diff --git "a/onshape/shard-01162.report.json" "b/onshape/shard-01162.report.json"
--- "a/onshape/shard-01162.report.json"
+++ "b/onshape/shard-01162.report.json"
@@ -218,7 +218,7 @@
         "mjcf_ms": 2.8472887352108955,
         "compile_ms": 3.3839279785752296,
         "graph_ms": 163.89394691213965,
-        "render_total_ms": 1749.0337523631752
+        "render_total_ms": 1746.231883764267
       },
       "mesh_preparation": {
         "status": "complete",
@@ -327,16 +327,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.7558251060545444,
-        "render_ms": 1551.5224509872496,
-        "compose_ms": 96.78583405911922,
-        "write_ms": 76.74595294520259,
-        "foreground_fraction": 0.7826
+        "compile_ms": 4.85605513677001,
+        "render_ms": 1528.9960522204638,
+        "compose_ms": 100.70197470486164,
+        "write_ms": 98.11808541417122,
+        "foreground_fraction": 0.7826,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "a3bc4b89e307bd46011b19551223698a8851ba7a038285a095b331bafaac617a",
         "meshes.tar": "f2e3ad4d5ea1a4e8d0297dba3ac08d2f3622a713278f88b48db402c44d50bddc",
-        "render.png": "fba4b589f8d46d7c27e61fe8bac54064b4740633dbbcc65363e7988f4de70853",
+        "render.png": "098c6fb9f37e47b0332ed7fddf5eb1a6180ce7ec0a88a0a7f4adaa3798c17c3b",
         "graph-raw.svg": "b8ce76485ecf53d7ec4539b771e06bfb755753beb438fd38cd34fd984ac9412f",
         "graph-robot.svg": "2d51672240d71c6b9982f97c4d169d6f19009e8dfc28b1bbfab047e0afdd91f2"
       },
@@ -385,7 +387,7 @@
         "mjcf_ms": 4.521519411355257,
         "compile_ms": 90.02893418073654,
         "graph_ms": 1091.652566101402,
-        "render_total_ms": 1944.4806328974664
+        "render_total_ms": 1832.8464408405125
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1118,16 +1120,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 19.146676175296307,
-        "render_ms": 1763.35771381855,
-        "compose_ms": 94.37468275427818,
-        "write_ms": 54.97442418709397,
-        "foreground_fraction": 0.7876
+        "compile_ms": 86.81712299585342,
+        "render_ms": 1571.4587816037238,
+        "compose_ms": 92.16896211728454,
+        "write_ms": 60.49801083281636,
+        "foreground_fraction": 0.7876,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "696b87e23b1a5505094998140ccefe35ed4113eb864c788b22d5dcf2efd6ed6d",
         "meshes.tar": "fe93fea3e488880c0c89f79efa8b0e06da7eaefb766459b33079bb4a9d58a185",
-        "render.png": "cf571477144c6f29ba018a85dafa2dd039dc0fd2ccbf0ae8c43f48aa2b3cb5cc",
+        "render.png": "26364b3859b460d25d0477f0f6e381ecb456393c5d8a88a44bb8ff6fc5168b00",
         "graph-raw.svg": "a859724bd760c943e5f52a652f040e04e193097a8f5ce80482bc3f74cdbc8ead",
         "graph-robot.svg": "d8b4ce2d3b174d3dee5bdf2b1f5091f90e9e7f3920133010fa4455ae9f0637c8"
       },
@@ -1159,7 +1163,7 @@
         "mjcf_ms": 2.929710317403078,
         "compile_ms": 7.0661259815096855,
         "graph_ms": 102.20157681033015,
-        "render_total_ms": 1783.459939993918
+        "render_total_ms": 1848.0256712064147
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1220,16 +1224,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.2657706178724766,
-        "render_ms": 1605.8623711578548,
-        "compose_ms": 88.50682014599442,
-        "write_ms": 68.90708906576037,
-        "foreground_fraction": 0.7901833333333333
+        "compile_ms": 8.564612828195095,
+        "render_ms": 1663.8724389486015,
+        "compose_ms": 83.27668020501733,
+        "write_ms": 72.85774126648903,
+        "foreground_fraction": 0.7901833333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d9bfc2e6aa8482e3a07b16c564a0b61f162ecaeb77c7ac4cccf257ab62449e22",
         "meshes.tar": "5aaeb5434cebe91778bbbe65dc3ea09c3117dbe976aa95287223b8b69bedfebe",
-        "render.png": "00ebbd7ad40a6f47a0f264a0828115afd35814bcde3a2b08d56c523456ffec47",
+        "render.png": "ad10a241b92e79d0bdce1e6689b83cb115da8dada8dd168d4c460a17e992df97",
         "graph-raw.svg": "03503149635ee2cfcd98baf80eda8d66309d7d28814dc64fe5c826a01fe4c10e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "68489e05ed79a71820945de44b2aabcfce16431692097926a60f3181f7e9db5d"
@@ -1316,7 +1322,7 @@
         "mjcf_ms": 317.51733692362905,
         "compile_ms": 1455.3260458633304,
         "graph_ms": 2107.896622736007,
-        "render_total_ms": 3275.496189016849
+        "render_total_ms": 4164.410109166056
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1395,16 +1401,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 575.2765759825706,
-        "render_ms": 2499.9026306904852,
-        "compose_ms": 65.60705602169037,
-        "write_ms": 103.6372990347445,
-        "foreground_fraction": 0.40535
+        "compile_ms": 1520.9054630249739,
+        "render_ms": 2472.046901937574,
+        "compose_ms": 52.95540718361735,
+        "write_ms": 94.45345774292946,
+        "foreground_fraction": 0.40535,
+        "style": "link-palette-v1",
+        "colored_bodies": 92
       },
       "artifacts": {
