
       },
       "artifacts": {
         "robot.mjcf": "809ab614ec111c818a1b6c5b29782a526be81291926b3031caba62c23893f0a1",
         "meshes.tar": "a028db3aa9caf585f5f91bb4c9c6f31f7cec6f96f1a5a6bf5b39afdd44fa14de",
-        "render.png": "25dbe40f674673616ff79a0106a9cc095f91b024a8199ba3c8aae1c7a58c4339",
+        "render.png": "e2e4af56659317d31444d59f54617fb66b2f4fbcc2eba374d4358cd70aae8060",
         "graph-raw.svg": "7570960344d47ae8ac0ac8b22c22243afd81d16c1de71d7889d38f2f40bbaa4b",
         "graph-robot.svg": "5fc5d845d0919f1c5420435b0b159c81a817e3d14bf8ce8021ea4f71ab80ef31"
       },
@@ -6775,7 +6883,7 @@
         "mjcf_ms": 5.498840939253569,
         "compile_ms": 101.17569519206882,
         "graph_ms": 260.3407585993409,
-        "render_total_ms": 1810.9625042416155
+        "render_total_ms": 1826.1530785821378
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6823,16 +6931,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 92.98969572409987,
-        "render_ms": 1571.855193004012,
-        "compose_ms": 60.90872688218951,
-        "write_ms": 72.08628579974174,
-        "foreground_fraction": 0.4774
+        "compile_ms": 156.7380870692432,
+        "render_ms": 1526.5292101539671,
+        "compose_ms": 59.17029129341245,
+        "write_ms": 71.14163925871253,
+        "foreground_fraction": 0.4774,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e5eebb09bf0dbbf702035deb031dc11bc6c9422878b593eb2826b5e77b640bcf",
         "meshes.tar": "a6d18d5023bdd3f216eac36038993689389a8e02fb06cbc087881e927a786d5e",
-        "render.png": "95c02de28cdfa39131c0266929b2c2b622743316e4b89f61e7a91da273b2ecd2",
+        "render.png": "28edf9686c59338e1107441fc97170a12547ceff53f460621fe22c51781d8174",
         "graph-raw.svg": "5a87820cf68d96cae091e5c950089268e61d13dd0dba44cea43ae476838c948c",
         "graph-robot.svg": "c2622eb9c3a5c75a35ac5af41a2e501d23827901a7030d842a5d32c00cd76d09"
       },
@@ -6865,7 +6975,7 @@
         "mjcf_ms": 3.101042006164789,
         "compile_ms": 14.713913202285767,
         "graph_ms": 88.93742086365819,
-        "render_total_ms": 1600.3515697084367
+        "render_total_ms": 1584.7632768563926
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6926,16 +7036,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.930793851613998,
-        "render_ms": 1435.9890827909112,
-        "compose_ms": 61.11588003113866,
-        "write_ms": 76.06519293040037,
-        "foreground_fraction": 0.7337
+        "compile_ms": 13.613740913569927,
+        "render_ms": 1422.2110770642757,
+        "compose_ms": 60.072614811360836,
+        "write_ms": 76.82017562910914,
+        "foreground_fraction": 0.7337,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e95181d4540f9f34ab8938a20c9d895c75511ed498f0c9fd0a29fc610efe73ec",
         "meshes.tar": "3531cd6bfadc49a95b957f9298c02dda80677b05d49b33f375cc0db66e224376",
-        "render.png": "180c6ff2caf44e7adb634799062fdaac11f7fb7f29961b90c38dce391c59c619",
+        "render.png": "28c512ef612e7e012675540ce8689d83376c613503dd60f261aab1be1c4ca2ff",
         "graph-raw.svg": "3e027741251fb80ab61ecefcf49307ae567ce5a9dc474d65dfb88345d43909fc",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "5e96cfe4a3322516589d08e1391a9547140e613213647b5f58186bdcabc7ec36"
@@ -6984,7 +7096,7 @@
         "mjcf_ms": 3.2846941612660885,
         "compile_ms": 179.20963000506163,
         "graph_ms": 135.3032849729061,
-        "render_total_ms": 1863.8050649315119
+        "render_total_ms": 1937.5605783425272
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7032,16 +7144,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 187.21017381176353,
-        "render_ms": 1521.9825226813555,
-        "compose_ms": 63.48217697814107,
-        "write_ms": 78.4208751283586,
-        "foreground_fraction": 0.77605
+        "compile_ms": 277.87544997408986,
+        "render_ms": 1502.7288007549942,
+        "compose_ms": 63.496008049696684,
+        "write_ms": 81.14539599046111,
+        "foreground_fraction": 0.77605,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ba3d820357b71359396af5942090b47e06dfbb7b0198b444ca23bdc803a095af",
         "meshes.tar": "b3f0ed77e3036ccaf73f50040f0439e8bc66836443af243ec9453a81c1520b6c",
-        "render.png": "2a4cf8edb42e1e8f690a9f8609174be7db45b77c74f8536a42c9eee5f1c70a50",
+        "render.png": "fc8d1544d888b974435a64a3a12bea52270b125d0977d717959fb4193330539f",
         "graph-raw.svg": "41121d6289a085eee55192214ce3e27a7b4d942e9d5cb2927c1d2814a2c387a5",
         "graph-robot.svg": "adccfb9e51722287f60b0d7a0a80c1b5f9719e03a745223772b386b0cbfc2906"
       },
@@ -7073,7 +7187,7 @@
         "mjcf_ms": 2.817878033965826,
         "compile_ms": 3.0304761603474617,
         "graph_ms": 75.62875421717763,
-        "render_total_ms": 1554.9082178622484
+        "render_total_ms": 1553.9267649874091
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7134,16 +7248,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.2731033861637115,
-        "render_ms": 1417.424201965332,
-        "compose_ms": 60.17867708578706,
-        "write_ms": 59.671899769455194,
-        "foreground_fraction": 0.45815
+        "compile_ms": 6.725717801600695,
+        "render_ms": 1415.1317062787712,
+        "compose_ms": 59.86677668988705,
+        "write_ms": 59.51507994905114,
+        "foreground_fraction": 0.45815,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "31086fa638831be9aeb4a0046518918a0ab1c03f76525dbe37fed7e8d5658802",
         "meshes.tar": "893d9300722ede6aad9382f8bfe6abad9a1f14e993d5892d8622e939db576350",
-        "render.png": "a80f75a1e4b4632cae9854e9aea4cb20e18bf0401c4e052b9b8a6a182f855dd1",
+        "render.png": "543e13a974626d5f7ac218cf96f2f0f541ca897fb9c3b9f50c1972a105c482d1",
         "graph-raw.svg": "c471cab9825f6857ed702326984a0aeea4fd2588686acb1196f081e340806fce",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "c6bf7b1e46a3c9a214f254e7c30dd2614188f1a60874e8080b391d72c0716742"
@@ -7175,7 +7291,7 @@
         "mjcf_ms": 3.245987929403782,
         "compile_ms": 3.569649998098612,
         "graph_ms": 104.56805815920234,
-        "render_total_ms": 1531.6966851241887
+        "render_total_ms": 1562.7003689296544
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7236,16 +7352,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.085524171590805,
-        "render_ms": 1413.7316839769483,
-        "compose_ms": 49.02265267446637,
-        "write_ms": 50.39523681625724,
-        "foreground_fraction": 0.2981
+        "compile_ms": 4.4373939745128155,
+        "render_ms": 1444.7473399341106,
+        "compose_ms": 49.76451909169555,
+        "write_ms": 50.84281787276268,
+        "foreground_fraction": 0.2981,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "866421d7f6a1c5445b937745f82a1d6c1b8c921066362246f8659a08979009b1",
         "meshes.tar": "480e91f62a0528e5d347213604fdf6ac560d35a1d5be74e3d686b05f31b65429",
-        "render.png": "97229e1043d537c26c0c093b70f0674fe2844213ee45a993be18b4d2ac12d1eb",
+        "render.png": "9be4bc583ff50ac10d35069e66464a7b8741797a4786c62d56825579ee1a0d31",
         "graph-raw.svg": "1f0f2c84b13418ac308f842bc04290ba17f2340ba89178b2f43742e988b525c9",
         "graph-robot.svg": "b5cd57ea7a87a32c96a517b282cadf65278dda8b3ecb6ff8a395fcf99708ab31",
         "robot.urdf": "0ce2da9cfde1f8f34d0b93b435ed381d0d950890d09ef4c8c83b2ffe860ddf54"
@@ -7279,7 +7397,7 @@
         "mjcf_ms": 3.2866387628018856,
         "compile_ms": 3.861004952341318,
         "graph_ms": 176.4459451660514,
-        "render_total_ms": 1645.4256582073867
+        "render_total_ms": 1591.732039116323
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7340,16 +7458,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.076078232377768,
-        "render_ms": 1486.8091228418052,
-        "compose_ms": 72.99669086933136,
-        "write_ms": 67.34969513490796,
-        "foreground_fraction": 0.62975
+        "compile_ms": 4.724782891571522,
+        "render_ms": 1434.0910031460226,
+        "compose_ms": 71.87462504953146,
