diff --git "a/onshape/shard-01160.report.json" "b/onshape/shard-01160.report.json"
--- "a/onshape/shard-01160.report.json"
+++ "b/onshape/shard-01160.report.json"
@@ -213,7 +213,7 @@
         "mjcf_ms": 2.841233741492033,
         "compile_ms": 2.591715194284916,
         "graph_ms": 104.66176085174084,
-        "render_total_ms": 1615.5508952215314
+        "render_total_ms": 1722.056359052658
       },
       "mesh_preparation": {
         "status": "complete",
@@ -274,16 +274,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.16335104778409,
-        "render_ms": 1443.870740942657,
-        "compose_ms": 87.88984687998891,
-        "write_ms": 64.43712813779712,
-        "foreground_fraction": 0.44385
+        "compile_ms": 3.623667173087597,
+        "render_ms": 1553.346810862422,
+        "compose_ms": 91.71103592962027,
+        "write_ms": 59.85195003449917,
+        "foreground_fraction": 0.44385,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "96ecfd2e7e4c1beec33c180f2d1dc2cbb5182bca59c84f69c5562b11bde6288f",
         "meshes.tar": "04a9b7e175f1356c625085ff05eb70d04dda87db5f2b843e81955bfd947dfa5e",
-        "render.png": "874704b6f1db60b5b13d3dc928c7a17b9de56191e55c34e48cd3babc951771f6",
+        "render.png": "68ec2376ea464f4ae1256f45482e96168ebbed565fd549ef5968c2e0a60687d5",
         "graph-raw.svg": "3df30cab2e8f3967558e23c45ee9ae24eb7e270880c763996bc866904fab1724",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "58c8522803b3322beeecf126346b97aef4d39993a554b793afa54783b01d82a0"
@@ -323,7 +325,7 @@
         "mjcf_ms": 2.5845756754279137,
         "compile_ms": 5.0956690683960915,
         "graph_ms": 199.6052647009492,
-        "render_total_ms": 1609.4269948080182
+        "render_total_ms": 1685.6343308463693
       },
       "mesh_preparation": {
         "status": "complete",
@@ -390,16 +392,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.4208050929009914,
-        "render_ms": 1427.687494084239,
-        "compose_ms": 80.78710176050663,
-        "write_ms": 85.79018013551831,
-        "foreground_fraction": 0.7735
+        "compile_ms": 7.882317062467337,
+        "render_ms": 1484.102541115135,
+        "compose_ms": 77.1025288850069,
+        "write_ms": 99.39091093838215,
+        "foreground_fraction": 0.7735,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "af727dff060743d06f48ca7770c0fcf7de09680f4a9fb6fa9b70854f3095a910",
         "meshes.tar": "0713ed7ca1f0fd0100bb1d1b3ad0ae5e7773e860ce026aae801443634593b274",
-        "render.png": "180f49eb1b87d738baf8396afa28557eeaf6e7ef032b1bf8bcee064b4b03fba9",
+        "render.png": "200c140ec1f1c5b5b151c917f39111deba16ac87943dab976be9546568e1d1fd",
         "graph-raw.svg": "a4f6b6bcf4b9e4c64d846b4d1d163733dedccc684b8c2b4fa7654bce7eb5f077",
         "graph-robot.svg": "a98f2e67c23f656ca30ef90c5a8729717f870328aa1d27c82a77e3ab3841814a"
       },
@@ -469,7 +473,7 @@
         "mjcf_ms": 9.390494786202908,
         "compile_ms": 516.3609320297837,
         "graph_ms": 665.7394850626588,
-        "render_total_ms": 1994.78051206097
+        "render_total_ms": 2397.9544201865792
       },
       "mesh_preparation": {
         "status": "complete",
@@ -517,16 +521,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 146.75510814413428,
-        "render_ms": 1707.0791493169963,
-        "compose_ms": 60.975270345807076,
-        "write_ms": 63.68492869660258,
-        "foreground_fraction": 0.5093
+        "compile_ms": 585.3228587657213,
+        "render_ms": 1665.9248531796038,
+        "compose_ms": 61.778516974300146,
+        "write_ms": 68.4948549605906,
+        "foreground_fraction": 0.5093,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "821e7e6f5718270171bddd91e22265ff4613ae46511b9fa1a7b54032516feb1e",
         "meshes.tar": "a71a0997bb1be7d9c1838f9413fceafa19db97809dce0dfb8f93cbf93b46c96f",
-        "render.png": "a495fe895f8ef966aabc5b80bdc1d06eb3c5b8abc3254a2704da35230f44bf98",
+        "render.png": "ac81892dc8610fe4bad964f490bcdd007eb19c0e217ea6e43266e7e8e40e0fd9",
         "graph-raw.svg": "db984ce4513d8d2fd51aa0f25ff9a66ceba13034bacadcd566a10dfd88144a84",
         "graph-robot.svg": "b3a5e33d11b66456221d15b615498377bdbea665f00d6b2f83ede0330a763590"
       },
@@ -567,7 +573,7 @@
         "mjcf_ms": 2.4752640165388584,
         "compile_ms": 68.9154239371419,
         "graph_ms": 119.90686831995845,
-        "render_total_ms": 1680.4192760027945
+        "render_total_ms": 1697.0694391056895
       },
       "mesh_preparation": {
         "status": "complete",
@@ -615,16 +621,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.387177001684904,
-        "render_ms": 1473.9690539427102,
-        "compose_ms": 73.49659595638514,
-        "write_ms": 101.66062274947762,
-        "foreground_fraction": 0.6952
+        "compile_ms": 72.2340508364141,
+        "render_ms": 1431.2890353612602,
+        "compose_ms": 65.46046817675233,
+        "write_ms": 114.8851839825511,
+        "foreground_fraction": 0.6952,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "cc7e996d11874ad17b4efcfbfe0f669938b4fcadd9d69aaa80ce28fb44737ffe",
         "meshes.tar": "7a38f9938c447ae3976c5b5589772048d92428e5d6ad4537b7dee987861028d8",
-        "render.png": "3872ff4132f8e2f1f4fe3367e316208d7008e430c2d556e4cc9bf2a6969826a1",
+        "render.png": "9d27d5ccb8eb38ef2d57e126d0f6abdec68ed7ae0b988e753f6cb1778d0e9a35",
         "graph-raw.svg": "22f9f07c22c4e95cd851d3ee909af976f150fe22a2beb1f185ea780a70e90129",
         "graph-robot.svg": "7b4984cdd89cf2d975d18ad1f7219952be600c04d39b9092f6862b34ce3b23a0"
       },
@@ -655,7 +663,7 @@
         "mjcf_ms": 2.8346707113087177,
         "compile_ms": 2.4432074278593063,
         "graph_ms": 78.10715399682522,
-        "render_total_ms": 1528.8498383015394
+        "render_total_ms": 1539.958670269698
       },
       "mesh_preparation": {
         "status": "complete",
@@ -716,16 +724,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.505178563296795,
-        "render_ms": 1384.5535106956959,
-        "compose_ms": 67.21135787665844,
-        "write_ms": 62.42647301405668,
-        "foreground_fraction": 0.6039
+        "compile_ms": 3.9390427991747856,
+        "render_ms": 1392.9537744261324,
+        "compose_ms": 66.06650818139315,
+        "write_ms": 64.360445830971,
+        "foreground_fraction": 0.6039,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4c4ff00d9eff3803587f887c37a4a486a0caf1f6ab45d575545ffabbc2a7bf42",
         "meshes.tar": "df636736a2c2a1e563b3d2512554d67df2f4cd4e3004813d09c87c5df9257ea1",
-        "render.png": "b26588676e8bc11e71b6df96dd781aec3642187f4233fb73693ae9619bc41556",
+        "render.png": "f9b824fa5e2c12ea6d42340e0a332429d67103cd995e2d5fa0ab8e81ee432aef",
         "graph-raw.svg": "3db23c0e8246d40d2158df7c03cf7fc1f2554780bbc14c1a41b51d15bfe6f813",
         "graph-robot.svg": "f3e6348b906f1b73c46dfb1e6573189fc73fd5b53cecb42f585acfbe28968530",
         "robot.urdf": "1669efaca82df735ce05c7fa6b108c450332c71ad57160017df941dd58e3babc"
@@ -758,7 +768,7 @@
         "mjcf_ms": 2.89352098479867,
         "compile_ms": 5.324950907379389,
         "graph_ms": 85.20543621852994,
-        "render_total_ms": 1491.6346846148372
+        "render_total_ms": 1545.2500716783106
       },
       "mesh_preparation": {
         "status": "complete",
@@ -819,16 +829,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.507970668375492,
-        "render_ms": 1348.674401640892,
-        "compose_ms": 55.67588796839118,
-        "write_ms": 72.47709762305021,
-        "foreground_fraction": 0.46805
+        "compile_ms": 7.411577273160219,
+        "render_ms": 1388.249633833766,
+        "compose_ms": 58.39016055688262,
+        "write_ms": 75.22664312273264,
+        "foreground_fraction": 0.46805,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "dcd2ab8af70e34893951699731719f2d48b55c0a2e799c2e34d4e349fed3ad48",
         "meshes.tar": "32a205b10830bc282921033091a7f5a82778b5109c68931929ebaecb60fb72c5",
-        "render.png": "270b56c97fa18ce8580b710c800594659b986a700991ebe82190b6ec280d1fe8",
+        "render.png": "6725637ad42d0d7eed6046989a88620cac2e5bbca60d3abf0598de2d1578ea31",
         "graph-raw.svg": "82f606e4389cb725259bd5db2a004a169e612ec0fd46161cdc2f11655c130c7c",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "7baeed683f112821bcebcd90779d1e37920bceb4e2def2dcdd552985431d01ef"
@@ -861,7 +873,7 @@
         "mjcf_ms": 3.383684903383255,
         "compile_ms": 5.479579325765371,
         "graph_ms": 85.18984587863088,
-        "render_total_ms": 1566.1138040013611
+        "render_total_ms": 1568.1707351468503
       },
       "mesh_preparation": {
         "status": "complete",
@@ -922,16 +934,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.4762760624289513,
-        "render_ms": 1404.014163184911,
-        "compose_ms": 72.87099212408066,
-        "write_ms": 73.59460275620222,
-        "foreground_fraction": 0.49115
+        "compile_ms": 7.63159804046154,
+        "render_ms": 1400.4470240324736,
+        "compose_ms": 68.68777796626091,
+        "write_ms": 74.66362603008747,
+        "foreground_fraction": 0.49115,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "6c1dfed417af12f8c48d43e9fe712cda307962d94563ccf8701ccf6356de24db",
         "meshes.tar": "cc311fc0fc6f3d7a3d714b700ddb4d0846b9c3c262bede34f9388195f3c94b89",
-        "render.png": "dc3441353e6bd481b853eb64bf81999ccb54eeffc02ef4b25ccc7103a51bb06f",
+        "render.png": "04a818a64a791ec3824dbf365872335ee01f89e98492d59ed527fb3ef9cc977e",
         "graph-raw.svg": "9b72a33e3dc89665e2585b0cb5cac192759e35751ce07b95a82a7aedf7325a99",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "81ce5ed6fbcbd5a0e9a8cc6bf9f5b823604c88f5a2f3cf241f818fa05d9e5afd"
@@ -964,7 +978,7 @@
         "mjcf_ms": 4.241494927555323,
         "compile_ms": 18.296597059816122,
         "graph_ms": 170.8168420009315,
-        "render_total_ms": 1713.0067348480225
+        "render_total_ms": 1614.6625089459121
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1025,16 +1039,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.77861100807786,
-        "render_ms": 1354.8772633075714,
-        "compose_ms": 67.43997801095247,
-        "write_ms": 271.18705678731203,
-        "foreground_fraction": 0.7788083333333333
+        "compile_ms": 19.699308089911938,
+        "render_ms": 1419.1953921690583,
+        "compose_ms": 80.54945757612586,
+        "write_ms": 82.1275832131505,
+        "foreground_fraction": 0.7788083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "22d589c951eebf0da5b46fbf72deccbd95b7bd47ca49a7bcccdf16ae104cf379",
         "meshes.tar": "563a69fb3ac3e32dece7748b1c3496929a34f534d16c4a4557011d3a5addf227",
-        "render.png": "4ecd273ee4e6331751d7776f1493a1199e303566fa442d68c92741ab67e07a15",
+        "render.png": "9b60e71ffede1d266460912e93fb47a47d6e0d36e178a697f90b846567216fd3",
         "graph-raw.svg": "f1d6af2e7fee0ff58a210c7dd3ff8a612d8c55b71a2fb901fd24310d07f06d32",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "5324446cb7aae07220b4e744ffb7041f0bad49e2aa5a07dc17753aa6c798cd69"
@@ -1069,7 +1085,7 @@
         "mjcf_ms": 3.0673746950924397,
         "compile_ms": 9.563076309859753,
         "graph_ms": 82.12155988439918,
-        "render_total_ms": 1576.533439103514
+        "render_total_ms": 1613.0397892557085
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1130,16 +1146,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.8789499774575233,
-        "render_ms": 1413.303844165057,
-        "compose_ms": 63.93640395253897,
-        "write_ms": 80.14572784304619,
-        "foreground_fraction": 0.40205
+        "compile_ms": 9.9975629709661,
+        "render_ms": 1450.678233988583,
+        "compose_ms": 51.60341924056411,
+        "write_ms": 87.76136673986912,
+        "foreground_fraction": 0.40205,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a4ec5b62f8dd24e15c2086ed83a4bcf2d4223924ed010196645fb5f4ffac1dd3",
         "meshes.tar": "d51339a7f3c43784af920519bed9ecda450cd19b197e50b18eea30673540b417",
-        "render.png": "912832733fb2387b56cb152a733996606b7012f91c88941d0fe660233d7fd8c4",
+        "render.png": "a14f2fd96d6774955b8a1ab8a6101d97b8961e10f8941dac96a8a710ad9373bd",
         "graph-raw.svg": "0ecfcd157391113870a50f4ebb1154e5adce7a628266a3f79d74561aca1f0b4b",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "aaebbbe6d6fb1a90366aa57e1648da5f5d1c238060139ec7368691ce3fffb63c"
@@ -1171,7 +1189,7 @@
         "mjcf_ms": 2.9395949095487595,
         "compile_ms": 7.545270025730133,
         "graph_ms": 71.43970299512148,
-        "render_total_ms": 1522.9077129624784
+        "render_total_ms": 1545.9855841472745
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1232,16 +1250,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.1082099303603172,
-        "render_ms": 1377.5984570384026,
-        "compose_ms": 62.7264860086143,
-        "write_ms": 67.62617314234376,
-        "foreground_fraction": 0.60665
+        "compile_ms": 8.768741972744465,
+        "render_ms": 1394.929822999984,
+        "compose_ms": 61.08661601319909,
+        "write_ms": 68.35798034444451,
+        "foreground_fraction": 0.60665,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "c7da1e36bbcdfd0dc7a3d1f7daa27a7f6967db929265d34a605a2959949251ac",
         "meshes.tar": "3ac359fb9e8a809a069c57d1db295ed58ba9f5c46926e628de745d4032184fec",
-        "render.png": "ef7b321aa589ca66ce9a738694e14d8d5be315fe8518ddfafb48afd87eb0403d",
+        "render.png": "6a66ac4c858a26b7ed9eca04d28155c6f199b995f45fbf1dd4543ffe35b051d1",
         "graph-raw.svg": "c471cab9825f6857ed702326984a0aeea4fd2588686acb1196f081e340806fce",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "5caffd869310396eb6a365dad5884954ad2aef18c338376e6adf7dc26cb2661a"
@@ -1276,7 +1296,7 @@
         "mjcf_ms": 56.43718596547842,
         "compile_ms": 10.330137331038713,
         "graph_ms": 97.91508177295327,
-        "render_total_ms": 1515.391144901514
+        "render_total_ms": 1593.5146207921207
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1337,16 +1357,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.873156849294901,
-        "render_ms": 1365.202502347529,
-        "compose_ms": 54.021768271923065,
-        "write_ms": 80.39873698726296,
-        "foreground_fraction": 0.46805
+        "compile_ms": 12.579248752444983,
+        "render_ms": 1405.1069761626422,
+        "compose_ms": 68.53680405765772,
+        "write_ms": 88.12477812170982,
+        "foreground_fraction": 0.46805,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "758b779ebf3233a978bd9c443685a3585140e6201f849195fd430211fcb5632c",
         "meshes.tar": "2ef1f7f3f9371da4c399cbec84d025ab2ee722a6620115b7c18dfcc32c46d65b",
-        "render.png": "8a17c4c12fd64626fe4695511d8221a990bca90a25fc270efd01282d18b3fa4a",
+        "render.png": "c242fd288ca4a540093321c12e1f733772788b945ec32d31fbaf61d181139780",
         "graph-raw.svg": "7df2929ae60075e9298cb137be7c5f833feb3171c929b6536910d906604f2594",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f232f5a23869150b5d5d9ab96cd3ad096638bd27b1a1dab1bbcb8f5404a68891"
@@ -1392,7 +1414,7 @@
         "mjcf_ms": 3.6334646865725517,
         "compile_ms": 9.782783687114716,
         "graph_ms": 135.51932899281383,
-        "render_total_ms": 1622.9233290068805
+        "render_total_ms": 1619.764206930995
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1440,16 +1462,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.368531983345747,
-        "render_ms": 1471.8695669434965,
-        "compose_ms": 63.56379296630621,
-        "write_ms": 71.27436576411128,
-        "foreground_fraction": 0.4829
+        "compile_ms": 15.440088231116533,
+        "render_ms": 1455.909829121083,
+        "compose_ms": 60.53378898650408,
+        "write_ms": 74.73041117191315,
+        "foreground_fraction": 0.4829,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "f1b5ab81b433698da0c61502f9a6c8a346b5673e2bc2af03e5e79910536678b7",
         "meshes.tar": "7e0cda9bd89cd4f687070c07fcfe2c383e50d656079aa25a594cfdebf0289ba0",
-        "render.png": "9379fde1ad22a97412c2ef50a49b2bc19069678d0c2fea799690a5ab3f3bc6d1",
+        "render.png": "8ce535b310b39d1f3b1db07391ed07645096bb4e0db761d1a3fd609a2ff93f52",
         "graph-raw.svg": "0547a78c4763af5bcddf09c13987696fcba260c78ee5529a72445a71018b6ab3",
         "graph-robot.svg": "3ec09ab14b631ca289f8065020964f7f0da18bb1e091f84ed16d8fde1dea8b59"
       },
@@ -1551,7 +1575,7 @@
         "mjcf_ms": 6.749039050191641,
         "compile_ms": 291.0840641707182,
         "graph_ms": 1291.9104839675128,
-        "render_total_ms": 1862.6638748683035
+        "render_total_ms": 2425.2153509296477
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1936,16 +1960,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 104.58518890663981,
-        "render_ms": 1596.8306977301836,
-        "compose_ms": 57.18238279223442,
-        "write_ms": 91.40673605725169,
-        "foreground_fraction": 0.70015
+        "compile_ms": 307.8867457807064,