         "robot.mjcf": "7e5939d57681b2e6722af89d79edd43c473d95738a1dcdab76ffd0c21a1cb414",
         "meshes.tar": "b991fd16333fe9b0e35a40d1de467458f374929b349f6596ad84b1b11bfbe32b",
-        "render.png": "cb6cf17217d9f2fbe99e01c2757761116c248515274439e45239804a32653df3",
+        "render.png": "4b820e4b65f2dc3a4cec9aabca0a9e02d4a76be0efe8e49ceaa9e427985d12a6",
         "graph-raw.svg": "64df3559ec2a4340dd869417c1551e3fec8c37d2800c37de90b21f9e1976688b",
         "graph-robot.svg": "7f97d06e6d6c6c1bfce0dfcd234993e331b956a1bdb6a1f880fe8ec8c9a3998f"
       },
@@ -1447,7 +1455,7 @@
         "mjcf_ms": 2.7028247714042664,
         "compile_ms": 34.416822250932455,
         "graph_ms": 110.83832010626793,
-        "render_total_ms": 1766.4703009650111
+        "render_total_ms": 1842.7806943655014
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1495,16 +1503,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.429239176213741,
-        "render_ms": 1603.9285715669394,
-        "compose_ms": 64.73190756514668,
-        "write_ms": 73.24018282815814,
-        "foreground_fraction": 0.6476166666666666
+        "compile_ms": 40.556301828473806,
+        "render_ms": 1634.5986472442746,
+        "compose_ms": 71.1000058799982,
+        "write_ms": 78.21010984480381,
+        "foreground_fraction": 0.6476166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "a2bebcf2a09dc998b2766331d1346b743f42cec78d45cdc0d4b5fca5065800c2",
         "meshes.tar": "e0cd343d289e4dafdb2e8eb60ef14bff4ed920032d106c6f61f0e167096d52ea",
-        "render.png": "c0dca3efa4c1b498f5028d8b7e7d40c750120ba2d9fcb1d3fd16ca198c558800",
+        "render.png": "4cdac8c8e34674f96f915b952a95470149fad34a9b9530d2da11556f23c47585",
         "graph-raw.svg": "ae519b24d597db21f5e70662da5600445091c9b0f0431334d1b98d49f4577d85",
         "graph-robot.svg": "aa1440b853e2df2c175d81efaf58bc2df84968c0f735c714dc0f8664da143cab"
       },
@@ -1536,7 +1546,7 @@
         "mjcf_ms": 49.08399097621441,
         "compile_ms": 92.23504411056638,
         "graph_ms": 88.74540124088526,
-        "render_total_ms": 2021.0003326646984
+        "render_total_ms": 1824.2536238394678
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1597,16 +1607,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.12346402928233,
-        "render_ms": 1814.3055979162455,
-        "compose_ms": 84.08676739782095,
-        "write_ms": 88.68516283109784,
-        "foreground_fraction": 0.7733
+        "compile_ms": 122.51932313665748,
+        "render_ms": 1498.3768118545413,
+        "compose_ms": 85.6658318080008,
+        "write_ms": 99.50330760329962,
+        "foreground_fraction": 0.7733,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "617c1e428d2b45176087b9c943d7a87232147c775d7c3e7ee27cbb1a43735b73",
         "meshes.tar": "1737c6b184b849d3e250801d9c7c6beda8b4d1c2a2bacf3a76d7c614be79cf44",
-        "render.png": "97ba2dcc4ad5d3c3e5d9e6200ae26c3461e092a3539d47f45eb577f91ce5b515",
+        "render.png": "a1cbf896a15ec263d4eb23996b414c151a2fe84ecdf3eb943bcc18ddf4fc8248",
         "graph-raw.svg": "1253190c4060087d8fe1de8dd98f871bc5d07e21eec10ad1868c8b39b1a94f0e",
         "graph-robot.svg": "61dccc1aa05a6a26b14beff1070fc009510a278d43f6f2f3951356a5bae556e2",
         "robot.urdf": "c3b010710d993f32ed0610ba936a48102b3e0f59d76e8bcacc9d5ef27514b0b8"
@@ -1638,7 +1650,7 @@
         "mjcf_ms": 2.7892421931028366,
         "compile_ms": 12.655713129788637,
         "graph_ms": 76.98823977261782,
-        "render_total_ms": 1783.0447806045413
+        "render_total_ms": 1849.2079409770668
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1699,16 +1711,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.388554323464632,
-        "render_ms": 1621.972152031958,
-        "compose_ms": 70.61217492446303,
-        "write_ms": 71.67864125221968,
-        "foreground_fraction": 0.680225
+        "compile_ms": 12.193487957119942,
+        "render_ms": 1664.9012458510697,
+        "compose_ms": 76.2133589014411,
+        "write_ms": 73.30283289775252,
+        "foreground_fraction": 0.680225,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d828cf9839c3fd7c83d55715ecbc623d71d4b557c9ba67d6bc039fcc3dc0976c",
         "meshes.tar": "297f38cbf7b7577a00a4f36df43a3ffc5b05b4a887441133bbc3bc6450afd9ee",
-        "render.png": "b9dd8eec25fa51c8f83d3ba889c673c417d59175512502ba01950c596d0817c0",
+        "render.png": "5edb8e35d07ff80bb14f141f159a077e2fab0cb58bfbcf5ce171019451e9b0cd",
         "graph-raw.svg": "aee321fd40423ac7128b39335eafa6345dced954e890358fcffe907d0ce0a7bb",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "c151a7b508000cc7afacb99f3a5e1f4077cbd4bcb1006cd31499c88d9a5ff584"
@@ -1747,7 +1761,7 @@
         "mjcf_ms": 2.074610907584429,
         "compile_ms": 5.92862581834197,
         "graph_ms": 81.83686016127467,
-        "render_total_ms": 1923.1565240770578
+        "render_total_ms": 1853.2298388890922
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1808,16 +1822,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.91920593008399,
-        "render_ms": 1733.7118024006486,