+        "write_ms": 69.28563816472888,
+        "foreground_fraction": 0.62975,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "ccdf6b790e8b425748bb8a10021bc8d91ecc17981a2018ca424a3e894d9a9327",
         "meshes.tar": "19e366f029aa01df6305670578df04fc6af74b59afdf7f1815e3e295dce5ad92",
-        "render.png": "e8a95c1336227abf41998ff436d3e6778e2c8cd8102b3feade9d06155740db96",
+        "render.png": "e2e707132f9d891fb3ca43168a3514031d4795c9a517aabdb98a94952289e1cd",
         "graph-raw.svg": "66976fbf2f4011df5d47dcd69235515e4fe575e66b541d910e95e0608d1e4eb6",
         "graph-robot.svg": "207c98c530d33b6e2e470abdf65e0926c42f2155481950aef51992bbdc84250e",
         "robot.urdf": "e463bf29768b886255b550d67746a97f5701cd8c11527d047d119ae0d496699e"
@@ -7400,7 +7520,7 @@
         "mjcf_ms": 6.070325151085854,
         "compile_ms": 85.61260718852282,
         "graph_ms": 687.296702992171,
-        "render_total_ms": 2085.288211237639
+        "render_total_ms": 1778.8670640438795
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7869,16 +7989,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 85.388015024364,
-        "render_ms": 1446.8751279637218,
-        "compose_ms": 58.48218500614166,
-        "write_ms": 482.1481821127236,
-        "foreground_fraction": 0.4895
+        "compile_ms": 86.04112174361944,
+        "render_ms": 1554.1357696056366,
+        "compose_ms": 58.70872596278787,
+        "write_ms": 67.7010789513588,
+        "foreground_fraction": 0.4895,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "5a56ae2a6635505275dda9dc6685175cbbd8c8f890973891c523e40d65d076b7",
         "meshes.tar": "c9830b0a76b33faea07f7eaa7f117b39b43757cdbb95acf3762c195cb2a1f136",
-        "render.png": "576344151495e1ffd627c0bbbaaae1af4200bc8782eff9efacc3eae9d4d0ce39",
+        "render.png": "47344e9f28b5d0cbd404fd54736ded3800412863ce229b455aabf507acc1fc74",
         "graph-raw.svg": "3256aaf35938a3174c4f84fdf4adefa8f6425fb863e22188aedeb1e1da769db6",
         "graph-robot.svg": "46e24d0b471a1d4d30b3e0c7f13fb12e440dd277967bda66f5e78be77c10f45d"
       },
@@ -7909,7 +8031,7 @@
         "mjcf_ms": 2.9503717087209225,
         "compile_ms": 9.696345776319504,
         "graph_ms": 65.49997022375464,
-        "render_total_ms": 1672.7257911115885
+        "render_total_ms": 1590.6569696962833
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7970,16 +8092,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.527338203042746,
-        "render_ms": 1513.4878288954496,
-        "compose_ms": 70.06353186443448,
-        "write_ms": 66.79680198431015,
-        "foreground_fraction": 0.70455
+        "compile_ms": 11.177617125213146,
+        "render_ms": 1428.8368029519916,
+        "compose_ms": 70.67371113225818,
+        "write_ms": 67.27457325905561,
+        "foreground_fraction": 0.70455,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "79e91c66420b4168529ab748af0b621b028ea1cbea928c4feb7f57901909f254",
         "meshes.tar": "c21c606b1d5a74a46391542c95f9536813e0dc9903b42630779f92f6fa1b8354",
-        "render.png": "b6a230a9ee62e6fec6dab789f2cc736677af9638a46bdf7b37c5bd655da22363",
+        "render.png": "c2392343809cdc0bea1bede397f0ea5505e03e3053cd2978bb918aa5d5b3a185",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a326649cf9222b7d40ac76bbefa9a9f2b523ac38eca608b195a5bb9d54176404"
@@ -8010,7 +8134,7 @@
         "mjcf_ms": 3.2590311020612717,
         "compile_ms": 10.405964683741331,
         "graph_ms": 107.10581112653017,
-        "render_total_ms": 1601.2455020099878
+        "render_total_ms": 1599.687345791608
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8071,16 +8195,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.596328768879175,
-        "render_ms": 1429.2772496119142,
-        "compose_ms": 69.61336173117161,
-        "write_ms": 73.39818589389324,
-        "foreground_fraction": 0.6743
+        "compile_ms": 11.814943049103022,
+        "render_ms": 1432.111328933388,
+        "compose_ms": 69.51003707945347,
+        "write_ms": 74.28576983511448,
+        "foreground_fraction": 0.6743,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "a927b25b66512c40b8b859bf9cc2a773b16bad87d52db3254252569f02316a17",
         "meshes.tar": "b2459053f22102deee8856497d6bb6fa2cf402e4b848cef91278950bcd53cac7",
-        "render.png": "736c587b4d39f526cbd3264e6369be953b0724ccb4a5ab60a0daaba0ef4b7ca7",
+        "render.png": "6c56d65e93094eb365be3b691bc7b2d7fb467aafaee4bd9343479debc3dd8443",
         "graph-raw.svg": "45cf9eb4ebe2cfee7f11840739751fedfd755887c22874ddd96b231b680bf579",
         "graph-robot.svg": "e59c9a759fc700ebaa1ad74a2ba1687cfae13abf2dd3f60e97260022c9f7c8b4",
         "robot.urdf": "94c9595c8478a191ce25452afa9ac3f13219a48698671a75c5f692bde98e7b87"
@@ -8132,7 +8258,7 @@
         "mjcf_ms": 169.53544411808252,
         "compile_ms": 36.73155792057514,
         "graph_ms": 242.13307676836848,
-        "render_total_ms": 1705.4892359301448
+        "render_total_ms": 1673.136834986508
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8217,16 +8343,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 56.46152654662728,
-        "render_ms": 1502.1480838768184,
-        "compose_ms": 76.18350116536021,
-        "write_ms": 57.1502149105072,
-        "foreground_fraction": 0.6688
+        "compile_ms": 46.33685993030667,
+        "render_ms": 1479.1661072522402,
+        "compose_ms": 76.91600592806935,
+        "write_ms": 58.3689333871007,
+        "foreground_fraction": 0.6688,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "fd7bfbbdf083d0955e42efe5bdd86305dc36eeec1e3f15af381c8968fa0b046b",
         "meshes.tar": "bff2174073335e8d1038d7fca3c435a0caac0843d7401ffc3f9d1b56160de896",
-        "render.png": "8c1cfd62f4ce77bf5250b43f2c8cdae3f96ee5b4728408c50f0ab19d7a540759",
+        "render.png": "9fcf14d957470e15e32e043b21fd2fbc2e4f852a43f15f084028fb41e685a31d",
         "graph-raw.svg": "ebca28601b4e0ca032b09fd5878d6c168f21e32f5c10147b3610e8f9ba6eefc5",
         "graph-robot.svg": "94865b506198b0dd0cff1ba6365abb3ebef92b7f78fe2cb80bb002ad6cb8b5b9"
       },
@@ -8267,7 +8395,7 @@
         "mjcf_ms": 4.868586082011461,
         "compile_ms": 3.400360234081745,
         "graph_ms": 284.46575114503503,
-        "render_total_ms": 1568.766268901527
+        "render_total_ms": 1560.658706817776
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8340,16 +8468,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.560118842869997,
-        "render_ms": 1433.249733876437,
-        "compose_ms": 50.73508387431502,
-        "write_ms": 68.27303487807512,
-        "foreground_fraction": 0.275
+        "compile_ms": 3.9228321984410286,
+        "render_ms": 1423.6679840832949,
+        "compose_ms": 50.17657205462456,
+        "write_ms": 70.32431708648801,
+        "foreground_fraction": 0.275,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "5632da58cf5bc87a3282d53af2283ac12684b548c2e4d6855489af562402684c",
         "meshes.tar": "710174855e233c9ee3d00b49da8ad2f50b2ac71e215677a9a682445c9bff0e81",
-        "render.png": "e2ec7a0bf6e934f1f897bae631dd038daec6fff04e607fedeb41a48185ab2c20",
+        "render.png": "01848dfdfcea902ea0346329a83ad9567c3292f22b5a7960ba768a38c8671019",
         "graph-raw.svg": "465a841b393d11667faec925adbe399fd7c524fbd539c1670e4600de4047e621",
         "graph-robot.svg": "d96be39adf85ade42fc9ab89af659c65c23b9a448f130cac6f31d7561e60490b"
       },
@@ -8389,7 +8519,7 @@
         "mjcf_ms": 2.57665803655982,
         "compile_ms": 113.75416396185756,
         "graph_ms": 220.35379894077778,
-        "render_total_ms": 1749.932873994112
+        "render_total_ms": 1768.841762561351
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8450,16 +8580,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 112.7576632425189,
-        "render_ms": 1464.7968891076744,
-        "compose_ms": 59.70751401036978,
-        "write_ms": 98.98248314857483,
-        "foreground_fraction": 0.5038
+        "compile_ms": 111.88948201015592,
+        "render_ms": 1459.8881220445037,