+        "render_ms": 1631.547483149916,
+        "compose_ms": 66.78031198680401,
+        "write_ms": 403.4229973331094,
+        "foreground_fraction": 0.70015,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "e3e3996c324d151c0a1a7bc1878fa9b01d7f114fe8e9e839fbbae756554981bd",
         "meshes.tar": "231b740e4762ca61cf9b162d947c461c02b95db5e0b568383025680c37f4bcf9",
-        "render.png": "06f9e73902d6135f0e7302f0aba4d5e2a0a7c933e7b1d4c1430a435cc27991b6",
+        "render.png": "fac3c1aa5540ac17137ae74753ab928a7d97e999797b5b004d4bb132e0a5ea3d",
         "graph-raw.svg": "7d311f481ba354db41beace70830b99e40a015d22c94923f9feb577f55dc0829",
         "graph-robot.svg": "ef35860d2f7a3950d8e5f5241ab08e4164ee742c9cc8cf70927aad02d1f01b9b"
       },
@@ -1984,7 +2010,7 @@
         "mjcf_ms": 2.335804048925638,
         "compile_ms": 332.9335153102875,
         "graph_ms": 125.08707121014595,
-        "render_total_ms": 1600.6255499087274
+        "render_total_ms": 1982.0274957455695
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2123,16 +2149,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.669115163385868,
-        "render_ms": 1405.0880367867649,
-        "compose_ms": 70.39447780698538,
-        "write_ms": 100.45158304274082,
-        "foreground_fraction": 0.5995
+        "compile_ms": 364.94375579059124,
+        "render_ms": 1421.1855488829315,
+        "compose_ms": 60.0216812454164,
+        "write_ms": 122.23995896056294,
+        "foreground_fraction": 0.5995,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "92529113eeccd78a1430ea1d74cdcd4809fa2bf8b14774510f530156a6455767",
         "meshes.tar": "e50ed6fef29885a938ea4907f03a6778159a86b7daa075bb6bde7266548c4edf",
-        "render.png": "d10e1b5554e0c80fef8b68f689fd0d6ac601e17b2206689568264577374ed9c3",
+        "render.png": "571614f8a891927f95a201a6ec88d7df9724d4a63c3b23ad03ff10fa6dfd999f",
         "graph-raw.svg": "d3ffedfffeb6b500d24c188501027e3f2f2b408c5db80865a4d13c844b448f97",
         "graph-robot.svg": "c6108c5b7d2f613678e05d980f0c00d3412baf47a3292987f92f595f5e937304"
       },
@@ -2171,7 +2199,7 @@
         "mjcf_ms": 2.3385747335851192,
         "compile_ms": 77.16646092012525,
         "graph_ms": 87.31380989775062,
-        "render_total_ms": 1588.062968570739
+        "render_total_ms": 1676.539293024689
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2219,16 +2247,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.12043485045433,
-        "render_ms": 1404.6709476970136,
-        "compose_ms": 64.46292297914624,
-        "write_ms": 95.1383407227695,
-        "foreground_fraction": 0.4213
+        "compile_ms": 87.16971427202225,
+        "render_ms": 1397.7377251721919,
+        "compose_ms": 59.41260699182749,
+        "write_ms": 116.77982984110713,
+        "foreground_fraction": 0.4213,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "f1c77cacb54827770b6011d3f52bc89e42a5cc8f0435f5abb7cf20c2534ea206",
         "meshes.tar": "fad52708dc73495e24a135fb3535dfd2b9be493ddaf19252bf22957f84263b06",
-        "render.png": "a669355843e577014efb384c51a1b13789c40b5b39941312d093213d323f0c2a",
+        "render.png": "3a5d50e537cace69c02e2ba0cd4a885d996db034c9f37a0117705e5c74822bbc",
         "graph-raw.svg": "2627749d0cae104362f9216534b4c55c446b4e15b54ad5f2b53fc6b4d5c23dd9",
         "graph-robot.svg": "da411d53f5516c473048e4c608ddec085868056e01c2b6d687f3690fa0a6f456"
       },
@@ -2266,7 +2296,7 @@
         "mjcf_ms": 4.038143903017044,
         "compile_ms": 177.22407216206193,
         "graph_ms": 289.3805899657309,
-        "render_total_ms": 1649.4621387682855
+        "render_total_ms": 1816.5212660096586
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2411,16 +2441,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 44.127751141786575,
-        "render_ms": 1476.596008054912,
-        "compose_ms": 47.31787834316492,
-        "write_ms": 68.94480483606458,
-        "foreground_fraction": 0.411775
+        "compile_ms": 222.80956339091063,
+        "render_ms": 1455.858380999416,
+        "compose_ms": 54.1590778157115,
+        "write_ms": 71.04522129520774,
+        "foreground_fraction": 0.411775,
+        "style": "link-palette-v1",
+        "colored_bodies": 17
       },
       "artifacts": {
         "robot.mjcf": "6e2e65d7e1efc7eeb31954475e84250d077a0a49dd6ddf0a069941a284a0272e",
         "meshes.tar": "746056217a710d6c705476518354d9bc198727b9bd58d36c14ef7353365d531e",
-        "render.png": "5482ecbab26c3cf807dac9942ebf9c9e932f40a636473f72c94b0fd069d4a1d1",
+        "render.png": "3bd9a6aec7b2087141552aedb7eeecb4214814b2e3bab45a6364cc009fc4fd39",
         "graph-raw.svg": "35beb3b18457057e8733a1e2a488fa341314bd27fb1cc06f533a731b806c4775",
         "graph-robot.svg": "5ac8ed334abc4ca391f019f19bb336ce402662c704e7d61f208ce756229f1e6e"
       },
@@ -2462,7 +2494,7 @@
         "mjcf_ms": 2.905121073126793,
         "compile_ms": 64.5122011192143,
         "graph_ms": 850.9484548121691,
-        "render_total_ms": 1533.9821237139404
+        "render_total_ms": 1687.8409693017602
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2523,16 +2555,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.762945394963026,
-        "render_ms": 1401.439405977726,
-        "compose_ms": 55.38396118208766,
-        "write_ms": 55.094270035624504,
-        "foreground_fraction": 0.187
+        "compile_ms": 69.9317310936749,
+        "render_ms": 1495.685645379126,
+        "compose_ms": 48.54191280901432,
+        "write_ms": 57.791827246546745,
+        "foreground_fraction": 0.187,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "063a26b10586b5a7b94b62504559228e53dde2af5b2d4e903f98b1b3a2ec5299",
         "meshes.tar": "5853533013c060801ded867a0cdde9780dd8bb9291a65221ea5cb15e2aec71bb",
-        "render.png": "f8c7d55b4a8b8cc627d74bcc4c52b3e7011b3e66a28ffe7ca0c6a9341f13ed3c",
+        "render.png": "dd8eb8267de14e688dc0903af2d37829e979c50bbbe5187d126ff3572b800ff7",
         "graph-raw.svg": "1b8f713dc0c715c7ccc9877e2be0a2cf6c7e4757225f5f9757c03505838f741e",
         "graph-robot.svg": "9ebebede781336fcee3c036e512e258dbb04278b24366fb752b4083fe0b9566c"
       },
@@ -2563,7 +2597,7 @@
         "mjcf_ms": 2.4939640425145626,
         "compile_ms": 6.8224589340388775,
         "graph_ms": 436.59021286293864,
-        "render_total_ms": 1480.7106000371277
+        "render_total_ms": 1581.7925170995295
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2624,16 +2658,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.9741921462118626,
-        "render_ms": 1344.6924472227693,
-        "compose_ms": 62.361004296690226,
-        "write_ms": 58.47200518473983,
-        "foreground_fraction": 0.3036
+        "compile_ms": 8.123451378196478,
+        "render_ms": 1442.2587733715773,
+        "compose_ms": 58.25632205232978,
+        "write_ms": 60.153129044920206,
+        "foreground_fraction": 0.3036,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "30bad64a96e3e388676728bcfa4a7130cae13e0bea2a5ff5bc114e99bc490ddd",
         "meshes.tar": "f1ed8787496e18e55e00b5a2b27a4175e562dc0da07c6e8058c7321610b530bc",
-        "render.png": "042d0c77de2364b59fdfc9db1120e63824dacc700b1fbb52f54d57e37f122d08",
+        "render.png": "d8943a342c365850ea02bea4c1caf2c3e4b3798610939f4718da94739f21072e",
         "graph-raw.svg": "3db23c0e8246d40d2158df7c03cf7fc1f2554780bbc14c1a41b51d15bfe6f813",
         "graph-robot.svg": "f3e6348b906f1b73c46dfb1e6573189fc73fd5b53cecb42f585acfbe28968530",
         "robot.urdf": "57d989d86d6b028e19c4e505427933826c2106c8a336ad4e28286ce53fc0e2e1"
@@ -2665,7 +2701,7 @@
         "mjcf_ms": 3.362024202942848,
         "compile_ms": 4.77632088586688,
         "graph_ms": 71.50274096056819,
-        "render_total_ms": 1492.8642958402634
+        "render_total_ms": 1524.5344759896398
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2726,16 +2762,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.807541750371456,
-        "render_ms": 1357.872263994068,
-        "compose_ms": 60.884770937263966,
-        "write_ms": 59.19280694797635,
-        "foreground_fraction": 0.32285
+        "compile_ms": 7.395897060632706,
+        "render_ms": 1375.434456858784,
+        "compose_ms": 68.22727667167783,
+        "write_ms": 60.52681664004922,
+        "foreground_fraction": 0.32285,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "883d6c7986dd68aeca542008ecdf9b8c5476812bf4302d06a641114b2efb9ec8",
         "meshes.tar": "f1ed8787496e18e55e00b5a2b27a4175e562dc0da07c6e8058c7321610b530bc",
-        "render.png": "b5caf279893510a0f767bafb41e4ee6710d65994e91ae55bbb049b2a52021153",
+        "render.png": "2f2943fcebc6cc2ac1585bab8a98dbf70f063285f08173a8ded5fc6ff577b82c",
         "graph-raw.svg": "dc20c0552226f397b710c7cf58b549752dca25bd7fe0c55cfee538cbb5c0894b",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "83254f6f24d9d27f8964e3bf66404b799c9032b31df2b9448640e60c9948f18c"
@@ -2777,7 +2815,7 @@
         "mjcf_ms": 2.5956579484045506,
         "compile_ms": 35.51077423617244,
         "graph_ms": 97.08902891725302,
-        "render_total_ms": 1555.4419606924057
+        "render_total_ms": 1667.0623538084328
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2825,16 +2863,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.694342035800219,
-        "render_ms": 1397.744928020984,
-        "compose_ms": 62.37240228801966,
-        "write_ms": 73.16422695294023,
-        "foreground_fraction": 0.4202
+        "compile_ms": 53.878646809607744,
+        "render_ms": 1455.30277909711,
+        "compose_ms": 68.69658920913935,
+        "write_ms": 76.55824394896626,
+        "foreground_fraction": 0.4202,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "abff917e0f239f52a9eb7c8705666b52f13ce952a4e10c5515c69aeca440e766",
         "meshes.tar": "fa719eb51aa219b2ac4fd5b99841c7cc312ad935afeccdc79ba992844d6015b1",
-        "render.png": "9091730ccfb1bad9e92c3f2539d7592ab5663b3563cf8fad285ed233ab50cc40",
+        "render.png": "0282477a7172032ca9107984827b983e8478ac634d6f37448342ad31f9768938",
         "graph-raw.svg": "9b9e96e916b660f3f561b7552013ca8f6a967c220ba4f497e064961730b4c124",
         "graph-robot.svg": "8f1b1e73d2cbe8f4d214ff371252b392431dc69cd0ca5b966636bb73c5d5b819"
       },
@@ -2997,7 +3037,7 @@
         "mjcf_ms": 4.967106971889734,
         "compile_ms": 88.31724897027016,
         "graph_ms": 364.0306852757931,
-        "render_total_ms": 1679.678582586348
+        "render_total_ms": 1699.5104290544987
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3064,16 +3104,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.359765902161598,
-        "render_ms": 1490.7630430534482,
-        "compose_ms": 64.42940281704068,
-        "write_ms": 90.98064806312323,
-        "foreground_fraction": 0.657475
+        "compile_ms": 80.8627768419683,
+        "render_ms": 1437.2899662703276,
+        "compose_ms": 71.63522113114595,
+        "write_ms": 97.01277827844024,
+        "foreground_fraction": 0.657475,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "e218838f7332e1d4250f1743bd346585e8d92761793ddf091042632f7cacbe2d",
         "meshes.tar": "94e71187a3f73deac329f517d3d2c73c825ed5dc2b9c5433981f87d5b8d79f33",
-        "render.png": "34a21a802c22777c9e518fde7f0013256fcec9a2d77dab2dd71cf7586bb7e42d",
+        "render.png": "d0c03ab5f2b46b5bc8492b89a1675e653cb3ac180bd9c74174d4ebfa922e4981",
         "graph-raw.svg": "7c72c40a36ad81ca3400dcf087a9844381467ceb92a919f6157f619bfd79d3f7",
         "graph-robot.svg": "6ca6f96560f3efaa6ec7417095c1015c12f31f5981d142a2beeff80b208c8eed"
       },
@@ -3117,7 +3159,7 @@
         "mjcf_ms": 3.8912477903068066,
         "compile_ms": 151.3932030647993,
         "graph_ms": 183.9768378995359,
-        "render_total_ms": 1599.1782289929688
+        "render_total_ms": 1800.953804049641
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3178,16 +3220,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 27.022918220609426,
-        "render_ms": 1436.4509703591466,
-        "compose_ms": 61.81333400309086,
-        "write_ms": 60.990218073129654,
-        "foreground_fraction": 0.60885
+        "compile_ms": 159.43753672763705,
+        "render_ms": 1502.2780378349125,
+        "compose_ms": 66.39283709228039,
+        "write_ms": 60.34339219331741,
+        "foreground_fraction": 0.60885,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "e5baaa0634faa41c79e099ece2afac0ead7a1772cc4df6b27e298390984a37f0",
         "meshes.tar": "727af846ebeed32dbae2fea90bbfd83c84002cb535e34ab353e02f3bc88c56ee",
-        "render.png": "9efc6c2923ccdd2604fbafded688911bb62aa50bf65e0e7517debcd2f1d287a0",
+        "render.png": "faeb459dce30587dea97a8a8c0aad9606912e85f2c2f5fa83be27fe4c4bad4ce",
         "graph-raw.svg": "fb1c014308f61205b8311c7a8c8d394813eb83c251e966659dd47db7906e08d8",
         "graph-robot.svg": "19c679325b962e6bb8cda1afb88c603585b81856aed1bb39601eb8fc505d858a"
       },
@@ -3220,7 +3264,7 @@
         "mjcf_ms": 3.3330400474369526,
         "compile_ms": 4.123772960156202,
         "graph_ms": 143.12105113640428,
-        "render_total_ms": 1893.5166550800204
+        "render_total_ms": 1516.01901371032
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3281,16 +3325,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.1410440094769,
-        "render_ms": 1368.7319098971784,
-        "compose_ms": 75.90312836691737,
-        "write_ms": 434.2740080319345,
-        "foreground_fraction": 0.74415
+        "compile_ms": 4.976195748895407,
+        "render_ms": 1366.2993120960891,
+        "compose_ms": 66.35392783209682,
+        "write_ms": 66.05976866558194,
+        "foreground_fraction": 0.74415,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "aff1169daa4d5a67bc232a641be46d7bb1e897a25241d44dd00d8a1a48007493",
         "meshes.tar": "5ed008d5863a05fe8dc949c34f6008fc18b6e31391adb20035d7486ba26b2bf4",
-        "render.png": "78a33a3d113d7049fd2146095dc554779546544311a6ebc899bb7b17e2640687",
+        "render.png": "147994bf7fda3081cc48c85e76a29621be3bc593e572e4526fa2754fd96ea59d",
         "graph-raw.svg": "0cbc34eb7c7d796f70db1f118175acd1bc1de62d25f03cee5f8079c39c5ab15c",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a13ba383e0f0fb77a8697069b25a940cdb0e8eeed0fde63cb0a443739ea10c20"
@@ -3323,7 +3369,7 @@
         "mjcf_ms": 3.3780839294195175,
         "compile_ms": 124.41940559074283,
         "graph_ms": 111.40098702162504,
-        "render_total_ms": 1632.8849629499018
+        "render_total_ms": 1734.3132770620286
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3384,16 +3430,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 28.687096666544676,
-        "render_ms": 1432.168999221176,
-        "compose_ms": 60.42150920256972,
-        "write_ms": 98.77323592081666,
-        "foreground_fraction": 0.50765
+        "compile_ms": 106.97786184027791,
+        "render_ms": 1458.792774938047,
+        "compose_ms": 59.59465401247144,
+        "write_ms": 96.20075300335884,
+        "foreground_fraction": 0.50765,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "93efbae2cc88dddfa58bc5d84747b8182ced5c4ebd5962315f10e8211a7ca03e",
         "meshes.tar": "0af08110f6f7aaf4279fa6fef2cc8748939fa18b28e52d7b5b8eb004e71b396a",
-        "render.png": "58c0fce7822848ef9f3c417acde96783fd2b262fb182609148845d41b84d2c44",
+        "render.png": "d779ddeb5130c9e9933e2b5c10a1bf8fdb1002fa9b9c24ae4261208ad99a1f60",
         "graph-raw.svg": "fd083e7293b27916ff5e56de45ca7ebd8bfe69b04ed8c7a91027f5a7d0674818",
         "graph-robot.svg": "7313c4c9d05fe8f66e8e5046340aa7bc1d54e3462a91edd76d58b2efa7ffccac",
         "robot.urdf": "0203a8bdec7fa8e349e4e46780364322e95ba310bab6f5205a48a46497d92a43"
@@ -3432,7 +3480,7 @@
         "mjcf_ms": 2.193246968090534,
         "compile_ms": 6.5240636467933655,
         "graph_ms": 78.26389279216528,
-        "render_total_ms": 1552.2514530457556
+        "render_total_ms": 1582.9338249750435
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3480,16 +3528,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.724712248891592,
-        "render_ms": 1378.4512332640588,
-        "compose_ms": 64.05519507825375,
-        "write_ms": 94.48671899735928,
-        "foreground_fraction": 0.734825
+        "compile_ms": 8.403063286095858,
+        "render_ms": 1375.6737550720572,
+        "compose_ms": 64.05459763482213,
+        "write_ms": 122.56480427458882,
+        "foreground_fraction": 0.734825,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "dfd29aa021fa35b756c4fb825b79a0d2f69905c24f27ee73f79a4d6808c877d7",
         "meshes.tar": "e1248a041c0f2397320ececb9adc8312be663b966bbd2d99d70e5d15bee9ca54",
-        "render.png": "176f204ab867fe41b4331f9aa8cde47de39b7dc6b97804b79f079fdd03015aa2",
+        "render.png": "56c31e03a0823174bb91f05d300ed34383bf68be5d9be3c1272dcf59d0f89edc",
         "graph-raw.svg": "3e038a657c52b1d5041b394c844059a9313ab24c6f57a9e9c3944a6ead33bc82",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -3522,7 +3572,7 @@
         "mjcf_ms": 3.380092326551676,