-        "compose_ms": 71.58252783119678,
-        "write_ms": 91.46928088739514,
-        "foreground_fraction": 0.6094
+        "compile_ms": 11.309679131954908,
+        "render_ms": 1609.640333801508,
+        "compose_ms": 80.91519912704825,
+        "write_ms": 128.53550491854548,
+        "foreground_fraction": 0.6094,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "f8fca01fe68b17fdb82f9fb95f83986f7f3571e50b48c9877d2a82ef89b62f88",
         "meshes.tar": "45e6d2589fa1566a7919d949ae05a4005ee535271196f271c4b189d204cb3021",
-        "render.png": "ea7288b4b199cd6a9e88dae6db39dbb7184e22534f34a9f9214bb1a7769d29af",
+        "render.png": "1f421fc58df4364f5adf7414e5a1ceaa1054ad32334a15256e88e1a998c3eb22",
         "graph-raw.svg": "8c9ea07bba2e383fc359fc7a9883069e2aefe13751285523bd378c6a6e43b864",
         "graph-robot.svg": "ed5e2f91fc71284a4df072d93c5b5bb8ccc9db4e784f32ab2c965db53ce881a5"
       },
@@ -1849,7 +1865,7 @@
         "mjcf_ms": 3.1589120626449585,
         "compile_ms": 13.809395022690296,
         "graph_ms": 140.33259311690927,
-        "render_total_ms": 1664.1635657288134
+        "render_total_ms": 1934.2641439288855
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1910,16 +1926,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.742367193102837,
-        "render_ms": 1470.3897316940129,
-        "compose_ms": 88.27981166541576,
-        "write_ms": 81.22943621128798,
-        "foreground_fraction": 0.5335
+        "compile_ms": 14.814912807196379,
+        "render_ms": 1730.5653491057456,
+        "compose_ms": 88.72330700978637,
+        "write_ms": 80.48837631940842,
+        "foreground_fraction": 0.5335,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "25bb794ec07c839996ecdc28ed7f347981e3cca59c2a6723141250e14371dc96",
         "meshes.tar": "0886acc0c6ea4602b40231ef74c409ae757f498e31375447d058d628884096c2",
-        "render.png": "340a12e568bdf6e818f40dd71a54f5069781ceacd7b26bb354a20961483ea1b3",
+        "render.png": "7f55d1a02d6ef1771673c67bae2f4dd44a97d267a92f7b01c0e170aa3bd1712c",
         "graph-raw.svg": "31b1a4605c21b0fc0fcfe71e34f03abf2fe5785ee94dcd45cd34d88a459afcfe",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "82eb3cf3fead9138a15440702d6dfc5eb33d3d7b5e7135fcef86a3565173a5ad"
@@ -1970,7 +1988,7 @@
         "mjcf_ms": 3.329650964587927,
         "compile_ms": 177.0616890862584,
         "graph_ms": 227.85405768081546,
-        "render_total_ms": 2177.6875047944486
+        "render_total_ms": 2017.5480488687754
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2049,16 +2067,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 37.61359816417098,
-        "render_ms": 1940.0805197656155,
-        "compose_ms": 65.86455414071679,
-        "write_ms": 119.27163600921631,
-        "foreground_fraction": 0.6721
+        "compile_ms": 189.77964483201504,
+        "render_ms": 1564.1198782250285,
+        "compose_ms": 74.40301729366183,
+        "write_ms": 169.17648585513234,
+        "foreground_fraction": 0.6721,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "01a214eb8148688797d433b3a927812125aff00a54780be027ac301fea097aaf",
         "meshes.tar": "9e6cbeb2e7b7a9b2999031c4c8ceb846fe5aec7d7cff743b73ca2e8476ed8f7f",
-        "render.png": "8751f286e814e41e2a8bfeceb47b59c24c1294f211fc9d30bfe849d598ee5610",
+        "render.png": "2531255713461a04cb4b3ded6a829f13e89184084a08e180121ffde78f9f16dd",
         "graph-raw.svg": "2c59320773af7f7843f2775a7b1cd21cba1f2b93b5b58da2187b6a9612948ea7",
         "graph-robot.svg": "4dded564442fd54d643cad9c98196ec1c526cd9825e1c7c81474e28fa9724e5e"
       },
@@ -2090,7 +2110,7 @@
         "mjcf_ms": 2.759390976279974,
         "compile_ms": 4.2630210518836975,
         "graph_ms": 94.11834692582488,
-        "render_total_ms": 1815.3947559185326
+        "render_total_ms": 1848.0517650023103
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2151,16 +2171,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.217811230570078,
-        "render_ms": 1644.9342579580843,
-        "compose_ms": 78.03194457665086,
-        "write_ms": 69.28942399099469,
-        "foreground_fraction": 0.7348
+        "compile_ms": 9.066620375961065,
+        "render_ms": 1665.3184369206429,
+        "compose_ms": 79.77413106709719,
+        "write_ms": 71.77281798794866,
+        "foreground_fraction": 0.7348,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "f54a7042f1bf1c200da308b203d12b42ccbc1787f9a4cc286185ca7b29dc9d45",
         "meshes.tar": "d45e0772196c4457fb6ee7e1107c8062adce924005ef5cff588e52c12b288b22",
-        "render.png": "9003a974c35e70e354cee0d99fa64cfcaa0cb5b3d3b60f5a1c384f7d9a069a7c",
+        "render.png": "9df9bdd3aa10524e69162e2ac02cdc9dc5dcc4a24fa1585d204f72999cc86d15",
         "graph-raw.svg": "8796831cf2573583562886cdbc2d82773c758c058cfe48e716d9b85ffede38b1",
         "graph-robot.svg": "3c24c07504607d249dd50affc78108e64aa50fad828442d4e0426033460ea105",
         "robot.urdf": "a063c3c39e030d1e42ee710eb12d5c2aaf142303aee14c64fabb8bbf2fb8fb5e"
@@ -2200,7 +2222,7 @@
         "mjcf_ms": 2.42833886295557,