+        "compose_ms": 58.420834597200155,
+        "write_ms": 126.31198484450579,
+        "foreground_fraction": 0.5038,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d519701860f2756b47973b297c4e74d5c373d8446f504b17166cedfa326455aa",
         "meshes.tar": "4147586daa0450a19d1472b6757525203ba8b6811747714b296bbfa068e20e96",
-        "render.png": "e0efea45b9913be5e4ce4b71f57a76ad2b4b55dd1e1e87d5986ebdbaae1e7f85",
+        "render.png": "9b6f3d6069b5fd03f0fb7d245b9d88c262b15fec29d3ea4fd5acc06e0dd9fc58",
         "graph-raw.svg": "2e00936f2c3e3ea36dab96d9e8c09fa3fb394c12084dbf0791a90299c1079198",
         "graph-robot.svg": "041788749d31f715e4b66c6bb78f551c9b71ba6f1b049a92630489d0dc6b8694"
       },
@@ -8499,7 +8631,7 @@
         "mjcf_ms": 2.8728079050779343,
         "compile_ms": 111.69389309361577,
         "graph_ms": 95.96627810969949,
-        "render_total_ms": 1768.8118871301413
+        "render_total_ms": 1759.4719426706433
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8560,16 +8692,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 110.61519524082541,
-        "render_ms": 1517.0939681120217,
-        "compose_ms": 44.527022168040276,
-        "write_ms": 83.97508598864079,
-        "foreground_fraction": 0.242
+        "compile_ms": 108.20790426805615,
+        "render_ms": 1498.9541480317712,
+        "compose_ms": 45.63396191224456,
+        "write_ms": 94.65612703934312,
+        "foreground_fraction": 0.242,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "789ab6d0152fa80e6d5653a6a890678a695a930bd33fee1d5b847fab9c93e150",
         "meshes.tar": "00af9c672ce50b253bcd48f8cd2881d2638541aff9adf25dc77e0d738bb75ea7",
-        "render.png": "c46418330a23c59339cbabc02360660bd39ba1aaa3c40ed5a4750501cb49ed1d",
+        "render.png": "84c143933922c9526169bf05197ef57d1427c779f0e63fd5142738f339d4c968",
         "graph-raw.svg": "eb6ddcf1bc2b189cf5679706e9a23f2a7cb6280cd27636cfc818b71a69ff7a1e",
         "graph-robot.svg": "29628ecd72bab25eb374fe0d7ada26fe5695c2bcfdd1dd93d9a8327c8c4cee2a"
       },
@@ -8609,7 +8743,7 @@
         "mjcf_ms": 2.8423541225492954,
         "compile_ms": 108.4107980132103,
         "graph_ms": 94.05026398599148,
-        "render_total_ms": 1860.1766568608582
+        "render_total_ms": 1882.2660557925701
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8670,16 +8804,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 101.78072191774845,
-        "render_ms": 1477.2172970697284,
-        "compose_ms": 65.29574189335108,
-        "write_ms": 203.29604903236032,
-        "foreground_fraction": 0.32505
+        "compile_ms": 252.8295610100031,
+        "render_ms": 1457.8391555696726,
+        "compose_ms": 51.2157347984612,
+        "write_ms": 107.75989294052124,
+        "foreground_fraction": 0.32505,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "08a8ba22e948cd928e1a0b750b9d02c4b10c794448bf98f65490f57b6c6e9cd7",
         "meshes.tar": "759fd4f442fd907dc58fe07044a5e39f7016448d76dc8b1e86cf687e0e10907f",
-        "render.png": "2662085492da0f73ec9b63449bb4767ba2bb5e3c076b275fc11150722aa2f014",
+        "render.png": "983b5f80ef22469009ecf8743d0a2406786d0f97878a776c06cea78c89272e40",
         "graph-raw.svg": "eb6ddcf1bc2b189cf5679706e9a23f2a7cb6280cd27636cfc818b71a69ff7a1e",
         "graph-robot.svg": "29628ecd72bab25eb374fe0d7ada26fe5695c2bcfdd1dd93d9a8327c8c4cee2a"
       },
@@ -8718,7 +8854,7 @@
         "mjcf_ms": 2.725698985159397,
         "compile_ms": 4.9823797307908535,
         "graph_ms": 136.7969191633165,
-        "render_total_ms": 1581.7817393690348
+        "render_total_ms": 1574.641965329647
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8766,16 +8902,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.654138047248125,
-        "render_ms": 1428.883196786046,
-        "compose_ms": 66.33904203772545,
-        "write_ms": 68.19013366475701,
-        "foreground_fraction": 0.69025
+        "compile_ms": 5.586494691669941,
+        "render_ms": 1420.2359300106764,
+        "compose_ms": 66.87948387116194,
+        "write_ms": 69.78597305715084,
+        "foreground_fraction": 0.69025,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "b60b03409ad302b284353ce0436bc45bace41b928bf09ee95eae6cd9f68e0862",
         "meshes.tar": "53c09610eaf8797545c443201892c666f3e7e41b91c6beff09df90a2ef9176b0",
-        "render.png": "d1ef3cbdcd5dcd1ab2db1468e7777703d1026113db0a6263198e1978f7339af6",
+        "render.png": "5ccfdb843f5f3714babf63628b8d13f224dfeb540c9c9383a069b81e2c122d77",
         "graph-raw.svg": "f613f99b33ab1fb1d168859aecf36c6ecda43062fdf6ff4b5a53f22eda4d3f07",
         "graph-robot.svg": "f2590bf44a13730f93ec5292a111bd193aeb48410e913036907d74d7cac7803e"
       },
@@ -8807,7 +8945,7 @@
         "mjcf_ms": 3.215016797184944,
         "compile_ms": 37.097470834851265,
         "graph_ms": 122.48295173048973,
-        "render_total_ms": 1689.215331338346
+        "render_total_ms": 1690.9244023263454
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8868,16 +9006,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 33.61353697255254,
-        "render_ms": 1472.6124852895737,
-        "compose_ms": 68.6376728117466,
-        "write_ms": 101.04584926739335,
-        "foreground_fraction": 0.47135
+        "compile_ms": 30.312703922390938,
+        "render_ms": 1462.1181599795818,
+        "compose_ms": 61.36096315458417,
+        "write_ms": 125.19291881471872,
+        "foreground_fraction": 0.47135,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d637fc9908ec532b9606a0d1f68ac2b8b29eda7f9eb745de5daa2e966de45a66",
         "meshes.tar": "2049a0bea2f9b3ad3585a6093237438433311bdee2792af914ed1f61fb661f4a",
-        "render.png": "2e75d2d7008b280ab451d19f084be16af9c3894e4ed480e87965564eff63658d",
+        "render.png": "8b346a855686245b218f21b28906ba0927aec14cb0cca68f5546ac0d308d6e54",
         "graph-raw.svg": "af220c038c0678b32e7298a5fd69a9a3e14387a407ce91e0ec15b86a4ae7737d",
         "graph-robot.svg": "ebd381b643b710b24c286da4e80aae29f7f930f68dc54d2fa3bf244313b28b66",
         "robot.urdf": "95f29555ce8376f2f68b7b2ab552968256a706ba9c14ae732f2b74d94dfcae27"
@@ -8919,7 +9059,7 @@
         "mjcf_ms": 3.207860980182886,
         "compile_ms": 188.88247711583972,
         "graph_ms": 115.72287185117602,
-        "render_total_ms": 1882.7378479763865
+        "render_total_ms": 1798.1473649851978
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8992,16 +9132,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 178.5776033066213,
-        "render_ms": 1541.4467370137572,
-        "compose_ms": 70.98972704261541,
-        "write_ms": 78.33570521324873,
-        "foreground_fraction": 0.45265
+        "compile_ms": 159.56947999075055,
+        "render_ms": 1483.9861900545657,
+        "compose_ms": 57.95352067798376,
+        "write_ms": 83.10898300260305,
+        "foreground_fraction": 0.45265,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "6ad76d94370203fed9f061d30e368f5ec031c2d25f5f34c5583e669f5ae75a9f",
         "meshes.tar": "8c1321ddc40495def5a9b96d86f95f91478250edaa279c009051ab3424f0ceb8",
-        "render.png": "ff7fc1a28d39963c5124221fc6b6b470bb089ab13dcc9671e47064a257eb85f9",
+        "render.png": "e407c97435ef7168e935955e7e4b71c200e6b27da9b0844428be1186824f8c70",
         "graph-raw.svg": "ec2139081e10ea38d24b8fb5309cf47ce91a558954558ebf9b0cb5f2e4395cb4",
         "graph-robot.svg": "2f4fff4cd0bb5bc9ecb13d8f66ce583be46a42a6c36735d7ef6378825183d138"
       },
@@ -9043,7 +9185,7 @@
         "mjcf_ms": 2.6931087486445904,
         "compile_ms": 31.924297101795673,
         "graph_ms": 117.76209389790893,
-        "render_total_ms": 1693.8993469811976
+        "render_total_ms": 1649.5451871305704
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9110,16 +9252,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 32.713307067751884,
-        "render_ms": 1496.3954868726432,
-        "compose_ms": 63.51256789639592,
-        "write_ms": 87.9491618834436,
-        "foreground_fraction": 0.54065