         "compile_ms": 7.602066267281771,
         "graph_ms": 95.22179700434208,
-        "render_total_ms": 1501.736877951771
+        "render_total_ms": 1527.834016829729
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3583,16 +3633,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.169824369251728,
-        "render_ms": 1360.5390950106084,
-        "compose_ms": 61.709844041615725,
-        "write_ms": 63.92790004611015,
-        "foreground_fraction": 0.6400333333333333
+        "compile_ms": 11.653567664325237,
+        "render_ms": 1379.0815980173647,
+        "compose_ms": 56.35539488866925,
+        "write_ms": 65.05340989679098,
+        "foreground_fraction": 0.6400333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "cdcd296c1a2de6e0a21c13574743f8150eff9cf80d01124b72c3266489a6454a",
         "meshes.tar": "f5ed2e0db970ef30517b82a731949e4e064360fc459a8d2b60cb51dcd69fa19d",
-        "render.png": "c08170ffae374acabad84b7a50666eb1333c77549d97d42770e30715b2efdf60",
+        "render.png": "f8fac1ec55a5ef32d37cc3c665a021b830983d147781f5acfb61a350dfabafa9",
         "graph-raw.svg": "b1dede4b4feff0800adfaf06fad83f593b75f78f314313a19e398ddceb000ce2",
         "graph-robot.svg": "db18af987c5190fe60d2cf8506090707f812a15d8d4c0b32dbf5707852ad7889",
         "robot.urdf": "e2d9d112ae02dc3b936ba601fcbf0ef0738c1ce35775097d3221d9748b03af81"
@@ -3630,7 +3682,7 @@
         "mjcf_ms": 3.302951343357563,
         "compile_ms": 24.393144994974136,
         "graph_ms": 142.17479480430484,
-        "render_total_ms": 1554.3097169138491
+        "render_total_ms": 1599.4584541767836
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3723,16 +3775,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.918344043195248,
-        "render_ms": 1382.9101058654487,
-        "compose_ms": 73.39135464280844,
-        "write_ms": 76.67162362486124,
-        "foreground_fraction": 0.6798
+        "compile_ms": 32.27419592440128,
+        "render_ms": 1401.8441042862833,
+        "compose_ms": 71.46412506699562,
+        "write_ms": 80.67556004971266,
+        "foreground_fraction": 0.6798,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "6aea8bdee3111ea44ff76ab3398da201083fd7cbdd9338f7a4990b210dd798c1",
         "meshes.tar": "278cb4022f57e34941298f1fc2646e6ec041770ed070e58d466b3befef87e8eb",
-        "render.png": "e852a0f7a31cc6a457aae3d8962e3564a58e9ad33081905d09b388fce6f03788",
+        "render.png": "1021aa7a7b16dc4cb87d962e9fedc575ba7a1b08e9636a3b3c97bf69174e7b2c",
         "graph-raw.svg": "d43c6ea1788b2ee2bb7f2e68455d5be4cd0117fe350eff11330a1420036ef441",
         "graph-robot.svg": "6157c3cceb0b6426a5684284c0a7c3f0042e9ba1c58e8dce6c4dd8f9771317cc",
         "robot.urdf": "91233d758caf102bf3f7d58d8ebf2732ff19a0450ca4b22b9d3313d69a4d4aa9"
@@ -3802,7 +3856,7 @@
         "mjcf_ms": 6.017392035573721,
         "compile_ms": 1001.1382480151951,
         "graph_ms": 523.401346988976,
-        "render_total_ms": 2844.3577052094042
+        "render_total_ms": 3088.6124768294394
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4001,16 +4055,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 824.955970980227,
-        "render_ms": 1832.4497626163065,
-        "compose_ms": 65.60127390548587,
-        "write_ms": 102.5464884005487,
-        "foreground_fraction": 0.5467
+        "compile_ms": 1027.3313531652093,
+        "render_ms": 1860.1882732473314,
+        "compose_ms": 63.952180091291666,
+        "write_ms": 117.35292989760637,
+        "foreground_fraction": 0.5467,
+        "style": "link-palette-v1",
+        "colored_bodies": 27
       },
       "artifacts": {
         "robot.mjcf": "cc49b7bce579d7dcf6e454e61b3e488992afc49014d6382bdaa41bb47760953f",
         "meshes.tar": "2bcbe2c08b06b04b5c22a3a7bfdb5842f3fef37f2703008c93d934fa4e1ba325",
-        "render.png": "9e39adbc9faf7e75a0f061cbf3a79075f5d9773b780e7fb6bb75f61353c4c802",
+        "render.png": "fc2e0b8bf183d04f2fe19e46c1369ee041aaf3101f843339c0776a1b6397b6cb",
         "graph-raw.svg": "08eb8d8f36daeffbf4015339aa46485d4087853d67c93dff12b00c859886c707",
         "graph-robot.svg": "f49e3bd53f51d9082581e54a4d178883db3528ca1dd5d0a869a00788bf76da83"
       },
@@ -4051,7 +4107,7 @@
         "mjcf_ms": 2.734866924583912,
         "compile_ms": 406.4547452144325,
         "graph_ms": 86.27752726897597,
-        "render_total_ms": 2148.2229749672115
+        "render_total_ms": 2220.19903967157
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4099,16 +4155,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 418.5178247280419,
-        "render_ms": 1568.1619993411005,
-        "compose_ms": 61.218739952892065,
-        "write_ms": 86.00943721830845,
-        "foreground_fraction": 0.3718
+        "compile_ms": 437.89507495239377,
+        "render_ms": 1609.9094552919269,
+        "compose_ms": 62.6119882799685,
+        "write_ms": 97.37887792289257,
+        "foreground_fraction": 0.3718,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "6ebf510911a98a1f25617f83d9d3b48022d8895bd1cf4a815e186cf7fd8901e4",
         "meshes.tar": "4475767e8a69bd8e889a57798007ce42bfd3f57314ce9b1f9218f968d36e833c",
-        "render.png": "bdd150ad9bf87aa7136a29cca7a5d47336d5350b979ae8ed4b9758fb7d79bf85",
+        "render.png": "c4fc28bd0d6257e2032fdf6e8a46679b73846d6a4814ea8b0c110b10a50ca8df",
         "graph-raw.svg": "0ecc5554fd4597daf2dd5bc255e58210aced6ae91806b694df67f55baf2b3d4d",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -4142,7 +4200,7 @@
         "mjcf_ms": 3.6223791539669037,
         "compile_ms": 34.416287671774626,
         "graph_ms": 302.96735698357224,
-        "render_total_ms": 1517.5883900374174
+        "render_total_ms": 1964.6376320160925
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4203,16 +4261,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.557052180171013,
-        "render_ms": 1338.1432932801545,
-        "compose_ms": 67.59458826854825,
-        "write_ms": 74.84683813527226,
-        "foreground_fraction": 0.50655
+        "compile_ms": 32.53365773707628,
+        "render_ms": 1403.9826258085668,
+        "compose_ms": 61.38975219801068,
+        "write_ms": 453.7057653069496,
+        "foreground_fraction": 0.50655,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "a93c5d114747d2d9bdc7d5efc05d6d7e16b1ac8ec431b26327f169f4a11f535f",
         "meshes.tar": "f8cea913e75d9ef57a0c0f0ed532dba3d68ff44252eb83d260c3ce901ba5ed93",
-        "render.png": "6a593407ee8bbfab1489d9f98e5a2083e7fb3afa8343570e72031d177f54f52a",
+        "render.png": "1a1f8ec5e986e76847639df0a5231c78cc8fb69c2cdeca00cfecc4618ccf3e2b",
         "graph-raw.svg": "74b214dc80ac2269698be3f509f36eb1ef28340008697885c653b3d571899451",
         "graph-robot.svg": "0a9c8576bb91e5e5ded5d5855ce4db70736ec400e9f06ef928fc82ab86f1599a",
         "robot.urdf": "7355f680e019290ab60be50a4b843bdc3af3886b64eb9eb4b7e7a5dabb911e90"
@@ -4255,7 +4315,7 @@
         "mjcf_ms": 3.2245698384940624,
         "compile_ms": 68.07100214064121,
         "graph_ms": 122.91362276300788,
-        "render_total_ms": 1666.5459871292114
+        "render_total_ms": 2007.0453211665154
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4334,16 +4394,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 96.51723504066467,
-        "render_ms": 1409.2728192918003,
-        "compose_ms": 63.518636394292116,
-        "write_ms": 84.46900406852365,
-        "foreground_fraction": 0.4499
+        "compile_ms": 69.64849075302482,
+        "render_ms": 1476.8770639784634,
+        "compose_ms": 56.93137785419822,
+        "write_ms": 391.2154999561608,
+        "foreground_fraction": 0.4499,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ee0067a8f9863f2b83f98d13f60be19bb00c1dbbafa72d1dbf4c08658b71fc78",
         "meshes.tar": "aa2cf7b60a2f0e8472a7034b9a3a45dea6ee597520ba6d9afb8dc15440d4051c",
-        "render.png": "1765e7a91a1455be50b1006966e9f0ade7da71124df5d9394fbf0fd08aa2c409",
+        "render.png": "d7143352e6aed3cef432dda48b924c2ecd4c2824ed4507f1aa43c7bb9c29510c",
         "graph-raw.svg": "e2110e2efd2de702ea16fe26d54050e27eab49f897caf3aec6c4287e8825cc6e",
         "graph-robot.svg": "012406ffc09e89f9e0d54c3cddd495eea4984a9984cad59190edafc4471fc601"
       },
@@ -4393,7 +4455,7 @@
         "mjcf_ms": 9.277550969272852,
         "compile_ms": 96.78060375154018,
         "graph_ms": 1235.5358311906457,
-        "render_total_ms": 1655.6078759022057
+        "render_total_ms": 2131.9578890688717
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5426,16 +5488,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 83.1898869946599,
-        "render_ms": 1412.3125057667494,
-        "compose_ms": 61.120797879993916,
-        "write_ms": 86.73167089000344,
-        "foreground_fraction": 0.62095
+        "compile_ms": 112.48610308393836,
+        "render_ms": 1609.631609171629,
+        "compose_ms": 70.53506327793002,
+        "write_ms": 326.9168948754668,
+        "foreground_fraction": 0.62095,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "531e8b5f10453f980270acd9293d0e1f47363454606f5a7877e004dc29d3698c",
         "meshes.tar": "e4de9b4dc0a2a3fa5192e5618fdff11485eaa8058ca41254a7e1d94138506af9",
-        "render.png": "a205b91d1b13f6ca78e570642a8021fecae7330235e751e5d5e5b68d32f96acd",
+        "render.png": "8aeaf429a87ed5cccf8ff4b4d4cbeffa731e703757bc5271fad4d51e061577f8",
         "graph-raw.svg": "286c4aa74520e78efa4b6adec1624b0f9dcfd163f5c2947f8a934740279e627c",
         "graph-robot.svg": "1603b0b0445d4f255fce9cf605ad5547a0caed6ccca11ba7e77c123ee634eb57"
       },
@@ -5473,7 +5537,7 @@
         "mjcf_ms": 2.602448221296072,
         "compile_ms": 2.845353912562132,
         "graph_ms": 71.19717681780457,
-        "render_total_ms": 1442.5569060258567
+        "render_total_ms": 1476.5059379860759
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5528,16 +5592,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.478045877069235,
-        "render_ms": 1314.078384079039,
-        "compose_ms": 54.0114170871675,
-        "write_ms": 59.26975607872009,
-        "foreground_fraction": 0.275
+        "compile_ms": 3.5618981346488,
+        "render_ms": 1346.9718457199633,
+        "compose_ms": 54.35839295387268,
+        "write_ms": 59.11220423877239,
+        "foreground_fraction": 0.275,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "d78e436d53634664a4656e494fc6101a7ad1bdbdbe3fcd12845c7e8d9ce1febb",
         "meshes.tar": "cd44db2df23422d2b9853fca4a10ee73ce9385828bb8a3943a974ab4c170bb0a",
-        "render.png": "8b2bb281f2f8bf1d09abc0e99adc928cd79b214139dd5577830dc3d2ae1abb4d",
+        "render.png": "1232efee01918a21b4e65e9c9e0271a1be342ed1930f3d807cd562395a93d705",
         "graph-raw.svg": "e4edf2cc0a5bb71aec3394755a0446bbf1f92253bb7e6838ab8c6804bee06f92",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -5575,7 +5641,7 @@
         "mjcf_ms": 2.3199710994958878,
         "compile_ms": 2.069207839667797,
         "graph_ms": 123.17643407732248,
-        "render_total_ms": 1482.486552093178
+        "render_total_ms": 1510.2711031213403
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5630,16 +5696,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.495147753506899,
-        "render_ms": 1346.3023910298944,
-        "compose_ms": 56.200743187218904,
-        "write_ms": 64.99499268829823,
-        "foreground_fraction": 0.6771916666666666
+        "compile_ms": 3.375074826180935,
+        "render_ms": 1367.2323529608548,
+        "compose_ms": 62.94259987771511,
+        "write_ms": 64.43659635260701,
+        "foreground_fraction": 0.6771916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "9242c48cd1b19b7ab325e9d950a6cb0de22b86c7355e862b6c46117f334a154c",
         "meshes.tar": "ad36fdc7e00763a44fc48a208e68e9f3f978b3e2a2c779076430f9eca6313a40",
-        "render.png": "46da6b9b0062ee8db6c90c28d83846240e3e6f9c7cae395145299c3e1b51b558",
+        "render.png": "d1ca9ac4594091252056e7dbe635d446cff43a5ef5f0f9a2b1ecb24bdff19720",
         "graph-raw.svg": "f551d0a1271ec951e2b91557b444fd52200a3ad4b1d0e36ee92807e08a79495f",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -5678,7 +5746,7 @@
         "mjcf_ms": 6.661954335868359,
         "compile_ms": 83.0765888094902,
         "graph_ms": 524.019437842071,
-        "render_total_ms": 1722.2568122670054
+        "render_total_ms": 1726.6538860276341
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5812,16 +5880,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 128.1118462793529,
-        "render_ms": 1408.900213893503,
-        "compose_ms": 75.2222123555839,
-        "write_ms": 98.06295018643141,
-        "foreground_fraction": 0.70235
+        "compile_ms": 84.11715319380164,
+        "render_ms": 1445.2459020540118,
+        "compose_ms": 65.95281511545181,
+        "write_ms": 118.33298904821277,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 31
       },
       "artifacts": {
         "robot.mjcf": "1fa395bb98bd3d665bd81b70b63c5410d4f765f2d0b041cc7ffc5fe6ebcbcbbe",
         "meshes.tar": "45d62186fbb04fa274807f235f60169d5cb52f2329af8b6bf010c8af22c0ec4c",
-        "render.png": "be11cde83725e656b8d7ad9986979e22ac9f89f20692a31af73cf13d3cd4c44d",
+        "render.png": "f6cfb5fb9df514c5f30088dd7d71e974f82757c90cb406ecd5172803fa4ce9bb",
         "graph-raw.svg": "4061f00a3bee560a21e855c6e2ac468026098b3ad4eb1158ccb085abaf59b768",
         "graph-robot.svg": "ca53453cc44aa004d94cbe4680fdead60862a87fd0f1674b6f061adaa335d1a1",
         "robot.urdf": "fa37ad0c66f3a1a8ec253f3f93f4e2a47f863e43676349529b3052b94b13718c"
@@ -5860,7 +5930,7 @@
         "mjcf_ms": 6.801878102123737,
         "compile_ms": 118.9658329822123,
         "graph_ms": 621.9905661419034,
-        "render_total_ms": 1695.6308810040355
+        "render_total_ms": 1756.8546799011528
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6030,16 +6100,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 134.74400388076901,
-        "render_ms": 1400.444719940424,
-        "compose_ms": 64.49967995285988,
-        "write_ms": 83.93328078091145,
-        "foreground_fraction": 0.7492333333333333
+        "compile_ms": 115.49563985317945,
+        "render_ms": 1466.3427388295531,
+        "compose_ms": 75.70166792720556,
+        "write_ms": 83.6344612762332,
+        "foreground_fraction": 0.7492333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "00f5fbd62376c2754cc989dc5833f82ed5f517139e02f866a1fb273011255a07",
         "meshes.tar": "f76bfa6db0d9b51abf5818b96e6a970d9424c49fb22ae85f24afccb07167dedd",
-        "render.png": "1486eef582919696a9547d72e017a5b3770d6e1ea00d81a722d1c1b1580feb1d",
+        "render.png": "c55994466aa2dab620fc7db03468ece73b0525f78c1b967044ae7138c77882f4",
         "graph-raw.svg": "23cd77924ff68c9844a2fac156ff99d60d9e6bbc965f364e3e5c5c2c90a0b61e",
         "graph-robot.svg": "6d4e1becb3168b178bf5cd9d5d55512e5e80f400c1e73e180b33180626899ffe",
         "robot.urdf": "85ccd2e40bd9f632e45555cd0e58108180b72729e88808104f4212fe1e4bdbde"
@@ -6073,7 +6145,7 @@
         "mjcf_ms": 6.536454893648624,
         "compile_ms": 35.54057236760855,
         "graph_ms": 188.2694219239056,
-        "render_total_ms": 1694.549037143588
+        "render_total_ms": 1592.5335991196334
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6134,16 +6206,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 32.46485209092498,
-        "render_ms": 1345.113882329315,
-        "compose_ms": 64.24932600930333,
-        "write_ms": 240.5727286823094,
-        "foreground_fraction": 0.6633
+        "compile_ms": 32.80169516801834,
+        "render_ms": 1392.7241889759898,
+        "compose_ms": 65.61452662572265,
+        "write_ms": 89.21838784590364,
+        "foreground_fraction": 0.6633,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a155442c1494e6f7f8a7054a1da21a46dd355ab730a22d613222ed2ff24cc00e",
         "meshes.tar": "079dac75e10ed45e1f93b6f5396269b6588c7a17412733ca5f5e14b7b0883852",
-        "render.png": "ed1a78daf051a0ed5d182ca35c2c0dea13046aa87d37bba4064536a842bc10ff",
+        "render.png": "370aeb623a1e5a6ede57e572474a32b13322cd46fd111f17dcd3c23daa2e1be0",
         "graph-raw.svg": "cb20a80ee92a29917a49d07ba1bed72c1228e3cea90422d68db02da3dc64fc70",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "8cff071d8150d7840452607e2e5575dc04f5559bb931752477faa3373fd95379"
@@ -6184,7 +6258,7 @@
         "mjcf_ms": 7.197275757789612,
         "compile_ms": 100.21422011777759,
         "graph_ms": 554.5417629182339,
-        "render_total_ms": 1775.6047137081623
+        "render_total_ms": 1737.1219019405544
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6318,16 +6392,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 150.48475796356797,
-        "render_ms": 1438.2878062315285,
-        "compose_ms": 77.78466120362282,
-        "write_ms": 96.77207004278898,
-        "foreground_fraction": 0.7018
+        "compile_ms": 90.94610717147589,
+        "render_ms": 1436.156364157796,
+        "compose_ms": 79.33982089161873,
+        "write_ms": 117.43353586643934,