         "compile_ms": 9.037625975906849,
         "graph_ms": 102.2417158819735,
-        "render_total_ms": 2024.8300028033555
+        "render_total_ms": 1723.7201449461281
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2273,16 +2295,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.5820677876472473,
-        "render_ms": 1857.3514302261174,
-        "compose_ms": 71.48969732224941,
-        "write_ms": 72.60171324014664,
-        "foreground_fraction": 0.66055
+        "compile_ms": 10.226703248918056,
+        "render_ms": 1536.569718271494,
+        "compose_ms": 82.11745461449027,
+        "write_ms": 74.88598907366395,
+        "foreground_fraction": 0.66055,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "932662665802b4d91297d7e128f297c73a4893a3b550dcf1fb27b45e41ab2358",
         "meshes.tar": "001fa66f5649f301c19b14447c0163bc7375bec33236f49deb1217ec4a9a365a",
-        "render.png": "7ac26077fee81d381019aeb6931c3c2f8462862694e90d74e9d10af658dfedb7",
+        "render.png": "b9f2a4cbd1573b3cff9152f68865c3f2e336e362550dafca8250581a797b8b38",
         "graph-raw.svg": "8ce0effe9c74c4248823704384edef366d9876eaf0f8a1f8150ee1bf687ef853",
         "graph-robot.svg": "870862d242e0daff0eade494f36badfec6352330003afbd39f1245dad55a0e72"
       },
@@ -2327,7 +2351,7 @@
         "mjcf_ms": 2.897938247770071,
         "compile_ms": 28.096828144043684,
         "graph_ms": 129.58892807364464,
-        "render_total_ms": 1839.2446720972657
+        "render_total_ms": 1849.8384393751621
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2375,16 +2399,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.048658423125744,
-        "render_ms": 1627.4622501805425,
-        "compose_ms": 84.36905778944492,
-        "write_ms": 98.50151091814041,
-        "foreground_fraction": 0.73755
+        "compile_ms": 29.819613322615623,
+        "render_ms": 1605.385729111731,
+        "compose_ms": 79.58386978134513,
+        "write_ms": 118.47825488075614,
+        "foreground_fraction": 0.73755,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "71cfb4fb7e434588dbb961d55ddbc5ee30319f8c12a5607e0ce2de9b214fb895",
         "meshes.tar": "de0e805793d8fec33ae3a2b6ef88f6c5d696976c25562d428b6c055b1a64d5bc",
-        "render.png": "e2e95988c8ba844e1fbdb65e0c4b3c14fe44605115e8da91d4d90a525058ba65",
+        "render.png": "6946c6f2c80cb4fd4ca8c08c5190f91af2dba52476f81763a45512109ea0d9b5",
         "graph-raw.svg": "07982eb9c796f6b828f9a5b515575740a1181512fefa889168a670af36d548fb",
         "graph-robot.svg": "a51e7bce118c9824df1184adb223e7935b7fadc10fa11ba6eed49cc5dc70f8f9"
       },
@@ -2415,7 +2441,7 @@
         "mjcf_ms": 2.737309318035841,
         "compile_ms": 72.32603197917342,
         "graph_ms": 83.47573317587376,
-        "render_total_ms": 1765.8588322810829
+        "render_total_ms": 1993.3480299077928
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2476,16 +2502,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.856671035289764,
-        "render_ms": 1569.9893990531564,
-        "compose_ms": 75.31547406688333,
-        "write_ms": 80.16009721904993,
-        "foreground_fraction": 0.7051
+        "compile_ms": 78.11290118843317,
+        "render_ms": 1727.5198991410434,
+        "compose_ms": 83.27923808246851,
+        "write_ms": 84.90781299769878,
+        "foreground_fraction": 0.7051,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "95d452ef926011f39afe16aef5363a711d68c59ff6d3fbf28cd1f16739f9a9c5",
         "meshes.tar": "2a52a4a970f3f4a24aeb00a7ae56cd6a1f7d4161faaaa50d709ec849fdf8521a",
-        "render.png": "e28ad0ace4054f5e3c3ed69b72eef6a03355f875f231dfb54dbf8c28f85436c6",
+        "render.png": "c16fa9032ebd7cda8af3df5019156bd23cdca9c6a5072abe008a1eea486526dc",
         "graph-raw.svg": "3db23c0e8246d40d2158df7c03cf7fc1f2554780bbc14c1a41b51d15bfe6f813",
         "graph-robot.svg": "f3e6348b906f1b73c46dfb1e6573189fc73fd5b53cecb42f585acfbe28968530",
         "robot.urdf": "83405b8f5751323a0976823b45bbb919d6dacf41a2b53c6e37d85af8615f8948"
@@ -2531,7 +2559,7 @@
         "mjcf_ms": 3.2648127526044846,
         "compile_ms": 81.68183080852032,
         "graph_ms": 153.23294512927532,
-        "render_total_ms": 1990.6556750647724
+        "render_total_ms": 1801.3541749678552
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2579,16 +2607,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.017219103872776,
-        "render_ms": 1818.1965867988765,
-        "compose_ms": 64.8645837791264,
-        "write_ms": 64.70139790326357,
-        "foreground_fraction": 0.42295
+        "compile_ms": 94.41104996949434,
+        "render_ms": 1554.7801107168198,
+        "compose_ms": 66.13355688750744,
+        "write_ms": 66.22780300676823,
+        "foreground_fraction": 0.42295,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "5ede122669f1868779b8f6e193c409cac65296758c6bfcd7b301817a6ee3dcf0",
         "meshes.tar": "8b726de2fe272ce1eab5b80d83620f01597cd8e83a364d1567454ccfa33049c5",
-        "render.png": "2dfe4eb9e6c6332b6ccf9cff4c60885e7f887bbef6bb89c291c4990b135fe18c",