+        "compile_ms": 38.30784000456333,
+        "render_ms": 1446.9984928146005,
+        "compose_ms": 57.14215291664004,
+        "write_ms": 94.96904583647847,
+        "foreground_fraction": 0.54065,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "18c245743e65f5e16f18e471a74433755bbbc69b3f757a4f7dac53991328e50d",
         "meshes.tar": "8570c6f5bf6cc0c24fadca70a9f1781ac73a0821293a0cb404b9966ced62bb12",
-        "render.png": "36944fbeb0b428ecfe97f94b554be26118e8d7b103de13990f9fb03d5093a22a",
+        "render.png": "ba93f9f868664316de78338c1a105802c26c052d55e3d3cae2c4e10e7d0f79f9",
         "graph-raw.svg": "110607ce6b282567086f8b92f95555b1be103c53b4a769512af752b3841424e6",
         "graph-robot.svg": "4b1f51c6080e40e0b60325b0c688a1274c280ccf3927807146b40c1242521546"
       },
@@ -9159,7 +9303,7 @@
         "mjcf_ms": 2.885586116462946,
         "compile_ms": 13.345624785870314,
         "graph_ms": 175.45214109122753,
-        "render_total_ms": 1702.4035160429776
+        "render_total_ms": 1611.2504727207124
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9310,16 +9454,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.812183782458305,
-        "render_ms": 1528.4445211291313,
-        "compose_ms": 60.98178494721651,
-        "write_ms": 78.35867302492261,
-        "foreground_fraction": 0.484
+        "compile_ms": 15.393975656479597,
+        "render_ms": 1444.0164142288268,
+        "compose_ms": 55.9591930359602,
+        "write_ms": 82.84880360588431,
+        "foreground_fraction": 0.484,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "5ffa32f67f45b9896ba48ea2578b36efc4951634f66d4d751c7d9b36d0152b95",
         "meshes.tar": "8ad8cdf31cecb97fecef5af0232104ed98826d04ee56baf57cc09e873d1835a5",
-        "render.png": "c6b4b2e25e01ca56dfe20f487068fcc74694cc1aed09a23a23c1b1f6c253dddd",
+        "render.png": "912fded1458d8f76d3378a1ea430b8a5b0f330453a62c998422d12931b55a631",
         "graph-raw.svg": "247131a2b55bcfd2a90147f9fd3ad289fa1ec2b55b4ddd892ade44de1115f4d1",
         "graph-robot.svg": "7b500b41bf88e1f74528e412d8fafa60bf129cf91769673ebca7c5d6e71a1ab8"
       },
@@ -9360,7 +9506,7 @@
         "mjcf_ms": 2.8977738693356514,
         "compile_ms": 27.139640878885984,
         "graph_ms": 121.3162001222372,
-        "render_total_ms": 1696.8823657371104
+        "render_total_ms": 1633.6120059713721
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9463,16 +9609,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.09052900597453,
-        "render_ms": 1505.4512326605618,
-        "compose_ms": 69.10444097593427,
-        "write_ms": 79.64158290997148,
-        "foreground_fraction": 0.5588
+        "compile_ms": 23.41267094016075,
+        "render_ms": 1457.557258196175,
+        "compose_ms": 58.20066202431917,
+        "write_ms": 81.84746978804469,
+        "foreground_fraction": 0.5588,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "a3200b365b6ae27e7ad999e81dfb39efbbfc5039a68d8987705479089717c5b7",
         "meshes.tar": "79d1e09dd29d8eb1248cadb584f0b6dfc1298a427e7630839daf70b467271921",
-        "render.png": "83315ebc98bee5853321ca93316aca928a9f412b6b7ece0f823c5d436e8b6ec5",
+        "render.png": "a7c17864b01ad4b54454444b159a5d956c1919efa6ee49d21bc992bdc34f7c2b",
         "graph-raw.svg": "6a9776257444074ee7596a369a5eb36f441bfca84f455733904184f1a9c7b12c",
         "graph-robot.svg": "17fd11a44224a49120f9c3c6a3d83169503c2da173b7f1a130490a8ee033930e"
       },
@@ -9510,7 +9658,7 @@
         "mjcf_ms": 2.517309971153736,
         "compile_ms": 31.01838007569313,
         "graph_ms": 73.48305499181151,
-        "render_total_ms": 1686.069494113326
+        "render_total_ms": 1637.2260837815702
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9558,16 +9706,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 35.97366297617555,
-        "render_ms": 1522.8097927756608,
-        "compose_ms": 47.21097135916352,
-        "write_ms": 60.88499631732702,
-        "foreground_fraction": 0.21395
+        "compile_ms": 31.80495323613286,
+        "render_ms": 1456.327896565199,
+        "compose_ms": 63.8842461630702,
+        "write_ms": 65.90351881459355,
+        "foreground_fraction": 0.21395,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "b64b5d3beb793d8f9e8a2c8a314c8428c7deff3ae06f64d82ae6c64a55c87914",
         "meshes.tar": "f0bd195103796ada50ef76e156d8b13f77d5607dfe57f9acd72aa8887957b35a",
-        "render.png": "05390320d4b57363a9c5aa5dfde02598c4129199a4168122b1178175c30511a5",
+        "render.png": "0e5cf74e1bdc48fbb43f7dda58245f50a6396bffb9bc2bf65aea409ad3013401",
         "graph-raw.svg": "ea2ddf4ac8b104cd3e9e7003678649503d80ebafd792619e77599e7782533e5a",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -9598,7 +9748,7 @@
         "mjcf_ms": 3.0215010046958923,
         "compile_ms": 32.100727781653404,
         "graph_ms": 76.6527228988707,
-        "render_total_ms": 1647.4457220174372
+        "render_total_ms": 1629.110038280487
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9659,16 +9809,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.75437294319272,
-        "render_ms": 1468.835269100964,
-        "compose_ms": 66.02835981175303,
-        "write_ms": 68.44133930280805,
-        "foreground_fraction": 0.6435
+        "compile_ms": 32.339793629944324,
+        "render_ms": 1451.1846979148686,
+        "compose_ms": 62.77762074023485,
+        "write_ms": 69.57443617284298,
+        "foreground_fraction": 0.6435,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "51070a626212c6ad7e01741dcc1ee943499147d0afb041a5c690d464e21e4956",
         "meshes.tar": "71044b9c313ec61bd88086e0439a187b56c0b1d952884fb84f103c65b097b562",
-        "render.png": "e0ab7cef45ae643cc7daebf12f67950cbdb5949fc3d2ef0a90e9e8ec2844139f",
+        "render.png": "a2b8c94433b35a0210173100bdb72a27a4276c6b511c3c496c30b807048f7f02",
         "graph-raw.svg": "38b4186cafe4e4ec618b42d5182fe117d8980dc3eef87d1e48ae655ec04e068e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "10b14e8945ad92d3b52d5acd672f4d8b4f80ecc20bb8abde0364cafc34510174"
@@ -9701,7 +9853,7 @@
         "mjcf_ms": 3.8098650984466076,
         "compile_ms": 315.4042921960354,
         "graph_ms": 178.88024169951677,
-        "render_total_ms": 2035.4692903347313
+        "render_total_ms": 2116.4677659980953
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9781,16 +9933,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 314.82743425294757,
-        "render_ms": 1564.953785855323,
-        "compose_ms": 57.25534399971366,
-        "write_ms": 85.21480532363057,
-        "foreground_fraction": 0.652925
+        "compile_ms": 393.0112789385021,
+        "render_ms": 1561.4720177836716,
+        "compose_ms": 58.50175395607948,
+        "write_ms": 90.73641989380121,
+        "foreground_fraction": 0.652925,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "bf8ecc5a3ecdbee3dc9b4a9c2705d1ca2460a0f22ea4af4608ae1533cb3c0148",
         "meshes.tar": "98fc181e007fe02e5b7893eb00f81c9198efc0ba1c98bc171a593b7fe4a0ccd4",
-        "render.png": "ed6bfe26125dc80d0080efb0836ef2d5119c3d6dfbdda6dd4ee0d19dadc7216c",
+        "render.png": "aee76bccec76622423789d8763c034a3fdcc20b845e5986fd8ab3c0c96a63de0",
         "graph-raw.svg": "5648aec4371646a5f0aca842432bd4384604f343f983ceece137bed1b24e4508",
         "graph-robot.svg": "9322c00d0d59e3d47ce3c2271df22af3053431e2b36a0972732098137e2f2df8",
         "robot.urdf": "714817df5390a8a8dcff8e905963d240733b7e345e2e451811bf11b551d2b1ea"
@@ -9826,7 +9980,7 @@
         "mjcf_ms": 3.348420839756727,
         "compile_ms": 530.0343106500804,
         "graph_ms": 188.21208970621228,
-        "render_total_ms": 2382.855222094804
+        "render_total_ms": 2480.941877234727
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9894,16 +10048,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 488.1548541598022,
-        "render_ms": 1659.4079961068928,
-        "compose_ms": 61.740722972899675,
-        "write_ms": 160.2189359255135,
-        "foreground_fraction": 0.6171