+        "foreground_fraction": 0.7018,
+        "style": "link-palette-v1",
+        "colored_bodies": 33
       },
       "artifacts": {
         "robot.mjcf": "010f559b5a6203fc2dd5199958b6a35f0e81d69179ff7df9f6dd8ef556292cc5",
         "meshes.tar": "a0c90ce7a5c6d788dde7b7f109d7a92c14ccea89196252864a1f820ca0b5175e",
-        "render.png": "563b296cfa93c3a45ce0cf243b7e276fdc31b3fa9651d70505047f8946d57b6a",
+        "render.png": "b9053e69cc25ef29c4af17d70a8c9a7a94ce5b8009ab70ae8d9ca095d006da0f",
         "graph-raw.svg": "12bd1a6bbfb9c5154b511e088cccf6c23cb320e1a6c7d792cdb01164fd5491be",
         "graph-robot.svg": "89c6810d41ddae985fe94e09676a69bb8c0d8cb5750dd3584dcd992e64e349b1",
         "robot.urdf": "d299ed511d354c388ea75b9fb741c456860e8dd4ef4b07de5d6b42055afedfaf"
@@ -6360,7 +6436,7 @@
         "mjcf_ms": 2.7634836733341217,
         "compile_ms": 12.445799075067043,
         "graph_ms": 88.10506016016006,
-        "render_total_ms": 1493.5075198300183
+        "render_total_ms": 1549.447035882622
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6421,16 +6497,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.345273047685623,
-        "render_ms": 1323.9934630692005,
-        "compose_ms": 66.96475809440017,
-        "write_ms": 77.79137184843421,
-        "foreground_fraction": 0.50325
+        "compile_ms": 14.357005711644888,
+        "render_ms": 1376.7570708878338,
+        "compose_ms": 62.62340769171715,
+        "write_ms": 83.3718292415142,
+        "foreground_fraction": 0.50325,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "657bb55a8c2bdf16f94402c58f1e52fee0f559f9ffdceb5ec535945790d35cbb",
         "meshes.tar": "e6929989c3a66d9e67deb6a3a7d268d8eb9f8b14df1667154a52df7e0cf1e2b9",
-        "render.png": "ebd12e72ffe7757d1640dbcfd2f1743fb391423ecce2863618615af7980f66b7",
+        "render.png": "cd756db97b2320f26f2a5222bf7266a4b6e6df61ddf8966ea815d21fa8e126c7",
         "graph-raw.svg": "0ec6099c18e7a3f87300896dc77ece43cd3cb444739e4da69f4c28714bbbfb8c",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "8bb8d7df6c249db4160b62188f654bbf585b54b7933019214aa350aeda64b539"
@@ -6467,7 +6545,7 @@
         "mjcf_ms": 3.710856195539236,
         "compile_ms": 21.16931788623333,
         "graph_ms": 181.9790080189705,
-        "render_total_ms": 1497.8459770791233
+        "render_total_ms": 1557.554944884032
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6541,16 +6619,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 27.881728019565344,
-        "render_ms": 1310.4652701877058,
-        "compose_ms": 72.43221998214722,
-        "write_ms": 75.18959604203701,
-        "foreground_fraction": 0.76725
+        "compile_ms": 25.11863224208355,
+        "render_ms": 1375.758731737733,
+        "compose_ms": 67.95675912871957,
+        "write_ms": 75.69559896364808,
+        "foreground_fraction": 0.76725,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "bcde2a28e6f333414b5743ca753d1ecbda7fcbdfee123dc6e7faafe0721a8ab1",
         "meshes.tar": "3a4371a385147c3615fb8dafad4efed15db057bd209e557e081255a484a9c93c",
-        "render.png": "ddf242354e53af94325e661da0a80be66f9bf5ed983d0327e90538e0fc601c6c",
+        "render.png": "33ebc7d4ecd3eeb1af64259302c4ce9b85e88f353b154a71dceaef4527ac9474",
         "graph-raw.svg": "f96f9f33afbe0995a9489c120dc1f6e1f84036dda59a0a80c5d9363695f0a614",
         "graph-robot.svg": "29b8110828b1e740ec39a2e48d004a18cc88136fc59ac614a4d7dfa863ef09f3",
         "robot.urdf": "d82dcbe3b61841695efe7683895ace529419b287861946630b8068eda11dc2e3"
@@ -6583,7 +6663,7 @@
         "mjcf_ms": 3.137461841106415,
         "compile_ms": 12.192684691399336,
         "graph_ms": 103.37436990812421,
-        "render_total_ms": 1542.1628709882498
+        "render_total_ms": 1610.41592201218
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6644,16 +6724,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.457022745162249,
-        "render_ms": 1345.2184307388961,
-        "compose_ms": 64.60923375561833,
-        "write_ms": 106.64573730900884,
-        "foreground_fraction": 0.53075
+        "compile_ms": 13.38624581694603,
+        "render_ms": 1386.1786262132227,
+        "compose_ms": 59.663026593625546,
+        "write_ms": 138.65684904158115,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "0f05a553ae7cbd5cae8cfcf0d9889d0699834d3688b08f482708c2ab7b70ed2f",
         "meshes.tar": "a65fa41493c6bf75eaa0c4842456e163d9cf7067c4a5487953a037add3619855",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "cc1f7ae351d73ae8f19f652e5667face44cc86eb38e70045853956d664b21bb9",
         "graph-raw.svg": "02966f114251a920b0abc9e6312bc5dd5577a86dfaee6725fd365f31b0911d91",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "e7546825944066b6c0f90e9fa34aea20a4900001c41063fec6711b86b560a0fa"
@@ -6695,7 +6777,7 @@
         "mjcf_ms": 7.2111752815544605,
         "compile_ms": 105.34191597253084,
         "graph_ms": 612.6856920309365,
-        "render_total_ms": 1757.7090207487345
+        "render_total_ms": 1821.5936906635761
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6805,16 +6887,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 122.81089834868908,
-        "render_ms": 1438.801716081798,
-        "compose_ms": 77.35036173835397,
-        "write_ms": 106.95569217205048,
-        "foreground_fraction": 0.7645
+        "compile_ms": 119.57314610481262,
+        "render_ms": 1466.7599289678037,
+        "compose_ms": 84.80667602270842,
+        "write_ms": 133.52516386657953,
+        "foreground_fraction": 0.7645,
+        "style": "link-palette-v1",
+        "colored_bodies": 39
       },
       "artifacts": {
         "robot.mjcf": "89d06fa276b5ea40d364e157a62560a135ff6e034016004c9684b2266bd90523",
         "meshes.tar": "e11e6d9df448b7696e3d808615b84e7f6cbd2ab6e449dc673ddfa3afa5f5ca2e",
-        "render.png": "54c4838cf32425a4db45f08ddb11beaeb05e88911ed7a6f225b6b568bc9c6b43",
+        "render.png": "2acba14b34241629d45fa618b63632f3c9d05f05d4336945827f419e82cab95f",
         "graph-raw.svg": "9bae118800cded7cd2b2ba02b82817ef4ee765c14bb9ce0b38cdf56d6e6cdcc4",
         "graph-robot.svg": "861afc26bb64615e5f6d5361e45e35a8d3aa29f2f498f67ddce4a533f69f7eb7",
         "robot.urdf": "71f3d1699b73ae274c01402fd18890c91e87d8a1216dfc546086b7ccf1900531"
@@ -6848,7 +6932,7 @@
         "mjcf_ms": 3.7202220410108566,
         "compile_ms": 25.14558006078005,
         "graph_ms": 145.75545908883214,
-        "render_total_ms": 1516.0451652482152
+        "render_total_ms": 1580.2999697625637
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6909,16 +6993,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 21.975882817059755,
-        "render_ms": 1320.652767084539,
-        "compose_ms": 74.5116313919425,
-        "write_ms": 82.91701273992658,
-        "foreground_fraction": 0.5907
+        "compile_ms": 28.423167299479246,
+        "render_ms": 1387.125520966947,
+        "compose_ms": 66.39755563810468,
+        "write_ms": 85.58134594932199,
+        "foreground_fraction": 0.5907,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ebc1f09b0595558b32a267eb41c5ec8e71da70deed2dbcf80b3c89236cfcd1ea",
         "meshes.tar": "4ad65732a37212e5108d9cd0fc60f5f8a00e01ada1e867eca9161b569fc4aaf5",
-        "render.png": "cda97a52c05a0f9cc49b234438cd9a9093b243e6e0723b1ac6efb6f9de18150e",
+        "render.png": "c26f6f85fe62b541c59bcdc99e0656b45ea2dd8f403150457148b89e842afb41",
         "graph-raw.svg": "8e13b56d032ba7fd35d12bf20f1f001571624785185ff721f34065b1eabe896e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "c5dcd828e2347e94652df38481d6193d9634b4c209cc6a80a28d01bce5917282"
@@ -6957,7 +7043,7 @@
         "mjcf_ms": 6.655903998762369,
         "compile_ms": 95.33714782446623,
         "graph_ms": 638.7712024152279,
-        "render_total_ms": 1695.1669878326356
+        "render_total_ms": 1994.3054961040616
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7127,16 +7213,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 133.1155588850379,
-        "render_ms": 1398.220359813422,
-        "compose_ms": 67.68575217574835,
-        "write_ms": 84.4434997998178,
-        "foreground_fraction": 0.7499916666666666
+        "compile_ms": 110.42504478245974,
+        "render_ms": 1682.4764963239431,
+        "compose_ms": 79.9143617041409,
+        "write_ms": 105.3787050768733,
+        "foreground_fraction": 0.7499916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 22
       },
       "artifacts": {
         "robot.mjcf": "245d65fe6fe45f5a2c3831f9bba85e031c0d291d9eca1a0359d56604f1aff342",
         "meshes.tar": "7414f12b03fbd59d01634b6153cc42ac0c806c0c2b00b0a8366fc1041378ffc7",
-        "render.png": "f6301d224a82a92180c317eaa1704300d3b21183815ce464a398c9715a91a22d",
+        "render.png": "8bcdbd5350e1ee69c85162bc902733a3d546c69c9cf268cbe46b481dd46b1e90",
         "graph-raw.svg": "842706c3b6f7636c9f5afb0d66daef6b8f53b22f6eefbfddefbebd54c5b014f8",
         "graph-robot.svg": "0b428646d407dff5cdb1d0dff2abaf319434d7f2a74a361d0021a3e0a0479788",
         "robot.urdf": "015a2ecc9798eacd3e04d258063a98be117b95d8afea15584fa5a4dc1696d12f"
@@ -7169,7 +7257,7 @@
         "mjcf_ms": 3.0056098476052284,
         "compile_ms": 12.439800892025232,
         "graph_ms": 83.82927812635899,
-        "render_total_ms": 1473.891262896359
+        "render_total_ms": 1558.1176588311791
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7230,16 +7318,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.496626935899258,
-        "render_ms": 1296.6422527097166,
-        "compose_ms": 65.02658221870661,
-        "write_ms": 87.60138088837266,
-        "foreground_fraction": 0.8008
+        "compile_ms": 14.606363605707884,
+        "render_ms": 1368.840196635574,
+        "compose_ms": 66.37908704578876,
+        "write_ms": 95.64048796892166,
+        "foreground_fraction": 0.8008,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "caa455091c5401a0554757757f4927cece938997104104260b96e358f30000fe",
         "meshes.tar": "dfd962e1c9b367ba41b718f1517b8c226f080a397cac4f70a270c66e6b77cfd0",
-        "render.png": "adf9fa24e4d082256aabce11247b14aba4981535476956fd0f307f3e7d400373",
+        "render.png": "7fcc2bce6d8797411cde53f06e632297e6a58fb04b685d93728da96ccdf63896",
         "graph-raw.svg": "ada52e7d6a4cb6835e11891e49098e85625409d76112e813810251a58ef71e96",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "d4f07edde47ecf0b94448133740bdd7dabdc46a31fb515f80827fa4c17146d00"
@@ -7275,7 +7365,7 @@
         "mjcf_ms": 4.765400197356939,
         "compile_ms": 52.48428601771593,
         "graph_ms": 344.2742098122835,
-        "render_total_ms": 1647.6174229755998
+        "render_total_ms": 1627.9957816004753
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7409,16 +7499,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 63.66983475163579,
-        "render_ms": 1411.6899091750383,
-        "compose_ms": 80.3406503982842,
-        "write_ms": 77.72389706224203,
-        "foreground_fraction": 0.77055
+        "compile_ms": 64.67800913378596,
+        "render_ms": 1402.7282041497529,
+        "compose_ms": 70.06478402763605,
+        "write_ms": 77.59174518287182,
+        "foreground_fraction": 0.77055,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "174ee6d3f5ac5e0e5a6aaa9d1795d6226d154e779af356708cf56e5e842c9a5b",
         "meshes.tar": "ace0f881e7299cf8d4c9e670cfb6585c8b9002d184a78117188d31e9b810a31e",
-        "render.png": "04cd2d28a78f38616477c64aa28b63423cd2ec41b30c6ac7bfefa83556bb5acd",
+        "render.png": "a84a50e0c8469e53e5ae7c1809ae12dc8b29ac6e4a24765818dd985b17206b64",
         "graph-raw.svg": "8a6e79ef730cda9611a66acdb330f66d5b78a3fdfee3a036d2d5f6f45191dc65",
         "graph-robot.svg": "d486fd7fb249f7df368c770edb24eaae125a063b74ab55a11efbbf4b98232ee7",
         "robot.urdf": "e236d65745607f8221676ddc81e0ad9cc2084b1eca5854212823ad756c6a1a09"
@@ -7451,7 +7543,7 @@
         "mjcf_ms": 3.055104985833168,
         "compile_ms": 17.107656225562096,
         "graph_ms": 84.86768370494246,
-        "render_total_ms": 1499.0232735872269
+        "render_total_ms": 1568.7584318220615
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7512,16 +7604,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.023457817733288,
-        "render_ms": 1327.3884737864137,
-        "compose_ms": 70.00732189044356,
-        "write_ms": 74.79033805429935,
-        "foreground_fraction": 0.6963
+        "compile_ms": 19.445606973022223,
+        "render_ms": 1377.7798051014543,
+        "compose_ms": 83.45406129956245,
+        "write_ms": 75.41935006156564,
+        "foreground_fraction": 0.6963,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "48feb647f963223662c86ee1762404104eb68423cf0444db1ad4f9c1deb7f302",
         "meshes.tar": "a558506db693528a581acc86027104025f9976f9f5f6b312fee81435a7ee4098",
-        "render.png": "d43c66c3e25599701d48eb16779246d64657d81d952d8bdbf48a58b8cdea4563",
+        "render.png": "7e26a99e846011ddbb61e19e803cbf9e8a189730c1adea3d4cd57f9c03e6bcb8",
         "graph-raw.svg": "71ab10f29013f643b5a7c42241b1eb283279af422fc42fc510a1a9bd9299862b",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "cb3719e6235df5b512993bdb5c32d0385134a601a040ca4a3ad07136fdeab340"
@@ -7555,7 +7649,7 @@
         "mjcf_ms": 2.892094198614359,
         "compile_ms": 11.811868287622929,
         "graph_ms": 142.12865522131324,
-        "render_total_ms": 1542.6257848739624
+        "render_total_ms": 1600.9603622369468
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7616,16 +7710,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.138104997575283,
-        "render_ms": 1352.1795608103275,
-        "compose_ms": 69.69317886978388,
-        "write_ms": 96.0712693631649,
-        "foreground_fraction": 0.4752
+        "compile_ms": 12.305064126849174,
+        "render_ms": 1431.9663499481976,
+        "compose_ms": 64.1794609837234,
+        "write_ms": 80.01018781214952,
+        "foreground_fraction": 0.4752,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "fdb2b5322b8b5be51584283f70b00a4913b639ac1ffc6c8491d5ae0b95908d28",
         "meshes.tar": "e8134c8f03a4b1f5fa0c1285deaa08b704847e31ff15688dfb05705d2b004fa4",
-        "render.png": "805d959fec67a81db0838254f2f8106db8ee3550ddff89c480e579e9d836b268",
+        "render.png": "256850f080d5b65aa3ee0360029eb30282268c17320736c1920e8e165e722259",
         "graph-raw.svg": "4ded95f9c8ba86f4ae2470c06e192ea4c94178f9712284490d5f6a3e50f84df3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "704a8c56f63b73c7cbd4d5286815426121b517f68433fa95054e4850fbda4d7a"
@@ -7658,7 +7754,7 @@
         "mjcf_ms": 2.9433672316372395,
         "compile_ms": 9.829984046518803,
         "graph_ms": 87.11052034050226,
-        "render_total_ms": 1563.4501548483968
+        "render_total_ms": 1523.9638327620924
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7719,16 +7815,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.352060198783875,
-        "render_ms": 1405.4836626164615,
-        "compose_ms": 57.24825290963054,
-        "write_ms": 77.86404015496373,
-        "foreground_fraction": 0.40865
+        "compile_ms": 10.65429812297225,
+        "render_ms": 1363.9179631136358,
+        "compose_ms": 52.416482008993626,
+        "write_ms": 84.82050336897373,
+        "foreground_fraction": 0.40865,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "73d456d1d8dec6290b6ce2e2693d3e2c481247ea80c695dc4156ac3b604c17be",
         "meshes.tar": "714348b1298cdad6b46a23558cf6cbc5f03c731954dac2f32468472d2a663e1e",
-        "render.png": "ebcea944ca4eb9dfb0bc9f0ca96e1f1873dd74b13aaca6e4b089ad5fe02072e9",
+        "render.png": "9c7ce0e2b504d3889a83bffdbb72c9620ef50e63e7e1b20564972c1f7dd24d5e",
         "graph-raw.svg": "ccb1cd6d6efb73c044a464cab2638f4ae3288b61eaa23dee4d534421c029e548",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "92e7a9d27ef75e2e4211806371769b1c88a795cdf73362f4d0c6b3b6f0503e89"
@@ -7772,7 +7870,7 @@
         "mjcf_ms": 5.133067723363638,
         "compile_ms": 90.63461702317,
         "graph_ms": 347.0435934141278,
-        "render_total_ms": 1627.9113981872797
+        "render_total_ms": 1701.3496197760105
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7869,16 +7967,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 88.14263297244906,
-        "render_ms": 1375.4731370136142,
-        "compose_ms": 70.13105601072311,
-        "write_ms": 81.57042972743511,
-        "foreground_fraction": 0.689325
+        "compile_ms": 96.97947325184941,
+        "render_ms": 1433.6609379388392,
+        "compose_ms": 74.84890101477504,
+        "write_ms": 83.39417679235339,
+        "foreground_fraction": 0.689325,
+        "style": "link-palette-v1",
+        "colored_bodies": 25
       },
       "artifacts": {
         "robot.mjcf": "9bcb76f872ff1aea0b3f05886446feec60149345fea332ee08d494650d9ba345",
         "meshes.tar": "35b5ec13887c3196ad01b691e73f403b06ce71733c589b5acfa828c0d78a90fb",
-        "render.png": "7e68bd39e9c2efd0c7718f67e498b41806f9c9593bb0a184bc263ba38139cc69",