+        "render.png": "110e525073aefbc0d121fcff66a6d76cb0c64831734a6c250dc1b55c70d82442",
         "graph-raw.svg": "1a986d26ea24ee84728fc80f73144a25961f931ac4d8b855f8c45dc20c855468",
         "graph-robot.svg": "46715b32a62b313ddabea8eae1ccd6e439bb04d6f160198a9373216dbbba9c5c"
       },
@@ -2640,7 +2670,7 @@
         "mjcf_ms": 4.27688704803586,
         "compile_ms": 109.51191000640392,
         "graph_ms": 288.3995659649372,
-        "render_total_ms": 1867.7411526441574
+        "render_total_ms": 2199.4593869894743
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2731,16 +2761,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 53.530172910541296,
-        "render_ms": 1643.8079099170864,
-        "compose_ms": 77.48933974653482,
-        "write_ms": 67.28277495130897,
-        "foreground_fraction": 0.37235
+        "compile_ms": 153.33409095183015,
+        "render_ms": 1883.8779758661985,
+        "compose_ms": 73.62434593960643,
+        "write_ms": 68.79388587549329,
+        "foreground_fraction": 0.37235,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "e19b09b0318c49419e7e3b385f37d3e72a87db73d6cec31e8f8d7ee825de0a1c",
         "meshes.tar": "a07e704dd51ec1ca1640a8ff47fbbdcc9cee87587ef23b70344e77a184e05989",
-        "render.png": "6b4b57e3bea9c850a5805e3a7802d23cf5dd13f0f9d344d79b7436e720ededb1",
+        "render.png": "f7f2a357e11321b997e9d7d3748d0c7a294e871a705bf1dbe3757d0b82548f62",
         "graph-raw.svg": "eac74829fb4c42f39bfa01d7006f1397aee4984ac9706a0f2f804dc36ec5cf88",
         "graph-robot.svg": "a255d0f6ff2799c7f69b11c80d60b68dec694d1dbe8203d29ccc8c7d894434a7"
       },
@@ -2774,7 +2806,7 @@
         "mjcf_ms": 3.8133286871016026,
         "compile_ms": 45.27864884585142,
         "graph_ms": 169.62874215096235,
-        "render_total_ms": 1803.2873556949198
+        "render_total_ms": 2034.5776621252298
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2835,16 +2867,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.429302748292685,
-        "render_ms": 1612.4078640714288,
-        "compose_ms": 75.14424435794353,
-        "write_ms": 79.54680500552058,
-        "foreground_fraction": 0.4862
+        "compile_ms": 47.9577430523932,
+        "render_ms": 1806.2854651361704,
+        "compose_ms": 87.74740528315306,
+        "write_ms": 72.49978138133883,
+        "foreground_fraction": 0.4862,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "13867f3f01cefcf2f27d0d4bbe169146ba877ea65afc824b507d9d26bcf5df4a",
         "meshes.tar": "9c4ab268f8085d561a532b0bcfba05fe0c9bcc14264123a1e40c98928e024e36",
-        "render.png": "7f1b956df3049e2dfba386e7229a31dab6cf10fe60dcde555729448f4c90278c",
+        "render.png": "bc3154dc562fd826d1a0182f02c2e6a127ed95268e4400822a7a53249ede8226",
         "graph-raw.svg": "940254b76f9a8c7b5ccf7f4fb50534cc5aa0aba3604d5da998341b138f3b9926",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "16f6a10db5e4e3ad631bd0175e705ca693f5e596f7e6749ad25a136168fe2f4d"
@@ -2877,7 +2911,7 @@
         "mjcf_ms": 2.699232194572687,
         "compile_ms": 18.618735019117594,
         "graph_ms": 81.46696258336306,
-        "render_total_ms": 1905.097892973572
+        "render_total_ms": 1799.1222459822893
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2938,16 +2972,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.673308227211237,
-        "render_ms": 1724.7411138378084,
-        "compose_ms": 79.05405107885599,
-        "write_ms": 81.7293911240995,
-        "foreground_fraction": 0.6271416666666667
+        "compile_ms": 19.53625911846757,
+        "render_ms": 1589.652698021382,
+        "compose_ms": 73.81457695737481,
+        "write_ms": 93.15278008580208,
+        "foreground_fraction": 0.6271416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "82cb1dcddade1114e151d26394bed9d3819e728be5aee9ae889757de6f755398",
         "meshes.tar": "a698559b2323b2139ac21f8e78017a2e8879a8ace953b4d1d9ac3f317c6dc212",
-        "render.png": "e545646d0314f0bd1265478479e3d2335a69ab871fd12ef361ea49151014970a",
+        "render.png": "5cb10e87285f1e121628beb437804368484c12e6446dbadf7193d526338bc875",
         "graph-raw.svg": "7bd127c924c83c626db1282e26d6d8022e3784775ef16fba88f50a8fd7bf99fa",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "df08e5a0fb6bf90af4b114131a27d5f834134a0e471b615af45ee4458ebf84c4"
@@ -2988,7 +3024,7 @@
         "mjcf_ms": 2.485106699168682,
         "compile_ms": 118.4344980865717,
         "graph_ms": 94.78756412863731,
-        "render_total_ms": 1861.0558896325529
+        "render_total_ms": 1770.6406922079623
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3036,16 +3072,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 23.352705873548985,
-        "render_ms": 1698.5978363081813,
-        "compose_ms": 69.14018606767058,
-        "write_ms": 48.669056966900826,
-        "foreground_fraction": 0.07095
+        "compile_ms": 116.11008457839489,
+        "render_ms": 1532.4672372080386,
+        "compose_ms": 53.45382308587432,
+        "write_ms": 48.56296721845865,