+        "compile_ms": 496.75020296126604,
+        "render_ms": 1673.6250915564597,
+        "compose_ms": 64.34141425415874,
+        "write_ms": 231.71273106709123,
+        "foreground_fraction": 0.6171,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "654252fbfe7d2cdf646686c53480fea37fe225b56112df1efcbc88c9693c4ac1",
         "meshes.tar": "92c326cfcb3d150d920c45bf04e69fb84b28f14ea2e0052734663b53e67f11ba",
-        "render.png": "ef426a9e601be65716168cfc318004bf04f963e25618a3fc6d81714fb02361c1",
+        "render.png": "c77dfe18461557b4724fc4f046bef419110d67f2ff17747fb9a00817928da649",
         "graph-raw.svg": "8bb31ded063486319e6828d39de6155a044b9d3f87894d330c95fe5996e6690b",
         "graph-robot.svg": "a9eb3633ac212840aac08985d8f9d3bd1758050012549fe3283738eb7a3da63c",
         "robot.urdf": "45ec28c4add93e9028969af63764861430e5a708f7ddd0fe647c3d40c5426c37"
@@ -9947,7 +10103,7 @@
         "mjcf_ms": 3.724473062902689,
         "compile_ms": 297.47397592291236,
         "graph_ms": 242.44414502754807,
-        "render_total_ms": 1996.8491452746093
+        "render_total_ms": 1973.4493931755424
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10140,16 +10296,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 265.67423809319735,
-        "render_ms": 1585.1978999562562,
-        "compose_ms": 58.2644478417933,
-        "write_ms": 75.25465497747064,
-        "foreground_fraction": 0.42185
+        "compile_ms": 271.5345621109009,
+        "render_ms": 1557.1089670993388,
+        "compose_ms": 56.43843673169613,
+        "write_ms": 75.95623377710581,
+        "foreground_fraction": 0.42185,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "c5d715ae4481e77a2e33f490c6c573011470275bf1325f7d6e6e2f8a5c5c0575",
         "meshes.tar": "be8448f095b29e70ae78bbc0077917d14d6776ad2304c1504d03afab3fb5e8b3",
-        "render.png": "83e4ed1e02083ac873c929f34e8ce876f1e093a5cd4909af9a4f1433eaca3b8a",
+        "render.png": "7193fed2218a692d5ec900057794a601ff92e1291ddaf0e891521202ce3b5259",
         "graph-raw.svg": "bbfd3e6dbf06a3578ccd18f2e8d0fc3d2b90014ba01315e8ed550e5d5e4f1808",
         "graph-robot.svg": "0ccc6cbeaa5a8be59614bb9319cc873547d132749f73882add9df60cc27f576a"
       },
@@ -10189,7 +10347,7 @@
         "mjcf_ms": 3.2055387273430824,
         "compile_ms": 450.8887086994946,
         "graph_ms": 158.4072387777269,
-        "render_total_ms": 2189.154816325754
+        "render_total_ms": 2242.7109708078206
       },
       "mesh_preparation": {
         "status": "degraded",
@@ -10257,16 +10415,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 494.00898069143295,
-        "render_ms": 1562.9822593182325,
-        "compose_ms": 61.984803061932325,
-        "write_ms": 56.598732713609934,
-        "foreground_fraction": 0.2838
+        "compile_ms": 519.0466488711536,
+        "render_ms": 1589.4075110554695,
+        "compose_ms": 62.27034470066428,
+        "write_ms": 56.86517804861069,
+        "foreground_fraction": 0.2838,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "296ee706d780d60a9331611c402e3dba13a0643bba829e52d60587aa18c0b2f5",
         "meshes.tar": "89be1003dba75ea5e7f74994c2dca653ff4c565e38b3a7f86422f7a2145621df",
-        "render.png": "2776467d0893f3c32cb046452604f23db8bb789be5aaf052345ef1f55860e686",
+        "render.png": "80c60932840152fe2a8389f343226910f52f8d92b3119b3b0dca0371f3f70cae",
         "graph-raw.svg": "76576949034812d768f5c292c7c2f45474b2b72d3f5ecc78af7d3171047bb071",
         "graph-robot.svg": "610bdd4947a4c12e82214818b02d0d98724055a8427fe1f44d55e18e9fe37ace"
       },
@@ -10297,7 +10457,7 @@
         "mjcf_ms": 2.877062652260065,
         "compile_ms": 26.803364045917988,
         "graph_ms": 78.93293397501111,
-        "render_total_ms": 1643.077069427818
+        "render_total_ms": 1664.3783589825034
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10358,16 +10518,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 38.19833695888519,
-        "render_ms": 1436.5528197959065,
-        "compose_ms": 72.68494600430131,
-        "write_ms": 82.28556299582124,
-        "foreground_fraction": 0.7477166666666667
+        "compile_ms": 25.45166201889515,
+        "render_ms": 1477.702684700489,
+        "compose_ms": 62.551194336265326,
+        "write_ms": 85.80733090639114,
+        "foreground_fraction": 0.7477166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "41a5d457d15c2936c0844cd7bcff1bd8488a1d841c5b7be9d153bb4dcf2a4c90",
         "meshes.tar": "9ec4f1575c69c5d6226729de3e24757fe54150a69565333f506e7a1737555922",
-        "render.png": "6387d0c5296272aa586d4f6fc37e9c9389c319b0ed3325062b30409aa0296f30",
+        "render.png": "d4536a065bbe4f179a9b8755289ef347053187b061dc1c66deeb0e0b38fb25e8",
         "graph-raw.svg": "dc20c0552226f397b710c7cf58b549752dca25bd7fe0c55cfee538cbb5c0894b",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "b5987886c7f90c85ca15737be441c9bc8eb7ab870d8b2c43faafb8d12f12f15a"
@@ -10412,7 +10574,7 @@
         "mjcf_ms": 3.0707777477800846,
         "compile_ms": 18.527539912611246,
         "graph_ms": 186.61298137158155,
-        "render_total_ms": 1656.1786043457687
+        "render_total_ms": 1657.836107071489
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10497,16 +10659,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.287731170654297,
-        "render_ms": 1449.1200908087194,
-        "compose_ms": 69.76809678599238,
-        "write_ms": 106.39214003458619,
-        "foreground_fraction": 0.78715
+        "compile_ms": 19.105081912130117,
+        "render_ms": 1425.4477778449655,
+        "compose_ms": 67.57280277088284,
+        "write_ms": 132.84521596506238,
+        "foreground_fraction": 0.78715,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "32e96df48f73707a35d06671895ef5f68f44697f5a894ae1100ebf5ed0bdda76",
         "meshes.tar": "19392ba1d8b70b92b9dedc5efeaeae8a541184b42a09aa20d388e6f0ce6f6d9f",
-        "render.png": "988a09338b16ed9cd8c3f2fbd7d3af1e3c19f4da1c823aede284bdc0db1a660b",
+        "render.png": "f6bcd54e63c82c1b8126043f859c0505a845a3603c4e1435757fc2df99dc8d66",
         "graph-raw.svg": "5700224f96cc1051b9375c7d21b92156e1175840e88b7eaa8098b82000782676",
         "graph-robot.svg": "a12872d7dff93657ea78297dc606cd52f831cb1e3d4730c6ae3c9ea4c7a7e620"
       },
@@ -10537,7 +10701,7 @@
         "mjcf_ms": 2.558361738920212,
         "compile_ms": 35.05602199584246,
         "graph_ms": 91.52376092970371,
-        "render_total_ms": 1637.6483109779656
+        "render_total_ms": 1653.3637107349932
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10598,16 +10762,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.383603017777205,
-        "render_ms": 1430.0782717764378,
-        "compose_ms": 59.832904022186995,
-        "write_ms": 105.52359512075782,
-        "foreground_fraction": 0.46365
+        "compile_ms": 29.965871945023537,
+        "render_ms": 1430.6836687028408,
+        "compose_ms": 59.15312888100743,
+        "write_ms": 120.48835400491953,
+        "foreground_fraction": 0.46365,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "940632daf292df9caee8f9f65317be007cd4df9d6c1cbce1e2117ed558725c16",
         "meshes.tar": "55c5e0171f0bcaad5e123f171436484af7c8c8b00ea546093c9df726c9f55843",
-        "render.png": "4f0ad15b36a42e5a3f39a7bf3e396f191d9fc94527a82ec33a97d7e9070bbe90",
+        "render.png": "b7852bffdf5659f58e2924591ec95ee5ccfbce1141d0709dd6c1c5e309a992d7",
         "graph-raw.svg": "8f39f94a2563a709526f4232eefa7c31c133c082eade63c5ec25e47cefcd0cfb",
         "graph-robot.svg": "4300690f8603413e1534f08ef822364288c0b5e5af6f974d4ce30a9bf9a43a10",
         "robot.urdf": "d2da4bd3adfa4806cc223a42f95da46e6591770ecfbbd6717ce3815e447295fb"
@@ -10640,7 +10806,7 @@
         "mjcf_ms": 3.238378092646599,
         "compile_ms": 31.444901134818792,
         "graph_ms": 117.04932386055589,
-        "render_total_ms": 1744.067382067442
+        "render_total_ms": 1659.1961169615388