+        "render.png": "43c1f618dab5b637d378b7ee6edbcad6b2296c6de4ca299b67068e2d668ff7e4",
         "graph-raw.svg": "e89a3730731f884ef43120a90184ecf670cbfbbcb3e982856df1bf7d97111bc7",
         "graph-robot.svg": "ce472b01fafab196d887a58faee67c3f5e80fa125b2cc64bbe2ececdee894b11"
       },
@@ -7918,7 +8018,7 @@
         "mjcf_ms": 7.183285895735025,
         "compile_ms": 77.00043404474854,
         "graph_ms": 517.9386576637626,
-        "render_total_ms": 1720.9508758969605
+        "render_total_ms": 1743.77261986956
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8052,16 +8152,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 118.22524573653936,
-        "render_ms": 1420.0344779528677,
-        "compose_ms": 73.38291499763727,
-        "write_ms": 97.11475810036063,
-        "foreground_fraction": 0.70235
+        "compile_ms": 86.98994619771838,
+        "render_ms": 1451.5550406649709,
+        "compose_ms": 72.25361000746489,
+        "write_ms": 120.09391188621521,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 29
       },
       "artifacts": {
         "robot.mjcf": "0c824345645741dcc9b958f4ac22531f216a29967c2611f76a764ec71a646247",
         "meshes.tar": "a53ebe7cef80da11f8515b4016ebdb50d58996157a9a178580ac889cefeff563",
-        "render.png": "e8dd8e7d8555a70fb2ee5a1a0d56895b3fd4dc9187c050d06d41b6deb6387221",
+        "render.png": "6480818cf2ee407d99078375f85166d2ff1b7220cb2fa9c320c7bbce89e3b906",
         "graph-raw.svg": "990cc07ffb1bb8b55ad282508f336757c0f342576367c3bdf94b6f1d64abfa0b",
         "graph-robot.svg": "8769d0c033bc8221b01d1e92696bc1551ef19b0bbb8b728c806b75e3c67660a3",
         "robot.urdf": "7e268f44f000e93c78d804fae0d98f06766e9ce2c0a01542bbe75a390a9ddbd4"
@@ -8093,7 +8195,7 @@
         "mjcf_ms": 2.4255686439573765,
         "compile_ms": 7.2455196641385555,
         "graph_ms": 155.15835117548704,
-        "render_total_ms": 1507.4050980620086
+        "render_total_ms": 1597.7375102229416
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8154,16 +8256,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.781945005059242,
-        "render_ms": 1358.9552519842982,
-        "compose_ms": 53.411989007145166,
-        "write_ms": 76.11384196206927,
-        "foreground_fraction": 0.47135
+        "compile_ms": 8.066241163760424,
+        "render_ms": 1441.607793327421,
+        "compose_ms": 53.77262178808451,
+        "write_ms": 81.92634396255016,
+        "foreground_fraction": 0.47135,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "272345e0d96c9301260459de3b25f891948580045a13aa509ba35b0685b092e8",
         "meshes.tar": "b295c5afe94517237c4078596b939c80787870f232ab84200d48cf9d32e04439",
-        "render.png": "8172b663ca088f20dc3234b1e06aa5d59fe6e4e786a4e74c7fcd712e0a2e6719",
+        "render.png": "7d226b24cd87f781cbf6c73ea557c0d514a47f86bcfdbbddd19d6ee3ce397626",
         "graph-raw.svg": "adefa5b664f8a4f8db42e3aec5b2a06c55ce15459f07771dccba572cb9d61ed3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "b33abe815fcdc0db578fc8d38b155c2510238cf6a90e2303b08a43b9eea96633"
@@ -8196,7 +8300,7 @@
         "mjcf_ms": 3.170004114508629,
         "compile_ms": 10.245217010378838,
         "graph_ms": 98.33212895318866,
-        "render_total_ms": 1584.924943279475
+        "render_total_ms": 1686.0885173082352
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8257,16 +8361,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.15791779011488,
-        "render_ms": 1314.7274376824498,
-        "compose_ms": 61.25288084149361,
-        "write_ms": 185.66670920699835,
-        "foreground_fraction": 0.53075
+        "compile_ms": 12.958213221281767,
+        "render_ms": 1456.9873786531389,
+        "compose_ms": 60.00001588836312,
+        "write_ms": 142.74085406214,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "cc4f95e0fa20f7e292ad8a86f678ac73e017704a08e938d6c4ec8226d5b19185",
         "meshes.tar": "ae0b9e74de3e4400a84a8eb26891cc6af14154130af6012ad39a8e21641328f5",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "d59892e5171e9cfcf4f901919eabea190200ba5c846ca8822f3fafb2e23c30ae",
         "graph-raw.svg": "73927b60ad3e258e4817fce021abd4e0172c266be620a9f1910b63f7cd98f753",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "43cd8db5f05a3cc1a7cbe52518190559de586e1f96b45e4849fdf74b8afcf1d6"
@@ -8300,7 +8406,7 @@
         "mjcf_ms": 3.303402103483677,
         "compile_ms": 26.44491195678711,
         "graph_ms": 111.96551891043782,
-        "render_total_ms": 1526.531229261309
+        "render_total_ms": 1601.631490048021
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8361,16 +8467,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.717701736837626,
-        "render_ms": 1356.6236291080713,
-        "compose_ms": 60.25970680639148,
-        "write_ms": 74.90812195464969,
-        "foreground_fraction": 0.6182
+        "compile_ms": 23.45785265788436,
+        "render_ms": 1427.7134430594742,
+        "compose_ms": 60.43120799586177,
+        "write_ms": 77.60816207155585,
+        "foreground_fraction": 0.6182,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "1fc17a2f1d2ef31ab60a3af75b616141ee1f1510822cfabdeae720a23bb38bce",
         "meshes.tar": "95056d39e8b3082505583146c31abadb4a4298692ac370238a8819026a4b521b",
-        "render.png": "c45c1aecbd2512fe39c2bb242fdaa0ec20fd18c3f2b5e681ac81136f1e5bb420",
+        "render.png": "9c5ae2c519a4de362f863e7b1f227ac42319f9acdf0743bc205acb8e268c3c90",
         "graph-raw.svg": "883e0595cf29d2063aceead1cc94024a37cea4ac04a080911aa98ee70d14061d",
         "graph-robot.svg": "b477f9a026a693b52950743c984a598c147b7a716e7ca6c60bf78f86af8248d1",
         "robot.urdf": "6120b8b8f16c23f9d9e72c64be0c864eacf03590d63b3dcb9f043ba04df0fe3a"
@@ -8404,7 +8512,7 @@
         "mjcf_ms": 3.020677249878645,
         "compile_ms": 11.743979062885046,
         "graph_ms": 102.03390708193183,
-        "render_total_ms": 1485.1315249688923
+        "render_total_ms": 1534.89149780944
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8465,16 +8573,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.74414623528719,
-        "render_ms": 1321.4388629421592,
-        "compose_ms": 63.64491721615195,
-        "write_ms": 76.1886271648109,
-        "foreground_fraction": 0.4763
+        "compile_ms": 13.34009924903512,
+        "render_ms": 1370.858522132039,
+        "compose_ms": 61.48676015436649,
+        "write_ms": 76.57905388623476,
+        "foreground_fraction": 0.4763,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "0617a615f05588a2d39e6b2e992dba429c27c9765293cfb2b37ce25337d1471a",
         "meshes.tar": "68b74fbfd7e0ad2bbcb801ae1ebb9b3500696916517e79fc9755bb9b12d8f3d8",
-        "render.png": "0837b3f3dffe35cc9310afda66f032ebfe19db0a6ffc9c71cd0b240a134dfb5f",
+        "render.png": "7b4f6d5d675e3d0e14e8b9b76f04cfd75091cc98b037b2520ed2d9f01af9c185",
         "graph-raw.svg": "84a16b1057d8cec82ebed30cc2bb91aa014aa58554ca914d280575880aff2d00",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "b45d140bad5a6793fb6833bc45fc88cbdec251cdce22e451d2517b2929982b0d"
@@ -8506,7 +8616,7 @@
         "mjcf_ms": 3.011201974004507,
         "compile_ms": 9.57144983112812,
         "graph_ms": 65.72734611108899,
-        "render_total_ms": 1486.3621089607477
+        "render_total_ms": 1542.5368449650705
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8567,16 +8677,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.137675795704126,
-        "render_ms": 1323.9703830331564,
-        "compose_ms": 59.283968061208725,
-        "write_ms": 81.00673090666533,
-        "foreground_fraction": 0.6028
+        "compile_ms": 11.060901917517185,
+        "render_ms": 1372.8413968347013,
+        "compose_ms": 60.01662602648139,
+        "write_ms": 86.11664501950145,
+        "foreground_fraction": 0.6028,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2d21140e0105ff598415be9fe205aadccf475a4966f6a28500e0b051005fa435",
         "meshes.tar": "10adc634b8e1c082805fcc2732ec9ef1c547c124ac68ed0bdee8fe1dd157865c",
-        "render.png": "c0be255c14954924d5dd2b5e7c7f828543bde59186ce0a17c5f27b1684cd7a64",
+        "render.png": "98a73efd144a04407fb7e36533284194db93af712c0debeec50e2fa65def83d5",
         "graph-raw.svg": "84b3c579d3c5a3da579a8e48ccb536d646b386b6d76cc08892e79794b38c1e77",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "0b5c5cd4b33e5d7f42988745b16f21579f903876f171594d210f681669982ab8"
@@ -8614,7 +8726,7 @@
         "mjcf_ms": 5.30128413811326,
         "compile_ms": 69.18527884408832,
         "graph_ms": 418.33656979724765,
-        "render_total_ms": 1640.2269657701254
+        "render_total_ms": 1721.688122022897
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8748,16 +8860,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 75.02104295417666,
-        "render_ms": 1417.4385122023523,
-        "compose_ms": 54.0819619782269,
-        "write_ms": 81.8849541246891,
-        "foreground_fraction": 0.3256
+        "compile_ms": 73.91546107828617,
+        "render_ms": 1455.523810815066,
+        "compose_ms": 54.45600068196654,
+        "write_ms": 124.88027708604932,
+        "foreground_fraction": 0.3256,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "6296af592860c0857c932e159188ccf935a2b75d5dc60ecf3f8e208d19c22d19",
         "meshes.tar": "b5c626ff0c2399b153c01c37d75deef2c80048c42d58b55fbe6407cb298fba60",
-        "render.png": "3f87721b0a9760ab834889c9dc1f28910afd1a984d63e793154fb301b8c74cfa",
+        "render.png": "25f830fe6d9b24b522b4749546262b8f1bb9caa407659957665b7585560eadd0",
         "graph-raw.svg": "3f0da41b5ea79df280df0c66dcc194b7ace6be6731813824f58c33aae45c24fe",
         "graph-robot.svg": "49ff8efc91f2ae3618bae77ff7ea1f8f7a102464a17839bbcf16cab295c3d221",
         "robot.urdf": "af866137cdf5f29bc0a3491bd5fe9fb8ab28973a05702e15e0ec332fa89c2f7b"
@@ -8794,7 +8908,7 @@
         "mjcf_ms": 3.8950559683144093,
         "compile_ms": 36.30738612264395,
         "graph_ms": 164.62189005687833,
-        "render_total_ms": 1555.0304548814893
+        "render_total_ms": 1642.0837636105716
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8862,16 +8976,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.170955799520016,
-        "render_ms": 1337.2464776039124,
-        "compose_ms": 69.98736690729856,
-        "write_ms": 93.65574503317475,
-        "foreground_fraction": 0.6226
+        "compile_ms": 42.01963823288679,
+        "render_ms": 1416.7957147583365,
+        "compose_ms": 64.37804270535707,
+        "write_ms": 106.85641737654805,
+        "foreground_fraction": 0.6226,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "51d5c0d0d8e23a619854cf61b32bf1074c545c2f69b4bd5e2486ed5ffc2ec172",
         "meshes.tar": "ed7ec16ccfa7fd2d724f6a8851501b6134b73d8d293409265d57d10d221b71ef",
-        "render.png": "72b00a1411acfd0939bbcd5462783f17d3586c97281672a76bb342bf710faecd",
+        "render.png": "40588816b21ff2a8ff60adc74c67a0627f80de3b98b2a0315dfea0e80b1254b5",
         "graph-raw.svg": "d942437733e6999e5ad5995a9b8ce8c8cc681cced126dd2a8acc23b5660f85b8",
         "graph-robot.svg": "8174b0a7a306ff25e0f956e2bd3034dd799cd61c8830254e8f2bab0e60a60318",
         "robot.urdf": "c76b0f9a040259cec3d7a4e52cbbfc2703480a727874b396533cc95d5a15057f"
@@ -8908,7 +9024,7 @@
         "mjcf_ms": 25.486957281827927,
         "compile_ms": 3.8849362172186375,
         "graph_ms": 140.71034034714103,
-        "render_total_ms": 1456.168774049729
+        "render_total_ms": 1538.3559330366552
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8969,16 +9085,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.540869802236557,
-        "render_ms": 1305.4521628655493,
-        "compose_ms": 65.59281703084707,
-        "write_ms": 69.74465819075704,
-        "foreground_fraction": 0.6721
+        "compile_ms": 4.666491877287626,
+        "render_ms": 1386.3365738652647,
+        "compose_ms": 63.46106715500355,
+        "write_ms": 71.3763739913702,
+        "foreground_fraction": 0.6721,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "7d97cdac80aa7b64468c3f5d41856fcad660b1559e98186b2948eeb1dfaeae3c",
         "meshes.tar": "74a65a71160a56d0d92809d80d8f8da562e4bbad53cf3e2f2ffcd9c5ebda99ad",
-        "render.png": "fb3ee97daa87c540ba051c2ad07be9cbf72fd04e9377257522fac4218c404be5",
+        "render.png": "3b5d3dd4ee1eef2d7e4c2470b1049014789431f08bd4eab184abb40aeca5919b",
         "graph-raw.svg": "be7f58924f74bc27c088c011c83d9509c587edd05404f282eb5dd2b9f42bc2d6",
         "graph-robot.svg": "01b1eae336f580e4993dcbb563792f37735ea85be54e16e9dc5890088e651154",
         "robot.urdf": "cd0c44bea3be6a2df993bdda1def897ab85169048b09f1e72a6297e26f5b4c1e"
@@ -9016,7 +9134,7 @@
         "mjcf_ms": 3.0964603647589684,
         "compile_ms": 65.09213801473379,
         "graph_ms": 128.99993173778057,
-        "render_total_ms": 1566.189570352435
+        "render_total_ms": 1642.3098840750754
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9084,16 +9202,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 72.4271247163415,
-        "render_ms": 1339.726632926613,
-        "compose_ms": 66.39446783810854,
-        "write_ms": 75.79279784113169,
-        "foreground_fraction": 0.63745
+        "compile_ms": 61.7043930105865,
+        "render_ms": 1431.121129076928,
+        "compose_ms": 61.49544706568122,
+        "write_ms": 75.22690203040838,
+        "foreground_fraction": 0.63745,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "dd31cfd8982bf6b18b75c368ae3f14d1e517f58919691357927f13c7c47fb0fc",
         "meshes.tar": "53b39707410c7c1b200a843952f0641716db1e0a2ef87529e4ecadda8ffa1432",
-        "render.png": "9ffdce9731486b62a2db97a1746d333638c6137c965b0843e50e6d965df05a2d",
+        "render.png": "011df305aeff68409fbc384a261beb072e38d0f184a16ca3789525f3268b60e7",
         "graph-raw.svg": "bafd05a2882d91db1413dc712e9da898d018a8123a2261edf6acfeec128e78a8",
         "graph-robot.svg": "add9aa2824b082b4962cce6592cac363127c8d855866fbe72b4b0c238eb67bea",
         "robot.urdf": "616b443ed4fcd1c00cfc93da273e24e3859abf2bc9f92ca4f03b3f56efc37d67"
@@ -9138,7 +9258,7 @@
         "mjcf_ms": 2.9402999207377434,
         "compile_ms": 58.75033000484109,
         "graph_ms": 108.47562598064542,
-        "render_total_ms": 1515.3918568976223
+        "render_total_ms": 1562.9478869959712
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9186,16 +9306,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 68.94219014793634,
-        "render_ms": 1327.1562680602074,
-        "compose_ms": 36.320989951491356,
-        "write_ms": 71.10858103260398,
-        "foreground_fraction": 0.088
+        "compile_ms": 41.10532999038696,
+        "render_ms": 1397.931084036827,
+        "compose_ms": 36.60612599924207,
+        "write_ms": 73.9052351564169,
+        "foreground_fraction": 0.088,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "e587a0118601101472cf8594cf22255bbf44b22b55ce3aa14a3ce8dc0deb0d26",
         "meshes.tar": "c014c79c97018d0a0c60959dd6a13cd0cbfc1cc63cf1d963c846d7e0213f4057",
-        "render.png": "85e745a0c877be37cbd22bc15c117686fe7bb9f5edaa881f1a66e41af14f483a",
+        "render.png": "2f69dcdce12267209f280c81c5a5f22386958449375feba8de1c66a3c76a940a",
         "graph-raw.svg": "b2418504c057795e6bcc897adc075313cd2d09599a2ff7da4486eac2714d15b9",
         "graph-robot.svg": "1e67bba58329d70915086546c3ad54c102afa1982ea353ae5cb08d97d6de8892"
       },
@@ -9233,7 +9355,7 @@
         "mjcf_ms": 2.28526396676898,
         "compile_ms": 193.11555102467537,
         "graph_ms": 78.07921385392547,
-        "render_total_ms": 1828.9961987175047
+        "render_total_ms": 1974.6199832297862
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9294,16 +9416,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 198.5014989040792,
-        "render_ms": 1447.309055365622,
-        "compose_ms": 59.53599605709314,
-        "write_ms": 111.61665571853518,
-        "foreground_fraction": 0.4917
+        "compile_ms": 302.560199983418,
+        "render_ms": 1470.6538780592382,
+        "compose_ms": 56.558222975581884,
+        "write_ms": 132.41045409813523,
+        "foreground_fraction": 0.4917,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "28d1b874d8d2c6c6b9629b1bd8b82829ab262eaf49e761350d3decba02976b6b",
         "meshes.tar": "7a47fdb7f2bb7c4e11b6440b9da626661ceb1788606f57731dcdbab730f0273c",
-        "render.png": "8d8d7cdeb1f105f40744c62d5ae6c1d90ba6f04417fd59547f09109542e267b7",
+        "render.png": "09db6b567db0d8fb154d515a0c3676ca08cc170fa1abef7e8a5e7e5f8e96549f",
         "graph-raw.svg": "1aac5d0b8005535f8467a6a483eb0d1c465b7d6b240ac5cbcf5ae8c0b5c8b8a4",
         "graph-robot.svg": "ed5e2f91fc71284a4df072d93c5b5bb8ccc9db4e784f32ab2c965db53ce881a5"
       },
@@ -9345,7 +9469,7 @@
         "mjcf_ms": 3.2871803268790245,
         "compile_ms": 84.47950566187501,
         "graph_ms": 104.35322625562549,
-        "render_total_ms": 1629.467527847737
+        "render_total_ms": 1705.1255907863379