+        "foreground_fraction": 0.07095,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "b8cbe1426b303313bba4a012ac2fdbc84abdfdf105bd15d8b9f6ebdf4c902619",
         "meshes.tar": "3abf0d2dac37142b133be8f6548fa582431fbe00db84d9374db25e08689a2aca",
-        "render.png": "222aaa22b03d2cce2c1a0858be197cf79bed2ca3939c933097c38ad6954b91a7",
+        "render.png": "a94d294bf37298bdaad35437b90c8feb650c62abeb01e9225d0b0df9dd549146",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -3076,7 +3114,7 @@
         "mjcf_ms": 2.692373003810644,
         "compile_ms": 20.504110027104616,
         "graph_ms": 86.0687643289566,
-        "render_total_ms": 1706.1336692422628
+        "render_total_ms": 1738.146340008825
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3137,16 +3175,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.3816246800124645,
-        "render_ms": 1500.3508999943733,
-        "compose_ms": 87.56028581410646,
-        "write_ms": 92.2436909750104,
-        "foreground_fraction": 0.73205
+        "compile_ms": 25.060373824089766,
+        "render_ms": 1501.4461162500083,
+        "compose_ms": 92.49772783368826,
+        "write_ms": 96.60365991294384,
+        "foreground_fraction": 0.73205,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "db9031bf1b3d54a6dec14008b68c5a3199ca93dcb4933b06370fe8057caeadb7",
         "meshes.tar": "2dbec7d92e987a4238ea43ad4196924117166de9f6e324469dd54cb042da61b6",
-        "render.png": "47d0b0f58cc18e6afac6b4380ff0a0ee6dee6504db7dfc73fcd11fee68f8e67d",
+        "render.png": "694d1945bc8fa0663d4ad18330e2f94cd7913d86a2589ed942e99ba5f1510faa",
         "graph-raw.svg": "3a75bed63d3460fdb300c0bf097528393cc335c13aaaf6e311af6465c3adb8a0",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "5fbe073f4dfdf147652d4c84afc8b9d9e2f74de50fb1b9af6aaa93956cac3e2c"
@@ -3190,7 +3230,7 @@
         "mjcf_ms": 2.7650310657918453,
         "compile_ms": 240.67241605371237,
         "graph_ms": 128.3317063935101,
-        "render_total_ms": 1974.6062848716974
+        "render_total_ms": 2039.6925201639533
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3238,16 +3278,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.318828869611025,
-        "render_ms": 1725.3302964381874,
-        "compose_ms": 85.4187891818583,
-        "write_ms": 93.8781276345253,
-        "foreground_fraction": 0.4444
+        "compile_ms": 222.90560184046626,
+        "render_ms": 1608.0412189476192,
+        "compose_ms": 82.52624189481139,
+        "write_ms": 105.8887131512165,
+        "foreground_fraction": 0.4444,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "910606ca590a5d388f6351ed27ea937e6492099542ae7541a20a2eb727de8723",
         "meshes.tar": "6f10e1ac52b22bdc13984e53431f815aca126e614174867522d1bb69dcd410df",
-        "render.png": "1d213ae54ee42a6c774a280c7ebeca354557f7e54f6da19daa1f2368f1778aaa",
+        "render.png": "f44275246d3373dfc84e06a894503180e20a793ba6e181a596d190d3f8860a92",
         "graph-raw.svg": "40771252f46514ac03e213d4eccb7ac2e0db26c8937e7e01d778228d6b4efc6a",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -3285,7 +3327,7 @@
         "mjcf_ms": 2.624975983053446,
         "compile_ms": 24.385781958699226,
         "graph_ms": 84.38164321705699,
-        "render_total_ms": 1622.503169812262
+        "render_total_ms": 1824.0623869933188
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3333,16 +3375,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.262497045099735,
-        "render_ms": 1443.97201994434,
-        "compose_ms": 74.28191369399428,
-        "write_ms": 78.05569609627128,
-        "foreground_fraction": 0.60445
+        "compile_ms": 26.227020658552647,
+        "render_ms": 1614.478341769427,
+        "compose_ms": 77.36737094819546,
+        "write_ms": 86.13132173195481,
+        "foreground_fraction": 0.60445,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "8b8c854af54a02b24cc95042d810a6596f71fd17ef25a52e814b49fe0c309d14",
         "meshes.tar": "edfe67b1e6a584eee0cf0397b089834f0c920227bd535d0b8475257d1857aef6",
-        "render.png": "302d0732f66e317c746df785ac89bd9707ef951b58541f6e05ba89b1dbb74f08",
+        "render.png": "6d9bce9b568e4af18c4bc618293d772148f9c231331a18a2fd4eac505d3ad0aa",
         "graph-raw.svg": "8ca723279bcca271f4d6cc4e3eedc00f3c33edcebea1926b984c31211b38ea95",
         "graph-robot.svg": "3cc22834ff211aa7f6c7cdd631ef7a72cbc4420dfabda7fd5a5694dd51eeda60"
       },
@@ -3376,7 +3420,7 @@
         "mjcf_ms": 2.4217641912400723,
         "compile_ms": 178.22662321850657,
         "graph_ms": 147.58777618408203,
-        "render_total_ms": 2021.940256934613
+        "render_total_ms": 2054.469233378768
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3444,16 +3488,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 123.30708187073469,
-        "render_ms": 1707.6933518983424,
-        "compose_ms": 68.68195021525025,
-        "write_ms": 90.56952688843012,
-        "foreground_fraction": 0.4565
+        "compile_ms": 167.419436853379,
+        "render_ms": 1705.6956770829856,
+        "compose_ms": 69.30757919326425,
+        "write_ms": 88.98875210434198,