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10701,16 +10867,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.02891327440739,
-        "render_ms": 1451.5783721581101,
-        "compose_ms": 75.9643348865211,
-        "write_ms": 160.8645017258823,
-        "foreground_fraction": 0.79365
+        "compile_ms": 31.767921987921,
+        "render_ms": 1403.7149748764932,
+        "compose_ms": 67.47766491025686,
+        "write_ms": 143.9226372167468,
+        "foreground_fraction": 0.79365,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "6a47d05ad79afbd4cc707673fd4d94b0db4ab33956e297160f414dad9ed29f18",
         "meshes.tar": "f0b121c655e13c292a212c8b23cb5d7f0caede2dd48095e12dff52f9e2e80382",
-        "render.png": "c5275e8ae3c8b8b877617f5eaba35de62214ebb6eb72f8d7efb45e5d6ba15047",
+        "render.png": "fb751378959d021cc680e11cadeba18793106f0715f68357d5ca457bc1271482",
         "graph-raw.svg": "c02250c7974478f13cdad77238566980ba294f89fc39c60dd9dfb43b5ee3385d",
         "graph-robot.svg": "cc00f0df91de81963f3f0be8f1829a3068e066f4ff9248ff1e83452be9073e70",
         "robot.urdf": "4b88622db8d281ca645adcdd6c8d5d925df6da7ccd9c16253d504c3acf2ef598"
@@ -10767,7 +10935,7 @@
         "mjcf_ms": 38.98556111380458,
         "compile_ms": 1080.2425309084356,
         "graph_ms": 1691.6804700158536,
-        "render_total_ms": 3432.2939650155604
+        "render_total_ms": 3492.3990201205015
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10846,16 +11014,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1109.797916840762,
-        "render_ms": 2130.3734220564365,
-        "compose_ms": 74.48289496824145,
-        "write_ms": 96.75059281289577,
-        "foreground_fraction": 0.7060083333333333
+        "compile_ms": 1101.1875001713634,
+        "render_ms": 2191.701410803944,
+        "compose_ms": 73.63136811181903,
+        "write_ms": 104.0114308707416,
+        "foreground_fraction": 0.7060083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 133
       },
       "artifacts": {
         "robot.mjcf": "7a5674f501e7196ed7456f24d1e64a56d941b7994651ab2355ecbf4570d542d9",
         "meshes.tar": "c372b3915b7b1cbbd1ba39cd5999b4263c5e700e987e988a13795119d1766eaf",
-        "render.png": "fa71d89e9f39bb24b2515b0b4a69743012d4d50661d4f0b7b597c606030a5740",
+        "render.png": "f33ce90fb91568444a9c1c00ff54c719ee66065d59a756965b4399535106d0e6",
         "graph-raw.svg": "496b13be6464d094644629a347123ef76530cef3b73233191504d949c206874e",
         "graph-robot.svg": "29a5d15000b6370feb1e962084b356c0ec6673f6171a32a8a0dc177970c08b0e"
       },
@@ -10886,7 +11056,7 @@
         "mjcf_ms": 4.031810909509659,
         "compile_ms": 39.86484697088599,
         "graph_ms": 215.87339788675308,
-        "render_total_ms": 1639.1166299581528
+        "render_total_ms": 1657.1276290342212
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10947,16 +11117,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 27.831826824694872,
-        "render_ms": 1414.2977842129767,
-        "compose_ms": 68.80794977769256,
-        "write_ms": 114.91780867800117,
-        "foreground_fraction": 0.8000416666666667
+        "compile_ms": 38.59014110639691,
+        "render_ms": 1395.5917060375214,
+        "compose_ms": 69.82751237228513,
+        "write_ms": 140.8075513318181,
+        "foreground_fraction": 0.8000416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "3bc841d8ad776670ac50c649e562e06d4bc3189a1e53122536546dde86ad9145",
         "meshes.tar": "4960a348b09081d2f8823e5d10165620012d92271f3ce6a25bbacfd9ab5cb99f",
-        "render.png": "e8ed00c74acd78f2b19671bcd533509d4cca21223527c25479a9a714026c41f6",
+        "render.png": "2f7699e72d981c9b7b35466b6d2b33a32902fcc29722b0e53f03812b415070ae",
         "graph-raw.svg": "08e9a34c6c9bca5b043142fb60d41db36c6b04dfec7614c542f06aafc91eb6c6",
         "graph-robot.svg": "444288c65d68ba76698dd7411a54fb7c90dc3da5b3a4e320ccb2e016e8669ac3",
         "robot.urdf": "248080146eb820ecc7f5a6c23ea1eb502b74bce56e85767ffef62348cdcfeba9"
@@ -10998,7 +11170,7 @@
         "mjcf_ms": 4.861596971750259,
         "compile_ms": 214.91341898217797,
         "graph_ms": 298.6827581189573,
-        "render_total_ms": 1847.8239309042692
+        "render_total_ms": 1792.465719860047
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11046,16 +11218,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 148.6894958652556,
-        "render_ms": 1531.9020212627947,
-        "compose_ms": 60.72586914524436,
-        "write_ms": 93.25686004012823,
-        "foreground_fraction": 0.6013583333333333
+        "compile_ms": 162.40772418677807,
+        "render_ms": 1453.29220732674,
+        "compose_ms": 60.43995078653097,
+        "write_ms": 104.19219499453902,
+        "foreground_fraction": 0.6013583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 19
       },
       "artifacts": {
         "robot.mjcf": "6159ca8e0c0bb2c762575d32373a0370f6e3dcc4fd7cf87f95adff5f0cb78a1e",
         "meshes.tar": "aba6a8eee88ac129b5ae6c2698a9586ba8d52b95dd8fb60d282c48afa3043bc9",
-        "render.png": "a55d34f08a2be080a91de7df62fc375c2732671e0f0d4916847a2a10f7a67b13",
+        "render.png": "f70fb7076346c065529b6e4c1fc14d064933d2dfddb7420d5d5e95320bcbbca0",
         "graph-raw.svg": "557f300b62b580187cae6a642260a63bbd3fd4b39c48d060c2fb6db937d56778",
         "graph-robot.svg": "5b8c58a360d01b43fcb939dee3e4790488842ba667516712dab33821973afe22"
       },
@@ -11096,7 +11270,7 @@
         "mjcf_ms": 2.964366227388382,
         "compile_ms": 19.439995754510164,
         "graph_ms": 103.45640918239951,
-        "render_total_ms": 1629.047033842653
+        "render_total_ms": 1630.4265167564154
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11144,16 +11318,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.718306958675385,
-        "render_ms": 1438.9839777722955,
-        "compose_ms": 63.10870498418808,
-        "write_ms": 88.8189752586186,
-        "foreground_fraction": 0.7238
+        "compile_ms": 27.619889937341213,
+        "render_ms": 1421.416554134339,
+        "compose_ms": 63.33186011761427,
+        "write_ms": 105.96398869529366,
+        "foreground_fraction": 0.7238,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "8d8d9ba07430d0acd77fd7b7472fcb4c001ea4a8829f6017c8cd85434ada8041",
         "meshes.tar": "27503762a1abf5eff1b2da680e2dd1a90f9eb03067ed9c91072bd23e96950d03",
-        "render.png": "577dccc02975e92f0531bd9891223740d89b156494af4ed8cca3acf1303ff4da",
+        "render.png": "1a5688a3000a2e44e1e7a03865d080b7ccdd470fa3187193553c05b510395b7e",
         "graph-raw.svg": "307dbb3da02c6b18cdae69deb688fb0228e181ebef0b478df30471d2c349def6",
         "graph-robot.svg": "f19ad159b532bf9bbef0bc5056d552f6c36d5a83662ed1c1c8819b123507d169"
       },
@@ -11192,7 +11368,7 @@
         "mjcf_ms": 2.6558912359178066,
         "compile_ms": 29.03600176796317,
         "graph_ms": 122.49527825042605,
-        "render_total_ms": 1569.8986002244055
+        "render_total_ms": 1606.6416217945516
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11240,16 +11416,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.684816021472216,
-        "render_ms": 1398.2499660924077,
-        "compose_ms": 56.396708358079195,
-        "write_ms": 73.0542722158134,
-        "foreground_fraction": 0.552825
+        "compile_ms": 30.67957330495119,
+        "render_ms": 1426.329221110791,
+        "compose_ms": 57.121756952255964,
+        "write_ms": 80.16455918550491,
+        "foreground_fraction": 0.552825,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "c2bb90d42d3479063e2a36fe8ed212262268c82286a1d4d25f1274b41c23261f",
         "meshes.tar": "272c4a9b4eaed611102a959c0f27de5b7d2cadbf228c56a1aebb7cf0591b3365",
-        "render.png": "09a8417739484faaf6ce6df3b444cfc4c906b185b15f32a22678e503868e581f",
+        "render.png": "de646ce0b82315e0cb21815ee6463f0f0094edb42d4c05086a8b2833cff2de79",
         "graph-raw.svg": "e135c3e530fc05a9ab3548d93838620c706d7612a3309c889d4ff90bd561492e",
         "graph-robot.svg": "fff7d858b1e9646dc673243fc0643224b1e599aa5c31b5318f4a700571b2f51b"