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9393,16 +9517,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 79.92505095899105,
-        "render_ms": 1368.057006970048,
-        "compose_ms": 70.56933920830488,
-        "write_ms": 98.89890579506755,
-        "foreground_fraction": 0.63195
+        "compile_ms": 88.79871992394328,
+        "render_ms": 1426.5272384509444,
+        "compose_ms": 58.430482633411884,
+        "write_ms": 118.41994570568204,
+        "foreground_fraction": 0.63195,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "2f895188e87a3086576709f012da3b20addc0f22799dc5c9c080f906bd68237b",
         "meshes.tar": "e03fd97250d9dbef3ff3cc679f94e148f3a18b762ef84795670d37a5b4bd5b87",
-        "render.png": "9f48479ade2e0ef3b054ba07a156abbb4471ec63ae687e437fe5ca49b2b7d031",
+        "render.png": "18864016bd3262abe762003f388771174be92661d6c301116da7c5ff61f7a7d9",
         "graph-raw.svg": "278610047c9fd6d2b1471384df772cb5073e756b302da569ead60fffafbea0aa",
         "graph-robot.svg": "276aecaf0bb9ea77f9c2e7a69dadb4164ff29dbcd8ac586a6c4b6232744bf4b4"
       },
@@ -9437,7 +9563,7 @@
         "mjcf_ms": 3.1425380147993565,
         "compile_ms": 45.0535761192441,
         "graph_ms": 152.51095313578844,
-        "render_total_ms": 1700.4096079617739
+        "render_total_ms": 1654.1874511167407
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9498,16 +9624,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.18922322615981,
-        "render_ms": 1477.9808926396072,
-        "compose_ms": 76.87454670667648,
-        "write_ms": 91.32704278454185,
-        "foreground_fraction": 0.7659166666666667
+        "compile_ms": 49.97304826974869,
+        "render_ms": 1419.2646290175617,
+        "compose_ms": 66.9889491982758,
+        "write_ms": 105.42374989017844,
+        "foreground_fraction": 0.7659166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "44a11be647883999d1135d7da34093c42fc0f2fec6b45d696d54b7569012f4ba",
         "meshes.tar": "aaf2a360a61630e656c879843d3eac3383c3a2f3b9758b8f980233ea4657cf33",
-        "render.png": "8e967bc2a7f932396b82e283b1b468dd66dd497979c3ae4e569d60c503b65315",
+        "render.png": "fbbbaadea932794ca46c05de181287b690793b0deed194f8e5c9a96445b632e6",
         "graph-raw.svg": "9cbfc164a0d7bf295feb6324e43aec34d4d9bd4572d0772ad8fdcddf81c6255d",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "d71a3c5a1f5baf7e5368c9a3f765b0ecf761ab97b9becb42e7b1a54af93bf40f"
@@ -9539,7 +9667,7 @@
         "mjcf_ms": 106.36101709678769,
         "compile_ms": 398.7164171412587,
         "graph_ms": 116.92012706771493,
-        "render_total_ms": 2434.6800660714507
+        "render_total_ms": 2145.3465977683663
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9600,16 +9728,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 743.0546460673213,
-        "render_ms": 1506.5925111994147,
-        "compose_ms": 59.415859170258045,
-        "write_ms": 111.20686586946249,
-        "foreground_fraction": 0.63525
+        "compile_ms": 417.4086367711425,
+        "render_ms": 1531.0361539013684,
+        "compose_ms": 60.49326993525028,
+        "write_ms": 121.77638709545135,
+        "foreground_fraction": 0.63525,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "20057ed695de1d6bb73c831018d02c37f26a2b758dee3849d7373bddd3f8692c",
         "meshes.tar": "6365144e4c121a0e1e49e297e82e20a3963542de6633d8b02e985e2d1e0dbae8",
-        "render.png": "c2bcac89db2cf850fcfd38e81b29a8fe0942607a220a9a6515fdcf096a1a9484",
+        "render.png": "880b6ad02c88229d580d94dd2521d51fb46ccfd1cbd324498bd73ac08bf1cf6d",
         "graph-raw.svg": "8265ce99bb08bbea16c794f1c6810ebba7cf14e0e1711071b58c06c6d6acf6c7",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "7c13c7fa557173fbf2db480552105489026b74fbced0901b269b2e21b2ce2a66"
@@ -9642,7 +9772,7 @@
         "mjcf_ms": 2.6648188941180706,
         "compile_ms": 15.74975298717618,
         "graph_ms": 73.95564718171954,
-        "render_total_ms": 1549.5185693725944
+        "render_total_ms": 1613.0582042969763
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9703,16 +9833,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.244139797985554,
-        "render_ms": 1367.3081640154123,
-        "compose_ms": 57.898854836821556,
-        "write_ms": 99.85236218199134,
-        "foreground_fraction": 0.5071
+        "compile_ms": 14.06322605907917,
+        "render_ms": 1396.6117152012885,
+        "compose_ms": 58.31931717693806,
+        "write_ms": 131.41438830643892,
+        "foreground_fraction": 0.5071,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "8aa11dffe66332d6f6e73354f00924cb22cbae966033bfdcc17389c24445996e",
         "meshes.tar": "2915f57a25689e46fdae719374adc021e749b7c7f4487a85384ed7a85d33336b",
-        "render.png": "e90f1284fa2a0705508976523fbffa47328a3945605ab896c29e9975ab3079a7",
+        "render.png": "793af8935d59bfb41f1c2ef48c032a3d84a59af2a5cf5840c8c8654e0139c93a",
         "graph-raw.svg": "bc36c54cfaf511bda9dbee91202342145af03524d6947f6f50de2a3cdfb55321",
         "graph-robot.svg": "7aecfbeeaddcdd0a45f37bb6c945c01725d75c9a5db3708e441e1ecd964eabdb",
         "robot.urdf": "f329416bcf291254cc5a3df30aa491bb5f4de0f8521735788b1d0e566a578607"
@@ -9755,7 +9887,7 @@
         "mjcf_ms": 3.594423644244671,
         "compile_ms": 52.37991502508521,
         "graph_ms": 142.1498591080308,
-        "render_total_ms": 1634.1244392096996
+        "render_total_ms": 1701.1113301850855
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9828,16 +9960,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 55.266888812184334,
-        "render_ms": 1396.9901092350483,
-        "compose_ms": 59.106099884957075,
-        "write_ms": 110.70904321968555,
-        "foreground_fraction": 0.58465
+        "compile_ms": 58.00292827188969,
+        "render_ms": 1431.6945928148925,
+        "compose_ms": 61.84312887489796,
+        "write_ms": 136.8632628582418,
+        "foreground_fraction": 0.58465,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "8f35c09c0f2c768e74abff78aba81584a0c6c81aa03ee461f01be3c4fe297846",
         "meshes.tar": "7f5961c18ddc602d189ece72a4b95854e75ca31c8090801a2acada0ddcb308fd",
-        "render.png": "48ef8190574f763aafb87bff934f428431738db5377d0011fff94393a64ffd33",
+        "render.png": "0d142f6fd1748b38e878713b7aca7acdc33bae42f47d21590800c22bb9357a8d",
         "graph-raw.svg": "ecf6116e1453ae0f166c0d27646832587dba11656a2cc489ec397b6ce51cf347",
         "graph-robot.svg": "030647c16b29bd9fffbf90b547f26cedaf44827085a598c7dfd152c863a3e78f"
       },
@@ -9870,7 +10004,7 @@
         "mjcf_ms": 2.644230145961046,
         "compile_ms": 120.36422593519092,
         "graph_ms": 83.25984934344888,
-        "render_total_ms": 1688.1693420000374
+        "render_total_ms": 1953.6060891114175
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9931,16 +10065,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 123.69836028665304,
-        "render_ms": 1412.3151199892163,
-        "compose_ms": 53.0978599563241,
-        "write_ms": 85.64948802813888,
-        "foreground_fraction": 0.5049
+        "compile_ms": 164.9154438637197,
+        "render_ms": 1485.024898312986,
+        "compose_ms": 53.464786149561405,
+        "write_ms": 237.66132490709424,
+        "foreground_fraction": 0.5049,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "c345b99952885157ff917a1b4db1f23afa45eedfc36f02b49a8e26ad7967d950",
         "meshes.tar": "5a2751d7554a5a47f6c96f98b7babcafc838ccde6199208372d26a9456ca6615",
-        "render.png": "24dc4cc76e38d34f20556df5444d2702a53cdefbcc5085f348aa784a95815705",
+        "render.png": "d8114cf9b40a56d3bc3dded940607636256e746e35c59e09d84d0a06ac84227c",
         "graph-raw.svg": "634e721a245cd97596602790f61bc26dd1aa2aa9dcceb7a82081d1623fb099f6",
         "graph-robot.svg": "67ea597c904bdf78a1665b12ed0c6a6cd84581fcae83f8132473c567cdb0b087",
         "robot.urdf": "f8887b54cc84604c53ce9e5759ee7f2625c411e11a5124302f56771d7c20215c"
@@ -9979,7 +10115,7 @@
         "mjcf_ms": 2.433422952890396,
         "compile_ms": 15.787317883223295,
         "graph_ms": 95.95589619129896,
-        "render_total_ms": 1659.2575670219958
+        "render_total_ms": 1632.4866698123515
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10027,16 +10163,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.823650173842907,
-        "render_ms": 1445.8458959124982,
-        "compose_ms": 64.58771415054798,
-        "write_ms": 117.94202495366335,
-        "foreground_fraction": 0.68365
+        "compile_ms": 16.647664830088615,
+        "render_ms": 1389.4801093265414,
+        "compose_ms": 66.51508482173085,
+        "write_ms": 147.11699821054935,
+        "foreground_fraction": 0.68365,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "616248670f6836aa9b5b3b9d09cae3e4048f4ab93843fd5bcdf6b192038fd867",
         "meshes.tar": "461c9c4395e23390e895ee722d516f2e85e943a5e2f7da589267b8474b252cc0",
-        "render.png": "f0eb7c639c4e619f8c5a23b0f64678980def6e6b4384fd07950f096520000d13",
+        "render.png": "bc2b3f7d0ec36c52d5062cba2ca8387019b8e8d572f8ed2284d6e6363baf13f5",
         "graph-raw.svg": "141024569c78d4ed2d5122450bc673901ee0976387572470edfacbdd94c306e6",
         "graph-robot.svg": "8b1491bf5445cabf059ed475c166b4995bf333e7ae87e95307716a2f6e11914b"
       },
@@ -10175,7 +10313,7 @@
         "mjcf_ms": 262.2382412664592,
         "compile_ms": 4828.503686003387,
         "graph_ms": 8807.441775221378,
-        "render_total_ms": 9240.00433087349
+        "render_total_ms": 9703.056045807898
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10668,16 +10806,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5001.556011848152,
-        "render_ms": 4051.3733131811023,
-        "compose_ms": 55.613175965845585,
-        "write_ms": 84.42421210929751,
-        "foreground_fraction": 0.6718833333333334
+        "compile_ms": 5294.680287130177,
+        "render_ms": 4224.985220003873,
+        "compose_ms": 55.84875727072358,
+        "write_ms": 80.17337182536721,
+        "foreground_fraction": 0.6718833333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 492
       },
       "artifacts": {
         "robot.mjcf": "a6d9bbf51994b1ba8c6df4c24b465229fe8637a483b83d4a7edffdb980d16ea1",
         "meshes.tar": "75d79cedcca3d6cd1663d909c69826640696e51d7fd23d1360677203357fd36c",
-        "render.png": "2adce3a08b4fcfe4f889f32f4357ffe8fc720fe5a2820d2a4564bf491b6a2283",
+        "render.png": "b5020fcb44b82cd4319ad7bcf1d0d718e2ec598f6b7d1109f8e0257b5ea5e3a8",
         "graph-raw.svg": "f4cfab01c0b359bc01894ef8b9a54df0d3b2e7f0634421f8acb04296639335af",
         "graph-robot.svg": "2d0d140b68aa2bcc167b625bd3d573bdcbdfcfa90e24ef5d917269ad5652630b"
       },
@@ -10715,7 +10855,7 @@
         "mjcf_ms": 2.464952878654003,
         "compile_ms": 153.14881689846516,
         "graph_ms": 68.48099967464805,
-        "render_total_ms": 1292.6239469088614
+        "render_total_ms": 1491.901591885835
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10763,16 +10903,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.999807760119438,
-        "render_ms": 1135.5525320395827,
-        "compose_ms": 63.97783616557717,
-        "write_ms": 67.56016286090016,
-        "foreground_fraction": 0.53295
+        "compile_ms": 91.22060285881162,
+        "render_ms": 1245.127895846963,
+        "compose_ms": 73.12784204259515,
+        "write_ms": 69.18920483440161,
+        "foreground_fraction": 0.53295,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4ef8982cbaa0dd128fb73f9928ec21d205a3c7f6bfba084288d1aa6c9232b20e",
         "meshes.tar": "94ca268f81bc23061801c3c8ddb5cc72c2af5ea13690833cbb41d5f7b80df320",
-        "render.png": "5a34fe5c1524a90c81f43c13592d7bc267dc6ede49a5c2306fc9551152d1e6fd",
+        "render.png": "f6891217a6878efa6ff2926363e7c5ee7fd21454e469f626471d18c86bc77bf2",
         "graph-raw.svg": "ab966c0e88160bcaa37800468ad9f063054d14541118f799ceec5d5d19653bf2",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -10803,7 +10945,7 @@
         "mjcf_ms": 2.9998281970620155,
         "compile_ms": 14.225127175450325,
         "graph_ms": 80.56143717840314,
-        "render_total_ms": 1311.0954007133842
+        "render_total_ms": 1372.931933030486
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10864,16 +11006,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.042171347886324,
-        "render_ms": 1147.7483110502362,
-        "compose_ms": 66.59362511709332,
-        "write_ms": 68.67224909365177,
-        "foreground_fraction": 0.5797
+        "compile_ms": 15.868121292442083,
+        "render_ms": 1206.0136278159916,
+        "compose_ms": 69.74659068509936,
+        "write_ms": 68.52141814306378,
+        "foreground_fraction": 0.5797,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "0f2f8a0ac979b1b167643fca4e7c3ece1b310e804c4d65142ad4acdd802e13ca",
         "meshes.tar": "7d5a0fe8e48c9a70f3d59b159fd3f77db1ca8a17785c16f8998217298a78d3d1",
-        "render.png": "2c68c0aa42abfdf0f6719feab8b3e173db43d1f5888d6e916a461298dab3aaec",
+        "render.png": "730f8f1532fdb335f5aa72bc6abfd12a6b74bff1c2ea77a0d45b5437c980d219",
         "graph-raw.svg": "b0b77c0aed065a8f855b80d57f760ce359c7c1bef213bb42060854c02c7acc11",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3e49e1ef9da18547c0c98611aed8c292917777f6dcbd43efca95154a7060cbc8"
@@ -10914,7 +11058,7 @@
         "mjcf_ms": 2.7709160931408405,
         "compile_ms": 6.2878369353711605,
         "graph_ms": 116.53251899406314,
-        "render_total_ms": 1289.7489299066365
+        "render_total_ms": 1340.2584581635892
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10962,16 +11106,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.82692900672555,
-        "render_ms": 1133.888404816389,
-        "compose_ms": 62.638415955007076,
-        "write_ms": 69.46567492559552,
-        "foreground_fraction": 0.77715
+        "compile_ms": 10.955453850328922,
+        "render_ms": 1176.52083421126,
+        "compose_ms": 65.38814632222056,
+        "write_ms": 74.97220113873482,
+        "foreground_fraction": 0.77715,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "81b69546204706aab615abd26d2c4f1354087e3afd3b7a17bd2791b576c5a0ce",
         "meshes.tar": "b357984d58daec978a5ead984537d4063c13fe5fae67e9753cef00bf45cd77a9",
-        "render.png": "e4dd6ec64e1fe889988cc19234ffd988f62e33f0532fe42b13cca4e2b3646081",
+        "render.png": "2d92e5c754f0b7a840ac7fbe0dd97eb34ab7a948362a1caee38d8ddeab6b101c",
         "graph-raw.svg": "bf73d999b58edff4555220c50ed9ce4509fe986e0898b611dc05c07883f655f7",
         "graph-robot.svg": "f5751ca328a0ecc9ba06dd4481d8e0879034e2681e3dedd936360f1a85b8b8d7"
       },
@@ -11040,7 +11186,7 @@
         "mjcf_ms": 13.340745121240616,
         "compile_ms": 526.3504930771887,
         "graph_ms": 1345.1424003578722,
-        "render_total_ms": 2190.7536359503865
+        "render_total_ms": 2326.4410262927413
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11281,16 +11427,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 555.8314663358033,
-        "render_ms": 1493.1241632439196,
-        "compose_ms": 60.84702583029866,
-        "write_ms": 68.32652725279331,
-        "foreground_fraction": 0.65175
+        "compile_ms": 490.08661415427923,
+        "render_ms": 1690.068974159658,
+        "compose_ms": 62.079574912786484,
+        "write_ms": 71.81690214201808,
+        "foreground_fraction": 0.65175,
+        "style": "link-palette-v1",
+        "colored_bodies": 29
       },
       "artifacts": {
         "robot.mjcf": "186dac768abd76e68599dda78cab64106875b744118e4d3b4f165a269c6b7b8f",
         "meshes.tar": "45428c6ffb43fb874987e9f12da0eef74f9b5224799dab9bcf849f09f363c7e8",
-        "render.png": "f0b5807ea1ae91722b92c497fd3fc736db40823d985beed136210fc4fc42bc13",
+        "render.png": "53fe20168283901deffa173f372a056e9b320313a44f52c4c8fba99efef414ac",
         "graph-raw.svg": "3b4d14f104979e78b79c2a2bba73b7d967c0c90028bd59fe35f07efa7854aa44",
         "graph-robot.svg": "fa6d63122cb25b1b9ed444ba2a95724191c42bb60f6f02e25c2ef613ff73df38"
       },
@@ -11330,7 +11478,7 @@
         "mjcf_ms": 2.835846971720457,
         "compile_ms": 72.6183969527483,
         "graph_ms": 91.17271797731519,
-        "render_total_ms": 1420.5298908054829
+        "render_total_ms": 1681.6785880364478
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11378,16 +11526,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 63.04182019084692,
-        "render_ms": 1167.2407859005034,
-        "compose_ms": 54.32956200093031,
-        "write_ms": 123.16504307091236,
-        "foreground_fraction": 0.484
+        "compile_ms": 68.68952512741089,
+        "render_ms": 1388.525818940252,
+        "compose_ms": 54.83298422768712,
+        "write_ms": 157.19845285639167,
+        "foreground_fraction": 0.484,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "d3f974decced4b569f2418022d3d422ddbe4cdbf2c00ab29bdd4141b4d9f98d9",
         "meshes.tar": "ab0b1ec668dae04f323e95b696ae8f33291add996fb3ffa66d89aa919fafce0e",