+        "foreground_fraction": 0.4565,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "9b1f7eded29db69d99d56ef9015bc80f7f0506f20a09843b5eeb8cb99752bdd3",
         "meshes.tar": "d4ee4221b9031a54c3f4f3478361c40d2625ce83aa728abb211df682dcae9aa8",
-        "render.png": "070bddcaa972196690eee0fa42ca749433ba6806c6d7cf97719ef17b000a641e",
+        "render.png": "aba867f315def2d62c24cc07d281bb0062641d273c61d92a477aa5d0c73b755d",
         "graph-raw.svg": "5e1ae6f713f7b0c01bff8107587e52b771d346e025c22d0e9851c5fd0443af77",
         "graph-robot.svg": "b5f63aff869dbbee2010df83ec56395277ea03d24d9cd18282573462d8044603",
         "robot.urdf": "16a4d51c0687af391fe41436c8bc198643bba8a93fbad500754bff9ec6d7c6d1"
@@ -3493,7 +3539,7 @@
         "mjcf_ms": 2.258189022541046,
         "compile_ms": 4.925378132611513,
         "graph_ms": 90.6309150159359,
-        "render_total_ms": 1669.6867551654577
+        "render_total_ms": 1851.2886171229184
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3560,16 +3606,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.8441969081759453,
-        "render_ms": 1469.6465032175183,
-        "compose_ms": 95.94036592170596,
-        "write_ms": 68.84489674121141,
-        "foreground_fraction": 0.721175
+        "compile_ms": 5.045974161475897,
+        "render_ms": 1675.5030881613493,
+        "compose_ms": 83.65436503663659,
+        "write_ms": 67.07732379436493,
+        "foreground_fraction": 0.721175,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "3ea3dcb19772081ce416e00890736fe40637f23d671fe3116d2386d08c8e6cb0",
         "meshes.tar": "be3c99d58127bd3ba329a7187351a702b8fe50896a056dbb74552f6c0a8216e8",
-        "render.png": "e5a1ecea8471474b2c5635092874f5f99488d83fb86978ddd4e4d1eddd20f720",
+        "render.png": "c4d0d0271339dad3af4a6203166c2a0adcaaf1304537cfc2814713bae4570fc0",
         "graph-raw.svg": "fc2ffe3d6887be8c49c4272f4efb56bd6ee74d7417fcc607f6b7a0f780637b4c",
         "graph-robot.svg": "35925a1c9cae28273f4d124534099d494ed11487e9ecd1dfabee2c0d080085ab"
       },
@@ -3602,7 +3650,7 @@
         "mjcf_ms": 3.7527806125581264,
         "compile_ms": 6.619274150580168,
         "graph_ms": 88.6069261468947,
-        "render_total_ms": 1707.5977097265422
+        "render_total_ms": 1758.795800153166
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3663,16 +3711,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.4945751540362835,
-        "render_ms": 1523.7163254059851,
-        "compose_ms": 88.59214093536139,
-        "write_ms": 68.71957890689373,
-        "foreground_fraction": 0.6453416666666667
+        "compile_ms": 6.583732087165117,
+        "render_ms": 1574.482480995357,
+        "compose_ms": 83.97486805915833,
+        "write_ms": 70.82447223365307,
+        "foreground_fraction": 0.6453416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "da99c3e71271394b770a92495504e7abdb4c9be832e758fa0e2d759094a58803",
         "meshes.tar": "6d02af09b25af144ae6e82c41493c00d5d72ef526d38668b0438484331e55d75",
-        "render.png": "ec1b6f7148f6c09fc915ca69d4f98b79a5193978854691aac341d49ebacebfc2",
+        "render.png": "3383c17bfbff91713bd3879f29ab0683068c2de0f18a0b82198d8fb909b92278",
         "graph-raw.svg": "fd42ae6195da2c6098c7f029e530c3a5f8e87c0606af8efabf5bd894fbfb3491",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "ea5414008ad7640ba2a7576307bf3e19206e96b36210b8ed2e0edda6d6a9981e"
@@ -3713,7 +3763,7 @@
         "mjcf_ms": 2.32692901045084,
         "compile_ms": 12.68424279987812,
         "graph_ms": 382.8742257319391,
-        "render_total_ms": 1695.81248331815
+        "render_total_ms": 1862.5589371658862
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4002,16 +4052,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.24431436881423,
-        "render_ms": 1511.01895282045,
-        "compose_ms": 88.98804662749171,
-        "write_ms": 70.23713691160083,
-        "foreground_fraction": 0.78815
+        "compile_ms": 13.447857927531004,
+        "render_ms": 1665.395877789706,
+        "compose_ms": 90.35034012049437,
+        "write_ms": 70.45443402603269,
+        "foreground_fraction": 0.78815,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4cd8fafe269c74b82c9d22fea956810d47e5fa2533ffadb72aa99e5bcdc683fe",
         "meshes.tar": "3016b393626dad501522a61577e50e98219d9f93a88817e10cc8ed4b6ee080ce",
-        "render.png": "2b5567ca6cc442dd6e6099fbb5be3587d934d5d2fc7a2522a69f7ec9aa611fa3",
+        "render.png": "d476225a8c54fe48d99f2036cb97aa04d459cb7ff01b1ab52919356255af73c6",
         "graph-raw.svg": "3498b296d3d0fa1b8e5fe0944ef1421dc48bdbbafea96e986ee1147b90a8a5ef",
         "graph-robot.svg": "d3511d3d7c82cbeeb0bd4a77045769e8de704e8a7016799e7a19fde3797148f7"
       },
@@ -4054,7 +4106,7 @@
         "mjcf_ms": 3.1145219691097736,
         "compile_ms": 25.498526636511087,
         "graph_ms": 143.73383345082402,
-        "render_total_ms": 1694.8648006655276
+        "render_total_ms": 1904.8088355921209
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4102,16 +4154,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.900183089077473,