       },
@@ -11292,7 +11470,7 @@
         "mjcf_ms": 2.4940301664173603,
         "compile_ms": 6.51767710223794,
         "graph_ms": 149.57482041791081,
-        "render_total_ms": 1651.854557916522
+        "render_total_ms": 1556.1415436677635
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11365,16 +11543,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.468056235462427,
-        "render_ms": 1500.5214372649789,
-        "compose_ms": 59.73600083962083,
-        "write_ms": 70.63387194648385,
-        "foreground_fraction": 0.37235
+        "compile_ms": 6.596846971660852,
+        "render_ms": 1402.5858589448035,
+        "compose_ms": 58.8658400811255,
+        "write_ms": 75.07261307910085,
+        "foreground_fraction": 0.37235,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "1ce7b45a74dface93067af455307b491330627b360bf0c62993783d5fd2a14b9",
         "meshes.tar": "f4178b899f93e74b0d4009f18f96c60fc3f52c7b2886a5103e3d1c1280b5377f",
-        "render.png": "c81542803bb5ec0da49806ad1d8b64593ae236c3476e3cf92ad466dbdec5d2d3",
+        "render.png": "01d958dafdc6844e833900119097803aa4a9dbcc2d961c892b90956d879fcbea",
         "graph-raw.svg": "29ac17888c28d6df2222ca8c8f8a7fe36f86f2105e9a972070a24d076f0acab0",
         "graph-robot.svg": "dbc4bce615f203f8bb82335d644c0104316404fbffe72397ba9ee08648dd3069"
       },
@@ -11412,7 +11592,7 @@
         "mjcf_ms": 2.713622059673071,
         "compile_ms": 38.306890055537224,
         "graph_ms": 513.9458361081779,
-        "render_total_ms": 1705.1220731809735
+        "render_total_ms": 1708.6162720806897
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12067,16 +12247,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 40.40168412029743,
-        "render_ms": 1517.3553535714746,
-        "compose_ms": 59.45602897554636,
-        "write_ms": 75.33141225576401,
-        "foreground_fraction": 0.6468583333333333
+        "compile_ms": 39.996227249503136,
+        "render_ms": 1518.4617838822305,
+        "compose_ms": 60.40453491732478,
+        "write_ms": 77.15696608647704,
+        "foreground_fraction": 0.6468583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "07a9e8323e9666bcd973d3eeccad3c4fdf549d9dbbd25af77fc9b7a76f233685",
         "meshes.tar": "45cc85c7e495ac4d3f5ec3d1cfb65ac41a6350e7f320f18e33fadd74854c0807",
-        "render.png": "8747c622999b364583d09ca899bbb2b0f441311c4900213426f25d3ee4353d2e",
+        "render.png": "c746e97572465b93202b0ab8e287340e43f7ed7175dba31327d80ce039da6061",
         "graph-raw.svg": "f9154c3ed642d1147e4dae14756ae4c8b78b1febcdb16ec3c70f1215dbc6379e",
         "graph-robot.svg": "cd8c82dc5c6811604c2cb1c810f24b299ad17d5884e97bc58121b7e5b0803031"
       },
@@ -12119,7 +12301,7 @@
         "mjcf_ms": 5.771789234131575,
         "compile_ms": 112.30775713920593,
         "graph_ms": 705.353194847703,
-        "render_total_ms": 1741.3317263126373
+        "render_total_ms": 1715.481017716229
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12167,16 +12349,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 108.36423607543111,
-        "render_ms": 1450.6627800874412,
-        "compose_ms": 74.67945013195276,
-        "write_ms": 93.9339017495513,
-        "foreground_fraction": 0.6259
+        "compile_ms": 101.7093607224524,
+        "render_ms": 1421.1484300903976,
+        "compose_ms": 74.89272207021713,
+        "write_ms": 105.5745161138475,
+        "foreground_fraction": 0.6259,
+        "style": "link-palette-v1",
+        "colored_bodies": 23
       },
       "artifacts": {
         "robot.mjcf": "3ebf82302a5dc7f3c2569b7ac2cfe19c8e0b3f5011938e229fd11e1febb76e60",
         "meshes.tar": "42c81f3bac3cfe61e4aa66d25bc5cb9eb2228d3386667118c2a445fd845209ca",
-        "render.png": "eb26bb44f736d9e1d6576cae8c3821c1808c6e829c330afcae49c4696958e486",
+        "render.png": "0451e0f1770116b99d8c217cfc03907399604b280a8b89253a55ee423cacee04",
         "graph-raw.svg": "34a1496d6d162e76a7d98bae4f15bbafcd85e90d68456a0c51924704d0097e47",
         "graph-robot.svg": "a3ebdbc3db5a82a9da574597bd54c1520f7b8e3645807946f6020499f404aa0c"
       },
@@ -12214,7 +12398,7 @@
         "mjcf_ms": 3.065336961299181,
         "compile_ms": 8.916595950722694,
         "graph_ms": 83.3356031216681,
-        "render_total_ms": 1557.5234098359942
+        "render_total_ms": 1618.0928158573806
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12269,16 +12453,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.906882420182228,
-        "render_ms": 1404.8462151549757,
-        "compose_ms": 63.08276392519474,
-        "write_ms": 66.54364382848144,
-        "foreground_fraction": 0.637
+        "compile_ms": 9.58982203155756,
+        "render_ms": 1462.3984396457672,
+        "compose_ms": 63.99478716775775,
+        "write_ms": 69.01519699022174,
+        "foreground_fraction": 0.637,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "3c43c1d82df5aca5fc7b3736e8e9f9ed71cbbc6558961e28268c2365f53c9eb9",
         "meshes.tar": "a015cf3a3e20fed60512d1ca634cebe24b8665d9b055763e01fae152b17ecd3f",
-        "render.png": "4530bc89dd164f859f5acad8a7203564271f2be066cd071cad904ecf18509ced",
+        "render.png": "65d413d15f91bd7b6f191b0c86345f671f6c731ad29b37340cf80509beab2805",
         "graph-raw.svg": "b8dc050bd648494951b35594e10f8262a7a8cbb7c7254d0acb5ac82b46f2d725",
         "graph-robot.svg": "3cc22834ff211aa7f6c7cdd631ef7a72cbc4420dfabda7fd5a5694dd51eeda60"
       },
@@ -12317,7 +12503,7 @@
         "mjcf_ms": 2.960382029414177,
         "compile_ms": 5.642302799969912,
         "graph_ms": 96.77579812705517,
-        "render_total_ms": 1598.368767183274
+        "render_total_ms": 1606.4432519488037
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12365,16 +12551,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.405502118170261,
-        "render_ms": 1436.2331298179924,
-        "compose_ms": 63.509338069707155,
-        "write_ms": 75.86858980357647,
-        "foreground_fraction": 0.5841
+        "compile_ms": 6.605172995477915,
+        "render_ms": 1434.69412997365,
+        "compose_ms": 64.98079001903534,
+        "write_ms": 86.5135327912867,
+        "foreground_fraction": 0.5841,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "f837e6626a173b2b2178b1d2f858cd9244e2dfe7e5d5b25223026e42560599ba",
         "meshes.tar": "40240dd20c38861c07cb01388c12013c9c66a9c8d76e040c74dab84a55152f62",
-        "render.png": "a360fad19fa3ceb79d899c3815bf9ccc11c6cd84ba715bdc70c8e7756c8acf07",
+        "render.png": "a42b14419e9df9377bb6692884d27ec56006c14357570e387f695996a84d920c",
         "graph-raw.svg": "763f27bdc02131515643103550c926bc41024d4be6653e8c21f706abf618c3f3",
         "graph-robot.svg": "f3307bc54bf4b4bc1b1862098ffa73bd7bcc53be105fd6df08b2d10c19504566"
       },
@@ -12405,7 +12593,7 @@
         "mjcf_ms": 3.3989911898970604,
         "compile_ms": 29.22882791608572,
         "graph_ms": 97.29848615825176,
-        "render_total_ms": 1700.320775154978
+        "render_total_ms": 1674.826939124614
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12466,16 +12654,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 44.703861232846975,
-        "render_ms": 1437.3680860735476,
-        "compose_ms": 55.13675697147846,
-        "write_ms": 150.12642182409763,
-        "foreground_fraction": 0.32945
+        "compile_ms": 29.459974262863398,
+        "render_ms": 1454.276598058641,
+        "compose_ms": 57.25141894072294,
+        "write_ms": 120.88434724137187,
+        "foreground_fraction": 0.32945,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "b94c8e598d55b955862f275acb74da65766a76a7cd7b3e2a75dd5a6610c41e79",
         "meshes.tar": "db0103d698b4d63f3c6e3858cc9e3dea2bb6083e178c14ce7d28be49ce56be01",
-        "render.png": "46c786abe73db545f8b33a5d33bfa5ca0d5134c6f74ff9e32e72107bddac8688",
+        "render.png": "b3ed0d1d466f1003471981dafcc1139379299af1cff89fb70f71dfca8ea2d936",
         "graph-raw.svg": "e23121dfb83e5f4ddac85487f853ba634685c775591d253ecf50eedb928f6efe",