-        "render.png": "dec6ccfc63c06255d4c141561dd62e41cfd138ec45f2107f1764e512e38a03a4",
+        "render.png": "9ec33a70942343f8c9689a5756129c8ff14f81b52642e739c0b394b53bba9267",
         "graph-raw.svg": "25d5c7a8d603e5080f065acfccfac02aa9573fa104878945944f55031d6da88a",
         "graph-robot.svg": "ad0d27fdae322ff0e7304117d665aca012875396503c929237c49624876815b6"
       },
@@ -11422,7 +11572,7 @@
         "mjcf_ms": 3.0853240750730038,
         "compile_ms": 12.509655207395554,
         "graph_ms": 83.16732197999954,
-        "render_total_ms": 1279.9400729127228
+        "render_total_ms": 1535.3714651428163
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11483,16 +11633,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.154991902410984,
-        "render_ms": 1120.51199702546,
-        "compose_ms": 57.9438847489655,
-        "write_ms": 75.53536584600806,
-        "foreground_fraction": 0.517
+        "compile_ms": 13.659182004630566,
+        "render_ms": 1371.580685954541,
+        "compose_ms": 58.671158738434315,
+        "write_ms": 79.306875821203,
+        "foreground_fraction": 0.517,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "51a5680a284fc89ea06c40d0b3010d86192a264b44ad3c5bf10b5ce18b60ccec",
         "meshes.tar": "d1b06faae17495b91944573a49c3db437ca515e148116cd0d4dab20069499118",
-        "render.png": "6c0ea670aa5ca51e57c3c5900e98afae600fa634f40dba384daaeeb4c119b72e",
+        "render.png": "fd02d4968230648cf3bcf66f19e7e09cecef0ba8a78307566fa8f967766ad762",
         "graph-raw.svg": "4cb2aab699ff5e4c5abc3e24a5b7f9511f2d838bb78a6c6b92e5a8f13fadeab4",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "b7a25265ecff6ce88b19c108748c0257750117289169d92517c1edb3ef2bc806"
@@ -11525,7 +11677,7 @@
         "mjcf_ms": 3.0084028840065002,
         "compile_ms": 11.28870015963912,
         "graph_ms": 146.43879421055317,
-        "render_total_ms": 1370.150363072753
+        "render_total_ms": 1593.6238802969456
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11586,16 +11738,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.83201427012682,
-        "render_ms": 1159.8670040257275,
-        "compose_ms": 92.3874475993216,
-        "write_ms": 84.59888258948922,
-        "foreground_fraction": 0.6946333333333333
+        "compile_ms": 12.654162012040615,
+        "render_ms": 1370.48873398453,
+        "compose_ms": 94.12951907142997,
+        "write_ms": 104.12087198346853,
+        "foreground_fraction": 0.6946333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "4d42c77d7bbe4f7d87a829b93d4b8cdd1b4d13da864d06865cf2edd62e3c991e",
         "meshes.tar": "1ed3a8b59849713bc49338646ada33203961f369632cd0b8a11daba857878634",
-        "render.png": "8881a4bf1fa6512c56ac378315490f6dbd0a11743087930ecb603444b5143550",
+        "render.png": "9241434f11458746e57baad190652afbe855e0d4af899bbae299a4323ea25252",
         "graph-raw.svg": "7420d99a2281dd7f4c509e0416bcc3bc4209fd078427196acddfa4b564c76f8d",
         "graph-robot.svg": "488bdab28c988d06eba5c58010800726d8539125d2feeef4df29bfe568192c5c",
         "robot.urdf": "d7684c8b8fc2c4dc766913974bce8396658079045fdd050d2c9bf2bbcb77b832"
@@ -11636,7 +11790,7 @@
         "mjcf_ms": 2.7516172267496586,
         "compile_ms": 19.943762104958296,
         "graph_ms": 80.11216623708606,
-        "render_total_ms": 1284.1957742348313
+        "render_total_ms": 1582.0156340487301
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11684,16 +11838,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.43478609994054,
-        "render_ms": 1113.7647749856114,
-        "compose_ms": 53.62600600346923,
-        "write_ms": 83.692223764956,
-        "foreground_fraction": 0.4323
+        "compile_ms": 21.201083902269602,
+        "render_ms": 1398.9994479343295,
+        "compose_ms": 54.10557519644499,
+        "write_ms": 94.53360922634602,
+        "foreground_fraction": 0.4323,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "afbe038de108f600106a9479f23d714a4c21f9f37af45cc4668a7fadcc793e4d",
         "meshes.tar": "f5c2e959df04a644098acc034e4c3678869b9dc9441aa84b6ad72fedb666aec0",
-        "render.png": "d0ee05bf6f536817cacac28dfefe16087ddd24fb07ba42ca1c2fe04c1a86592c",
+        "render.png": "db200cbcafe1a7cd0284486114b4dc3c163f2a08ce2500167f758c91a86ba80d",
         "graph-raw.svg": "7a73b7c7768a5d761558ae7d0b963a552cc4dc8b67af1be2cefedca9d6955509",
         "graph-robot.svg": "01fcf6acf3d949bc0b8d800875c07a01c138f540df6222e9f13ff2b587ba4dbf"
       },
@@ -11733,7 +11889,7 @@
         "mjcf_ms": 2.6749838143587112,
         "compile_ms": 19.82444617897272,
         "graph_ms": 90.23318300023675,
-        "render_total_ms": 1228.4804126247764
+        "render_total_ms": 1600.7256307639182
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11781,16 +11937,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.49597166478634,
-        "render_ms": 1069.5309368893504,
-        "compose_ms": 50.87333917617798,
-        "write_ms": 78.48647003993392,
-        "foreground_fraction": 0.3817
+        "compile_ms": 20.93661902472377,
+        "render_ms": 1432.5068211182952,
+        "compose_ms": 51.27217108383775,
+        "write_ms": 83.69080116972327,
+        "foreground_fraction": 0.3817,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "f41419e53e04f559dd9a5a25ad1f174cda61ec7384d450374b73d21bb84f1fa6",
         "meshes.tar": "dc883bd4bd24116bc3bc2cd1c06e3401a8d95ef84c4697e7ac040b3eb609bac9",
-        "render.png": "80a7f62da9caf9a9d2272a56dfce954069d5f2b894693abe91dc427aee6bb6cf",
+        "render.png": "5c7dbbc85fb39b318dddbc07b09c8cd23eab4fb4c327af22de2cd4e377358af6",
         "graph-raw.svg": "9fd4ed12456adea404a3d980bc722b7cac08dc3f5b9b9321544aab802f63220e",
         "graph-robot.svg": "a8be3a527bfa783bf6b170ada96ecbadaa5db291d8983c7ebc3065f875023515"
       },
@@ -11837,7 +11995,7 @@
         "mjcf_ms": 5.378793925046921,
         "compile_ms": 228.534999769181,
         "graph_ms": 285.50971765071154,
-        "render_total_ms": 1738.7454262934625
+        "render_total_ms": 1913.1199908442795
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11885,16 +12043,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 241.02968210354447,
-        "render_ms": 1356.5148180350661,
-        "compose_ms": 59.00825513526797,
-        "write_ms": 69.55194473266602,
-        "foreground_fraction": 0.51205
+        "compile_ms": 192.71208299323916,
+        "render_ms": 1575.3459548577666,
+        "compose_ms": 60.25327183306217,
+        "write_ms": 70.54125098511577,
+        "foreground_fraction": 0.51205,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "2093f894b8dac21182510d6b1907a7296e87b27138041cc4975253f450abbff4",
         "meshes.tar": "55b932b43a78b4573118c2963d67b2fe9907b2508d46f0b679b4ebdb512d58dd",
-        "render.png": "8b23030bd53c32c042f15790127b26235ffc3122dcbde48d67c10427fb042f83",
+        "render.png": "b1c183cd7b970b9f8eec7dcdce481fe7554821020535ad087a62832ff4ed9a73",
         "graph-raw.svg": "952f87403f839c8f1a63817f60021fa6a87873449a3a1605a6f5712c0716a906",
         "graph-robot.svg": "ee2e24b37f1ac3e0c575c603569090a05c84b19aa68c33f1b193fdd1758a48a8"
       },
@@ -11926,7 +12086,7 @@
         "mjcf_ms": 2.8975000604987144,
         "compile_ms": 12.715350836515427,
         "graph_ms": 63.91946924850345,
-        "render_total_ms": 1317.3196390271187
+        "render_total_ms": 1556.4809748902917
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11987,16 +12147,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.594573199748993,
-        "render_ms": 1155.0041870214045,
-        "compose_ms": 59.97274210676551,
-        "write_ms": 77.50602718442678,
-        "foreground_fraction": 0.6215
+        "compile_ms": 13.942507095634937,
+        "render_ms": 1379.1125919669867,
+        "compose_ms": 62.04904988408089,
+        "write_ms": 89.15050700306892,
+        "foreground_fraction": 0.6215,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "f38f9cb187df1cb97ca034a382065b9eced16555ea521b66e44838c50a71f94f",
         "meshes.tar": "1a297530ae88ca9727f94d9faf8d2eb6339853ee44c1bea741ac99ba08abc061",
-        "render.png": "6a43883d986e71ee231d12da4359e1b01cfcd9fb87da951b6e745fbaca34505a",
+        "render.png": "c6661eba0ae9cec5e77268ee6226d761a1c14454040cb4956c361651d663a588",
         "graph-raw.svg": "7bd127c924c83c626db1282e26d6d8022e3784775ef16fba88f50a8fd7bf99fa",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "e1854f3d89249ddc807d22d9fbe14e68006506e41daa22c482c4d6fb42d70f62"
@@ -12029,7 +12191,7 @@
         "mjcf_ms": 2.497917041182518,
         "compile_ms": 59.42955380305648,
         "graph_ms": 322.0958453603089,
-        "render_total_ms": 1367.3880537971854
+        "render_total_ms": 1619.2461987957358
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12090,16 +12252,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 60.709185898303986,
-        "render_ms": 1074.840416200459,
-        "compose_ms": 46.08213296160102,
-        "write_ms": 176.23624810948968,
-        "foreground_fraction": 0.2332
+        "compile_ms": 63.091701827943325,
+        "render_ms": 1389.9431661702693,
+        "compose_ms": 47.159804962575436,
+        "write_ms": 105.46835977584124,
+        "foreground_fraction": 0.2332,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2954f4c45bd007468ea1a58e63fb3f22d49232b3e17508cdbbae592a6bce0392",
         "meshes.tar": "4bdb31fb3183225786d0ab5cb65cd5dedc77a4f547178a49d43c3b1721bd04df",
-        "render.png": "7d513d50b74e3af4f5dd9811f9b2e85983b0ae8cc5028e906888f932acbbe7f3",
+        "render.png": "5503e22a93fe113237fad52f787976c7f5b7e9ad81c46dfbcc92074b27e13ee1",
         "graph-raw.svg": "c471cab9825f6857ed702326984a0aeea4fd2588686acb1196f081e340806fce",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "4746411630150f94a5525d6842aafb813d192c3fe9ad3c1f279042943e059992"
@@ -12139,7 +12303,7 @@
         "mjcf_ms": 2.0165517926216125,
         "compile_ms": 1.7011361196637154,
         "graph_ms": 86.62635926157236,
-        "render_total_ms": 1379.1057029739022
+        "render_total_ms": 1555.2684641443193
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12194,11 +12358,13 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.0733498968183994,
-        "render_ms": 1180.0732449628413,
-        "compose_ms": 146.855094935745,
-        "write_ms": 37.82680397853255,
-        "foreground_fraction": 0.0
+        "compile_ms": 2.4525090120732784,
+        "render_ms": 1353.1351261772215,
+        "compose_ms": 147.75762287899852,
+        "write_ms": 39.72744010388851,
+        "foreground_fraction": 0.0,
+        "style": "link-palette-v1",
+        "colored_bodies": 0
       },
       "artifacts": {
         "robot.mjcf": "470d7bffb6ff659174d5f6302c9cb280726d41368657923b5a9aa8478962249c",
@@ -12242,7 +12408,7 @@
         "mjcf_ms": 2.7894768863916397,
         "compile_ms": 2.286698669195175,
         "graph_ms": 99.74610712379217,
-        "render_total_ms": 1238.6535271070898
+        "render_total_ms": 1529.0873870253563
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12290,16 +12456,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.9456419870257378,
-        "render_ms": 1095.5354701727629,
-        "compose_ms": 54.92168013006449,
-        "write_ms": 72.84446619451046,
-        "foreground_fraction": 0.50765
+        "compile_ms": 3.3026919700205326,
+        "render_ms": 1369.9378580786288,
+        "compose_ms": 55.54019194096327,
+        "write_ms": 87.89983484894037,
+        "foreground_fraction": 0.50765,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "e11b78b190874fb376a7fdc9baedaa89f1e1725309a0c41c572d328943ca796a",
         "meshes.tar": "9aa529c5095c7f53b46c8daaf5a47e555a5d5d3b775cbe13210662e2a843ba1e",
-        "render.png": "cc0e755a5c72ee202b57a7d42a87d650e99b2a0912feec0b6616f4c5d4b44be9",
+        "render.png": "98c8fc3ad46d6d23e7416d9394c8c7cf6a165b8c04792870a1982cfcbbddedbf",
         "graph-raw.svg": "95ebc662e09efc33d5d1e7c5a97d32b0a2ffed0b55b5135bbd03bea5a9295868",
         "graph-robot.svg": "d0e21042384ff2eac72a38cbc10399b4ffddf5280a081614cbc1cdee32bbe51f"
       },
@@ -12345,7 +12513,7 @@
         "mjcf_ms": 4.935141187161207,
         "compile_ms": 116.31002789363265,
         "graph_ms": 247.2404120489955,
-        "render_total_ms": 1340.9734121523798
+        "render_total_ms": 1648.9093899726868
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12393,16 +12561,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 86.14500006660819,
-        "render_ms": 1113.5575687512755,
-        "compose_ms": 57.007917668670416,
-        "write_ms": 71.92906783893704,
-        "foreground_fraction": 0.5863
+        "compile_ms": 80.80280385911465,
+        "render_ms": 1425.2816871739924,
+        "compose_ms": 58.000102173537016,
+        "write_ms": 72.22675811499357,
+        "foreground_fraction": 0.5863,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "dce1e30283507bc40f35c7c55ceb08317f3364c383009c770860d99265c63a34",
         "meshes.tar": "d7294856a0488386bb05b88c4084fd1a9bc6f424ef944f1cbdf079ecd3b0db1f",
-        "render.png": "bfdae3f53b298ea1953376e2553d2e914096331eb8d55e603a0e7d58db6fd492",
+        "render.png": "883f68b117a69ab524ffdbfa9342188b637cc315cedd3501f4b6b08e20e2f992",
         "graph-raw.svg": "96122470f7c4725a6b572dfc79a55ee38e268922770b6a5683ec797c25a09063",
         "graph-robot.svg": "ebaa87aece9bb3b45dafc68bf2c6ed5acd98f56b9d265a409f4256332ad5f474"
       },
@@ -12441,7 +12611,7 @@
         "mjcf_ms": 2.9579978436231613,
         "compile_ms": 2.9722242616117,
         "graph_ms": 107.76172298938036,
-        "render_total_ms": 1179.4378352351487
+        "render_total_ms": 1515.6366480514407
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12489,16 +12659,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.4043658524751663,
-        "render_ms": 1039.7196752019227,
-        "compose_ms": 54.63961698114872,
-        "write_ms": 72.51074397936463,
-        "foreground_fraction": 0.5082
+        "compile_ms": 4.275419283658266,
+        "render_ms": 1371.3956749998033,
+        "compose_ms": 55.23846298456192,
+        "write_ms": 72.63773307204247,
+        "foreground_fraction": 0.5082,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "37b2c76b26558c7f199879adf78211e944feb46206850b4102a2d2623aef546d",
         "meshes.tar": "5a3202fe887f8870f8a2aef66c44e3800874188697be0a240f8f6816cbbf9f4f",
-        "render.png": "79f97e572550f81d2c205f629fe9e8be8988317705837d28bf61894482f2d599",
+        "render.png": "dc424239f2f242f35fba64f93af2a6188077ca26a1954e298820b475ce776cfe",
         "graph-raw.svg": "dde0d1ad19603ec8bd3194e133d04c6da270ab8ad924abf0ce0d52be177ec3eb",
         "graph-robot.svg": "db5a9444b2389e2543b792fbfa7fde24b2d92d5adb05a2ea81daf530b98b943b"
       },
@@ -12538,7 +12710,7 @@
         "mjcf_ms": 3.2135178335011005,
         "compile_ms": 2.3534498177468777,
         "graph_ms": 114.31992333382368,
-        "render_total_ms": 1228.0601747334003
+        "render_total_ms": 1516.9719173572958
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12586,16 +12758,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.311384003609419,
-        "render_ms": 1087.5664008781314,
-        "compose_ms": 53.22236567735672,
-        "write_ms": 71.69876154512167,
-        "foreground_fraction": 0.52525
+        "compile_ms": 3.643312957137823,
+        "render_ms": 1375.0979392789304,
+        "compose_ms": 53.856031969189644,
+        "write_ms": 72.12637178599834,
+        "foreground_fraction": 0.52525,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "723b3f2cf302f046dfa7b4fe10241f89b85924cd3b8adeefd5ae8a850e0d6af1",
         "meshes.tar": "c57480d1efdcf39e9030312a212f5174d893ad9264669740188cf118b07a6961",
-        "render.png": "2445fedb81ca942a98115768ecf6fa1a2049439b4d9923cd02a26f88b85dfb9f",
+        "render.png": "736d1ea3ba450030d7f005461a75bf0f1b04192e3f3238f0bb0770e7e3d6a548",
         "graph-raw.svg": "eb6a82ac40e12540e158ad5edc24da232361065cce68badddd3a3714422aa182",
         "graph-robot.svg": "cb66fbfb7ee0d5ee0221c2c9540daf1409a159e323c2dcb5845d78ccb8c1e8db"
       },
@@ -12634,7 +12808,7 @@
         "mjcf_ms": 2.6946179568767548,
         "compile_ms": 19.212589133530855,
         "graph_ms": 78.06929713115096,
-        "render_total_ms": 1283.5429306142032
+        "render_total_ms": 1566.5302728302777
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12682,16 +12856,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 19.941234961152077,
-        "render_ms": 1114.7515019401908,
-        "compose_ms": 55.36334682255983,
-        "write_ms": 81.09354879707098,
-        "foreground_fraction": 0.3685
+        "compile_ms": 20.342799834907055,
+        "render_ms": 1389.8795889690518,
+        "compose_ms": 56.67654937133193,
+        "write_ms": 87.67856564372778,
+        "foreground_fraction": 0.3685,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "caa6bb859551c563312372a188345e48bf02d8368f71965e03e9729e079a2946",
         "meshes.tar": "9e0d400cf285d70b44af1e73db9e6b324a330ffa312be83f241b0c5065a3fc78",
-        "render.png": "2fc45cc3c28a64a2ce425b0b313fae92d96876b7bc617a536dc1904f5e4f98a4",
+        "render.png": "e8b90a0a92a0b2a49071dfcc4160eefe32db4b26209162144c2cc1581c6b037f",
         "graph-raw.svg": "bf8b4db136367ba1c2e924ba7315e62cd57c91f406f01494d44c7e81d9f8b404",
         "graph-robot.svg": "115e072afad8f67933f858092f92019e81d650611ac900848f63b238bbbcaa7b"
       },
@@ -12729,7 +12905,7 @@
         "mjcf_ms": 2.243966795504093,
         "compile_ms": 339.9213831871748,
         "graph_ms": 70.31058287248015,
-        "render_total_ms": 1580.5915910750628
+        "render_total_ms": 1895.2877735719085
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12784,16 +12960,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 339.654637966305,
-        "render_ms": 1129.6281451359391,
-        "compose_ms": 43.5450472868979,
-        "write_ms": 58.48013889044523,
-        "foreground_fraction": 0.187
+        "compile_ms": 356.5129954367876,
+        "render_ms": 1420.0564599595964,
+        "compose_ms": 44.48593221604824,
+        "write_ms": 61.915391124784946,
+        "foreground_fraction": 0.187,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "56b7e7b0f8d0046ac525ee512fad44a870c9e09fb9ebc277d747ac98771bbba2",
         "meshes.tar": "3107ab2527341b8de8d91a9926c35327e023b4828a41207c5311fdaed2364745",
-        "render.png": "e8558c41195c7511ab7700b32af95ed10aa8096965ef5a9c9fd6daec013b5e4f",
+        "render.png": "59d6c7e2d4020fffe9ade9a7b53cd64d1d5660c9caf34d4cb2a9180a90876267",
         "graph-raw.svg": "014dfa080ea3f41bae1dc3f3f0976cef72af9483dab140e0475a806c09530110",
         "graph-robot.svg": "dbb8aca7caa2607d4407120bbcd9cf76bcde070f827ccce7cb7fab0e22f5bbcc"
       },
@@ -12831,7 +13009,7 @@
         "mjcf_ms": 6.508361082524061,
         "compile_ms": 106.7410078831017,
         "graph_ms": 521.4591552503407,
-        "render_total_ms": 1483.851017896086
+        "render_total_ms": 1703.4173710271716
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13001,16 +13179,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 110.10211193934083,
-        "render_ms": 1214.1220727935433,
-        "compose_ms": 63.513648230582476,
-        "write_ms": 83.77577317878604,
-        "foreground_fraction": 0.7499916666666666
+        "compile_ms": 96.82051511481404,
+        "render_ms": 1441.928040701896,
+        "compose_ms": 67.86619639024138,
+        "write_ms": 84.73681285977364,
+        "foreground_fraction": 0.7499916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 22
       },
       "artifacts": {
         "robot.mjcf": "a7445e66d90ec38f08ced77a82fc6286f48bcbdd8d90c2bb4a22b37f09ee7190",
         "meshes.tar": "7414f12b03fbd59d01634b6153cc42ac0c806c0c2b00b0a8366fc1041378ffc7",
-        "render.png": "f6301d224a82a92180c317eaa1704300d3b21183815ce464a398c9715a91a22d",
+        "render.png": "2b27e984464cb372afd5aef5698ef402ed46ec4f8020da7ad59a1f444f6a2531",
         "graph-raw.svg": "842706c3b6f7636c9f5afb0d66daef6b8f53b22f6eefbfddefbebd54c5b014f8",
         "graph-robot.svg": "0b428646d407dff5cdb1d0dff2abaf319434d7f2a74a361d0021a3e0a0479788",
         "robot.urdf": "647bd62db85eebc5f23fc8db95f04d7d031a3561d651359b2765051ea3f424c9"
@@ -13047,7 +13227,7 @@
         "mjcf_ms": 3.8423328660428524,
         "compile_ms": 25.097938254475594,
         "graph_ms": 181.7946289665997,
-        "render_total_ms": 1281.21623583138
+        "render_total_ms": 1554.798407945782
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13121,16 +13301,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.536454420536757,
-        "render_ms": 1102.8799349442124,
-        "compose_ms": 67.11826520040631,
-        "write_ms": 75.51470817998052,
-        "foreground_fraction": 0.76725
+        "compile_ms": 25.237292982637882,
+        "render_ms": 1373.7825090065598,
+        "compose_ms": 67.754115909338,
+        "write_ms": 75.57010604068637,
+        "foreground_fraction": 0.76725,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "3a7661da1d6940a8a3b768553e0282e964d746453b2376b5fccc36e4e0685363",
         "meshes.tar": "3a4371a385147c3615fb8dafad4efed15db057bd209e557e081255a484a9c93c",
-        "render.png": "ddf242354e53af94325e661da0a80be66f9bf5ed983d0327e90538e0fc601c6c",
+        "render.png": "bdc7e94350fae80858233e7258840deccc3bd8de7e0ff812a70b87f4a166ce75",
         "graph-raw.svg": "f96f9f33afbe0995a9489c120dc1f6e1f84036dda59a0a80c5d9363695f0a614",
         "graph-robot.svg": "29b8110828b1e740ec39a2e48d004a18cc88136fc59ac614a4d7dfa863ef09f3",
         "robot.urdf": "205153fa4a182334b9f446aaa614df73b9a529d0c72074636316db6d31f8cb9c"
@@ -13170,7 +13352,7 @@
         "mjcf_ms": 6.851661019027233,
         "compile_ms": 84.48465866968036,
         "graph_ms": 526.5862569212914,
-        "render_total_ms": 1441.8591130524874
+        "render_total_ms": 1709.8177298903465
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13304,16 +13486,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 87.64377934858203,
-        "render_ms": 1177.6699391193688,
-        "compose_ms": 65.87433721870184,
-        "write_ms": 98.183898255229,
-        "foreground_fraction": 0.70235
+        "compile_ms": 86.08407201245427,
+        "render_ms": 1425.0151198357344,
+        "compose_ms": 66.32354110479355,
+        "write_ms": 119.69770211726427,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 31
       },
       "artifacts": {
         "robot.mjcf": "a081c924541654044ff15b9704dd7b1105ab264a276caedbb9e569a3d15dc771",
         "meshes.tar": "45d62186fbb04fa274807f235f60169d5cb52f2329af8b6bf010c8af22c0ec4c",
-        "render.png": "be11cde83725e656b8d7ad9986979e22ac9f89f20692a31af73cf13d3cd4c44d",
+        "render.png": "a0378621559f6ed0777bd822d2d5df9565984954664b6a0af213dcdd0ee94e43",
         "graph-raw.svg": "4061f00a3bee560a21e855c6e2ac468026098b3ad4eb1158ccb085abaf59b768",
         "graph-robot.svg": "ca53453cc44aa004d94cbe4680fdead60862a87fd0f1674b6f061adaa335d1a1",
         "robot.urdf": "7b63552bd1ebca084942223fb9f183afa1ccb0ea5d0f99de783e005d6eeef56e"
@@ -13351,7 +13535,7 @@
         "mjcf_ms": 5.129201337695122,
         "compile_ms": 83.01794528961182,
         "graph_ms": 471.77817625924945,
-        "render_total_ms": 1437.3319558799267
+        "render_total_ms": 1686.2839758396149
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13485,16 +13669,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 117.59065417572856,
-        "render_ms": 1170.5249371007085,
-        "compose_ms": 53.63610899075866,
-        "write_ms": 80.93633782118559,
-        "foreground_fraction": 0.3256
+        "compile_ms": 81.45985286682844,
+        "render_ms": 1455.971437972039,
+        "compose_ms": 54.31147199124098,
+        "write_ms": 82.15038292109966,
+        "foreground_fraction": 0.3256,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "754e85da3bc81f33dd3be813e838842659566e4e6cfdf9eeb6f3918fc29b2f7f",
         "meshes.tar": "b5c626ff0c2399b153c01c37d75deef2c80048c42d58b55fbe6407cb298fba60",
-        "render.png": "3f87721b0a9760ab834889c9dc1f28910afd1a984d63e793154fb301b8c74cfa",
+        "render.png": "249bcd69d2ab09aac1fd3d06e9b91543b6600ac32a8906e913960476d3e3128f",
         "graph-raw.svg": "3f0da41b5ea79df280df0c66dcc194b7ace6be6731813824f58c33aae45c24fe",
         "graph-robot.svg": "49ff8efc91f2ae3618bae77ff7ea1f8f7a102464a17839bbcf16cab295c3d221",
         "robot.urdf": "99f4b174dfa12486312e6377dc9d89145f78f582b26e1ebdbef1223b69cc6b07"
@@ -13531,7 +13717,7 @@
         "mjcf_ms": 3.607596270740032,
         "compile_ms": 45.52192892879248,
         "graph_ms": 166.50189086794853,
-        "render_total_ms": 1351.0658941231668
+        "render_total_ms": 1616.7892953380942
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13599,16 +13785,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 44.380194041877985,
-        "render_ms": 1136.7679447866976,
-        "compose_ms": 63.735711853951216,
-        "write_ms": 93.48181029781699,
-        "foreground_fraction": 0.6226
+        "compile_ms": 38.448702078312635,
+        "render_ms": 1391.954482998699,
+        "compose_ms": 64.69959393143654,
+        "write_ms": 109.25248498097062,
+        "foreground_fraction": 0.6226,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "233f2606d7edf67839b3f7a6bff0199ef304b52eaad292c0ad855f80f08525d8",
         "meshes.tar": "ed7ec16ccfa7fd2d724f6a8851501b6134b73d8d293409265d57d10d221b71ef",
-        "render.png": "72b00a1411acfd0939bbcd5462783f17d3586c97281672a76bb342bf710faecd",
+        "render.png": "32328c77a2a3530fdc51b6382f5e155c2d4169fae26502a5d0ee5947025ae5ad",
         "graph-raw.svg": "d942437733e6999e5ad5995a9b8ce8c8cc681cced126dd2a8acc23b5660f85b8",
         "graph-robot.svg": "8174b0a7a306ff25e0f956e2bd3034dd799cd61c8830254e8f2bab0e60a60318",
         "robot.urdf": "7dc093b14889cd13d6d71abda63f452edfa7287f7510048f899b6ae37b402633"
@@ -13641,7 +13829,7 @@
         "mjcf_ms": 2.9595629312098026,
         "compile_ms": 12.143883854150772,
         "graph_ms": 102.73383278399706,
-        "render_total_ms": 1313.9567412436008
+        "render_total_ms": 1599.309687037021
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13702,16 +13890,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 11.789103038609028,
-        "render_ms": 1125.5566398613155,
-        "compose_ms": 58.95709805190563,
-        "write_ms": 103.57558308169246,
-        "foreground_fraction": 0.53075
+        "compile_ms": 13.476699125021696,
+        "render_ms": 1371.2767027318478,
+        "compose_ms": 59.152171947062016,
+        "write_ms": 143.43934319913387,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "e113a004b4ddd0ba015936b238040333d8d95e30e0c0074d20aa742994a28f4e",
         "meshes.tar": "a65fa41493c6bf75eaa0c4842456e163d9cf7067c4a5487953a037add3619855",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "55e3b5a00fb44342a08a70d043a959d7bffada5550d94af633309f7a9a009383",
         "graph-raw.svg": "02966f114251a920b0abc9e6312bc5dd5577a86dfaee6725fd365f31b0911d91",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "25f547296fa4c6e3982daf8c40547321f70f6e4963cfb7e36e472d70942da2ed"
@@ -13752,7 +13942,7 @@
         "mjcf_ms": 7.100054062902927,
         "compile_ms": 91.73633111640811,
         "graph_ms": 551.8716559745371,
-        "render_total_ms": 1624.2398852482438
+        "render_total_ms": 1762.6855820417404
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13886,16 +14076,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 88.01521407440305,
-        "render_ms": 1221.7895979993045,
-        "compose_ms": 77.96762604266405,
-        "write_ms": 223.80190715193748,
-        "foreground_fraction": 0.7018
+        "compile_ms": 83.48227990791202,
+        "render_ms": 1468.05109269917,
+        "compose_ms": 85.40243795141578,
+        "write_ms": 113.39560011401772,
+        "foreground_fraction": 0.7018,
+        "style": "link-palette-v1",
+        "colored_bodies": 33
       },
       "artifacts": {
         "robot.mjcf": "4d6d6781124fe3880b5b9610b36983ed0e76429ad068df0b0406d80976474e0f",
         "meshes.tar": "a0c90ce7a5c6d788dde7b7f109d7a92c14ccea89196252864a1f820ca0b5175e",
-        "render.png": "563b296cfa93c3a45ce0cf243b7e276fdc31b3fa9651d70505047f8946d57b6a",
+        "render.png": "6a3987eed266be2099dbc6bc63cb4aaf0ecfb32b55c9a58494ec06d58d34d6bc",
         "graph-raw.svg": "12bd1a6bbfb9c5154b511e088cccf6c23cb320e1a6c7d792cdb01164fd5491be",
         "graph-robot.svg": "89c6810d41ddae985fe94e09676a69bb8c0d8cb5750dd3584dcd992e64e349b1",
         "robot.urdf": "d550a8eb85ab51fb2e828f5e27f353c06c306c9a7279748c1fe9597eba78bba3"
@@ -13937,7 +14129,7 @@
         "mjcf_ms": 7.128340192139149,
         "compile_ms": 117.66175972297788,
         "graph_ms": 649.7546401806176,
-        "render_total_ms": 1517.6462978124619
+        "render_total_ms": 1742.9744089022279
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14047,16 +14239,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 114.7710308432579,
-        "render_ms": 1212.872768752277,
-        "compose_ms": 70.58788975700736,
-        "write_ms": 106.93501913920045,
-        "foreground_fraction": 0.7645
+        "compile_ms": 108.62520895898342,
+        "render_ms": 1426.8308402970433,
+        "compose_ms": 71.30048889666796,
+        "write_ms": 123.65438416600227,
+        "foreground_fraction": 0.7645,
+        "style": "link-palette-v1",
+        "colored_bodies": 39
       },
       "artifacts": {
         "robot.mjcf": "431f498de913451fcf64ddc5a8633469c9f7ba557e6daa027190da3611c4b7d3",
         "meshes.tar": "e11e6d9df448b7696e3d808615b84e7f6cbd2ab6e449dc673ddfa3afa5f5ca2e",
-        "render.png": "54c4838cf32425a4db45f08ddb11beaeb05e88911ed7a6f225b6b568bc9c6b43",
+        "render.png": "6cb93569fb817e0321ceff2c81aecb42e2a8967e6309e7c777621e8fc9a8b915",
         "graph-raw.svg": "9bae118800cded7cd2b2ba02b82817ef4ee765c14bb9ce0b38cdf56d6e6cdcc4",
         "graph-robot.svg": "861afc26bb64615e5f6d5361e45e35a8d3aa29f2f498f67ddce4a533f69f7eb7",
         "robot.urdf": "fd018a730b5559ad416c20d92a9af85c9daf47147f2076acd637d83c3b80b89d"
@@ -14100,7 +14294,7 @@
         "mjcf_ms": 5.134738981723785,
         "compile_ms": 92.68784895539284,
         "graph_ms": 355.82424607127905,
-        "render_total_ms": 1525.8354260586202
+        "render_total_ms": 1688.322788104415
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14197,16 +14391,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 95.80845525488257,
-        "render_ms": 1263.2854743860662,
-        "compose_ms": 69.54300682991743,
-        "write_ms": 82.01902685686946,
-        "foreground_fraction": 0.689325
+        "compile_ms": 92.56591089069843,
+        "render_ms": 1432.453356217593,
+        "compose_ms": 65.61321904882789,
+        "write_ms": 85.05575405433774,
+        "foreground_fraction": 0.689325,
+        "style": "link-palette-v1",
+        "colored_bodies": 25
       },
       "artifacts": {
         "robot.mjcf": "af29eb0dd48673ccbac28c37eb261e88471e3d6dd200f1a4554b10597a6f3d2d",
         "meshes.tar": "35b5ec13887c3196ad01b691e73f403b06ce71733c589b5acfa828c0d78a90fb",
-        "render.png": "7e68bd39e9c2efd0c7718f67e498b41806f9c9593bb0a184bc263ba38139cc69",
+        "render.png": "45c9f02fb4687b3fdc356e9728950a7eecdf1bef99d302ef4bf07d434c117463",
         "graph-raw.svg": "e89a3730731f884ef43120a90184ecf670cbfbbcb3e982856df1bf7d97111bc7",
         "graph-robot.svg": "ce472b01fafab196d887a58faee67c3f5e80fa125b2cc64bbe2ececdee894b11"
       },
@@ -14244,7 +14440,7 @@
         "mjcf_ms": 6.620548665523529,
         "compile_ms": 118.42166818678379,
         "graph_ms": 656.8890661001205,
-        "render_total_ms": 1503.8451510481536
+        "render_total_ms": 1874.4434989057481
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14414,16 +14610,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 109.9999020807445,
-        "render_ms": 1233.6604041047394,
-        "compose_ms": 64.28627111017704,
-        "write_ms": 83.58760084956884,
-        "foreground_fraction": 0.7492333333333333
+        "compile_ms": 258.45500314608216,
+        "render_ms": 1455.1511527970433,
+        "compose_ms": 64.87257266417146,
+        "write_ms": 83.07893387973309,
+        "foreground_fraction": 0.7492333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "fc0c5a112b64ed2d5f4526244e8f4d1c36d395a59ed5339a94b8b5649c01e599",
         "meshes.tar": "f76bfa6db0d9b51abf5818b96e6a970d9424c49fb22ae85f24afccb07167dedd",
-        "render.png": "1486eef582919696a9547d72e017a5b3770d6e1ea00d81a722d1c1b1580feb1d",
+        "render.png": "48b4650c39a38425033accb46bdcf75f8ce4315dcbe25aec110037bbfb1b9ac1",
         "graph-raw.svg": "23cd77924ff68c9844a2fac156ff99d60d9e6bbc965f364e3e5c5c2c90a0b61e",
         "graph-robot.svg": "6d4e1becb3168b178bf5cd9d5d55512e5e80f400c1e73e180b33180626899ffe",
         "robot.urdf": "4a0f3f989dd9f0acce7980499eb32943c14ee8bfc599b5b357c0f635a439f041"
@@ -14436,12 +14634,89 @@
   ],
   "output": {
     "archive": "shard-01160.tar",
-    "archive_sha256": "c853bba029380b99e057413678a39a72131c57ccf3ac8f5ba5a416efea39287c",
+    "archive_sha256": "985882d785050d1a629ad605fcfeb26015a9e0fe60694408960c86c58b1238bd",
     "packaged_samples": 99
   },
+  "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": "c853bba029380b99e057413678a39a72131c57ccf3ac8f5ba5a416efea39287c",
+      "report_sha256": "9f9dc93a821589ebfc062ec75dfda1154e916908ba2e7c815dca5f2f144394c8"
+    },
+    "scheduler": {
+      "job_id": "60317341",
+      "array_job_id": "60313720",
+      "array_task_id": "1160",
+      "node": "gl3089",
+      "host": "gl3089.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 99,
     "compiled_models": 99,
-    "archive_sha256": "c853bba029380b99e057413678a39a72131c57ccf3ac8f5ba5a416efea39287c"
+    "archive_sha256": "985882d785050d1a629ad605fcfeb26015a9e0fe60694408960c86c58b1238bd"
   }
 }