         "graph-robot.svg": "4300690f8603413e1534f08ef822364288c0b5e5af6f974d4ce30a9bf9a43a10",
         "robot.urdf": "dba3c1728fac72bf1c5afd7df34786179577d792fcc01b04270fc6a41834f936"
@@ -12521,7 +12711,7 @@
         "mjcf_ms": 17.85385888069868,
         "compile_ms": 384.7477389499545,
         "graph_ms": 1360.7771452516317,
-        "render_total_ms": 2320.056627970189
+        "render_total_ms": 2380.1765721291304
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12702,16 +12892,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 389.5199210382998,
-        "render_ms": 1776.1378060095012,
-        "compose_ms": 68.03313223645091,
-        "write_ms": 73.6286761239171,
-        "foreground_fraction": 0.5698
+        "compile_ms": 351.6341191716492,
+        "render_ms": 1863.9197233133018,
+        "compose_ms": 68.6976658180356,
+        "write_ms": 82.84239331260324,
+        "foreground_fraction": 0.5698,
+        "style": "link-palette-v1",
+        "colored_bodies": 30
       },
       "artifacts": {
         "robot.mjcf": "943ae954d9ec2fe035631687d83239861e75b0c339bf418325c90664e9a0602d",
         "meshes.tar": "7b8c2762794691c8afd187d7a12c0214f9f17585a1859398200985056ef7f222",
-        "render.png": "ec3f9d925cfd6c934c6fd94bf52953bf174b03d126ee0bdfb4a4e248c9b46a2d",
+        "render.png": "7359ba1aa306ba0d08b219dd43a7d00522cf664a18dee9ef0b8836b2c8659c0c",
         "graph-raw.svg": "8cb86b8ba3edbfe762653760df2407c215890c0d91af40e495fdacc2a9fadd44",
         "graph-robot.svg": "74e148636dfbd5798de6bfd02731d659463ddb2cc821659c4eb2265e3e2832b4"
       },
@@ -12743,7 +12935,7 @@
         "mjcf_ms": 2.683799248188734,
         "compile_ms": 41.52675438672304,
         "graph_ms": 83.3313069306314,
-        "render_total_ms": 1668.8924320042133
+        "render_total_ms": 1701.1282918974757
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12804,16 +12996,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 56.15566112101078,
-        "render_ms": 1460.1421086117625,
-        "compose_ms": 64.80834307149053,
-        "write_ms": 74.4041339494288,
-        "foreground_fraction": 0.698425
+        "compile_ms": 39.83690217137337,
+        "render_ms": 1504.4761463068426,
+        "compose_ms": 65.69539895281196,
+        "write_ms": 78.43103865161538,
+        "foreground_fraction": 0.698425,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "1fd146b24b2a4666d9a74f135e0b89a045ede6944c03fa0ced077fb8954a5400",
         "meshes.tar": "8e3c07fd4b48c3072e9f68b6a79fae8ae7d03653baa07689b21573ea04a56c16",
-        "render.png": "ac606c46ddd1e4b9d0d18145276286c016f48fc75afb1e3b7230784a200a21a3",
+        "render.png": "d035641a12134365c270e17252325249c66691a56724300014f0a0a49bc9be9c",
         "graph-raw.svg": "71d3fcdf0c9f5fd8a6b41afaef16e1ef355f200bc327b5ae028fbc14186a0298",
         "graph-robot.svg": "7313c4c9d05fe8f66e8e5046340aa7bc1d54e3462a91edd76d58b2efa7ffccac",
         "robot.urdf": "3979229dfa5192d596479d8ffc50226ea0bddc8104904c6c296f8bacac2d9df5"
@@ -12852,7 +13046,7 @@
         "mjcf_ms": 3.2792999409139156,
         "compile_ms": 41.441486682742834,
         "graph_ms": 105.53416796028614,
-        "render_total_ms": 1619.818578939885
+        "render_total_ms": 1608.5449657402933
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12900,16 +13094,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 34.54278688877821,
-        "render_ms": 1440.043096896261,
-        "compose_ms": 61.06156995519996,
-        "write_ms": 70.74581319466233,
-        "foreground_fraction": 0.6650583333333333
+        "compile_ms": 34.701147116720676,
+        "render_ms": 1429.6325999312103,
+        "compose_ms": 60.15162728726864,
+        "write_ms": 70.93394827097654,
+        "foreground_fraction": 0.6650583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "b18c70b9893aa4164783d84d81c1302acacd3fdc335a5a7dabb4a735d621c582",
         "meshes.tar": "bc899847167bb4a152670e3c5808bbf146522c4581223bf8fd6663492de8bfaa",
-        "render.png": "2d8c3adfcf4d17ac58e94b57fc908c6529e29b4573843995949e2a9119c81785",
+        "render.png": "82ee922ec5ef94d326bbfb65c6b08bf5c83aedb814688c37a1290a4258e13fe2",
         "graph-raw.svg": "ff045eea8d7b2911b69cd13ee3f0dc616c31358fa7d7152a934c47747974374f",
         "graph-robot.svg": "d41df412c1a75d4a9b14fcd1d583e7504b1630b88575ed121465a7904ed0cf8c"
       },
@@ -12947,7 +13143,7 @@
         "mjcf_ms": 3.2545761205255985,
         "compile_ms": 43.32896461710334,
         "graph_ms": 106.80685937404633,
-        "render_total_ms": 1646.9307150691748
+        "render_total_ms": 1661.262707784772
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12995,16 +13191,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 35.2411950007081,
-        "render_ms": 1460.6757606379688,
-        "compose_ms": 65.60888607054949,
-        "write_ms": 71.83360541239381,
-        "foreground_fraction": 0.77825
+        "compile_ms": 42.067734990268946,
+        "render_ms": 1466.183215379715,
+        "compose_ms": 65.94012817367911,
+        "write_ms": 74.98584315180779,
+        "foreground_fraction": 0.77825,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "3d151ab67fcf41a13cf7edfd6abcb3caeba1e8a7c2e87a84f5471f0a6eefb960",
         "meshes.tar": "5a811dc85fd4a5510333b295bed97d5f2e442ef46516a4893f633c4a01dcc996",
-        "render.png": "129a50ca99b4d0ead79b80bb7fe98e8d7a7d558d5cc6dcaf6dcc27ce5c4d96b5",
+        "render.png": "7b5dab59005592487ade740e41eb2465e297fd3b920ff5cac5933de4e397b455",
         "graph-raw.svg": "d2a47993d45e959f60b5474c3fe9d7a4eacf543dafdac13da2f59f7e86808453",
         "graph-robot.svg": "d41df412c1a75d4a9b14fcd1d583e7504b1630b88575ed121465a7904ed0cf8c"
       },
@@ -13048,7 +13246,7 @@
         "mjcf_ms": 4.293979611247778,
         "compile_ms": 82.91921718046069,
         "graph_ms": 424.2699411697686,
-        "render_total_ms": 1757.74054415524
+        "render_total_ms": 1704.1072929278016
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13096,16 +13294,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 83.03782809525728,
-        "render_ms": 1488.1034409627318,
-        "compose_ms": 75.90855564922094,
-        "write_ms": 97.99567516893148,
-        "foreground_fraction": 0.762125
+        "compile_ms": 83.31714197993279,
+        "render_ms": 1418.6045080423355,
+        "compose_ms": 64.19690605252981,
+        "write_ms": 125.48495596274734,
+        "foreground_fraction": 0.762125,
+        "style": "link-palette-v1",
+        "colored_bodies": 13
       },
       "artifacts": {
         "robot.mjcf": "9c30172c124aceeb70101b0c397d8c456740c38420b8b5de0faeb36ffddb7ffd",
         "meshes.tar": "2ec0520518f99bb44fbfbcdcf917c9aea6c54250e2aee0200c0e750af367c8b9",
-        "render.png": "c9ea802223411016c8ecd91bae3eaa2abcc7f7eb82e56d77b535cc715e476899",
+        "render.png": "4ec23ea667335361ebf167f403b4706a24d1515f636acd3cce0aa03cfea78b3f",
         "graph-raw.svg": "88ad59f208e622f806bb47d027bf8f0ade59ea78b1e81d044fd384d0e461fbc5",
         "graph-robot.svg": "1b66dfcd903bbeb7ff425b23431194c7c377681fb5cae0cd12cd41c553e1ad47"
       },
@@ -13117,12 +13317,89 @@
   ],
   "output": {
     "archive": "shard-01154.tar",
-    "archive_sha256": "771c60daaa86a27736f49603868659df6dc821995e9e95d97c402c0bdec3a5dd",
+    "archive_sha256": "dbe8c7c5cffd501337268983d5a57a1f1d8b3649ae48ca19ffc7ab9b76858925",
     "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": "771c60daaa86a27736f49603868659df6dc821995e9e95d97c402c0bdec3a5dd",
+      "report_sha256": "36bd96bf91c1d0b0ed114aef08b0570cb1e6001b0b1867d405a0ece97f3cc321"
+    },
+    "scheduler": {
+      "job_id": "60317335",
+      "array_job_id": "60313720",
+      "array_task_id": "1154",
+      "node": "gl3057",
+      "host": "gl3057.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 100,
     "compiled_models": 100,
-    "archive_sha256": "771c60daaa86a27736f49603868659df6dc821995e9e95d97c402c0bdec3a5dd"
+    "archive_sha256": "dbe8c7c5cffd501337268983d5a57a1f1d8b3649ae48ca19ffc7ab9b76858925"
   }
 }