-        "render_ms": 1496.5058998204768,
-        "compose_ms": 86.34871989488602,
-        "write_ms": 79.53269174322486,
-        "foreground_fraction": 0.5456
+        "compile_ms": 25.693280156701803,
+        "render_ms": 1691.8017053976655,
+        "compose_ms": 84.25816800445318,
+        "write_ms": 80.28410980477929,
+        "foreground_fraction": 0.5456,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "b159b06e4fecc18c7e78babcf41d307c4b85151e7763f2bccb1f019ef31abd59",
         "meshes.tar": "a91c8345efcdfb7f5c4b0a6c4f1292dc98bc29b1cb29a05fa2105b03cc39d2b8",
-        "render.png": "25820fd765f3d723737453f0427d0daaa1a80a44b0995361470102d794dd34ea",
+        "render.png": "545890d3133737b413054ca52417db6a74020be61597312d120ce2fa4bf8c98d",
         "graph-raw.svg": "e574b93d714fa8fe140fd246a03a1bf1fae64b8cf73a32bf13382ef542995786",
         "graph-robot.svg": "8e36dd1efa1f36925d53faf0cc79faaa9ee0364b17237169303d264101202613"
       },
@@ -4161,7 +4215,7 @@
         "mjcf_ms": 3.7303189747035503,
         "compile_ms": 9.528704918920994,
         "graph_ms": 190.96293207257986,
-        "render_total_ms": 1800.8478302508593
+        "render_total_ms": 1743.3322533033788
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4270,16 +4324,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.721430156379938,
-        "render_ms": 1606.2949849292636,
-        "compose_ms": 83.30262172967196,
-        "write_ms": 78.11112375929952,
-        "foreground_fraction": 0.6611
+        "compile_ms": 9.80242295190692,
+        "render_ms": 1547.9013309814036,
+        "compose_ms": 82.65141863375902,
+        "write_ms": 82.89704425260425,
+        "foreground_fraction": 0.6611,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "3799430d5a9393167ebf83baa7fb769aab7703ac5c8d040d8d7acf9015365115",
         "meshes.tar": "b4e7174626f78144bd3c2142401380c3924c04af762b49dd9c60e23af891ad5e",
-        "render.png": "2b06a0faefd0bfb68875ca976b8b1627b605ba64abfa562fc585903e008548a0",
+        "render.png": "8e5aae0df7ad8f2ab0f68b48cb95adc0bde3017fc9cbdbf2c46f3ef5cfdc182f",
         "graph-raw.svg": "50dcf371aaf5651c3117dae4dc6c4deb85b7ade74e7ba9d4fe1378ac00d2ea83",
         "graph-robot.svg": "33c8f8ef1b1758f231f4e8b3c2a0ab9b689b0f6d59450163c7c31c1d8b0dd0a6"
       },
@@ -4313,7 +4369,7 @@
         "mjcf_ms": 2.937064040452242,
         "compile_ms": 3.258354030549526,
         "graph_ms": 107.80558828264475,
-        "render_total_ms": 1700.7798459380865
+        "render_total_ms": 1950.0783677212894
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4374,16 +4430,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.2029622234404087,
-        "render_ms": 1514.1434501856565,
-        "compose_ms": 92.60365879163146,
-        "write_ms": 69.96920891106129,
-        "foreground_fraction": 0.775775
+        "compile_ms": 4.7927978448569775,
+        "render_ms": 1654.918387066573,
+        "compose_ms": 84.60446912795305,
+        "write_ms": 182.89588764309883,
+        "foreground_fraction": 0.775775,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "baef390ef53fc5885b09329941400fdd8b7aac6a52595695ddf0584f9b061df3",
         "meshes.tar": "10a931724461cc7c29e9df7fa836ff57c79ec28b30e877c9894d76374e22bd10",
-        "render.png": "3d314682401a8c1e4e04d780f4d204965cc8c2278a283ce05fdb24b2c08c5575",
+        "render.png": "9ab5bdc86df11508dab8bef9193a1f7e67a14d6bd78d75c54b0aacf9358eca51",
         "graph-raw.svg": "52eaa5c23aa99b72ad337bfdb9d582bcb7fe47fa9c6683f3b830c5b592443d02",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f9903e5b86d6a4ffb86cd9077b86353db9f332c242b55d486b919c375739958b"
@@ -4418,7 +4476,7 @@
         "mjcf_ms": 3.163263201713562,
         "compile_ms": 3.8452111184597015,
         "graph_ms": 112.63685906305909,
-        "render_total_ms": 1838.568044360727
+        "render_total_ms": 2007.6279598288238
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4479,16 +4537,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.6884935796260834,
-        "render_ms": 1662.139158230275,
-        "compose_ms": 82.2131154127419,
-        "write_ms": 65.50870789214969,
-        "foreground_fraction": 0.657475
+        "compile_ms": 4.058037884533405,
+        "render_ms": 1598.3109469525516,
+        "compose_ms": 74.5933591388166,
+        "write_ms": 312.9780190065503,
+        "foreground_fraction": 0.657475,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2964eef6525e28ed470da16e75e7671311ad1087afe835e6f42cd6ff6ee14e4c",
         "meshes.tar": "18cadad3e3818f9dd28cfd462cac9294a89a77d166e39e67dc56ecb5013468af",
-        "render.png": "33289589b76a3b73a6319715d5d0505b092cf4dee315c881e019ae28a182cfa0",
+        "render.png": "4c2527d91e4d11f0a69ef2d865fcdac23360f1aba86f7df9e05af5187d013706",
         "graph-raw.svg": "52eaa5c23aa99b72ad337bfdb9d582bcb7fe47fa9c6683f3b830c5b592443d02",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "147a4eead0680c55a7f41189562c5db353b12554b4e2a89f2be95cb3fdf620be"
@@ -4527,7 +4587,7 @@
         "mjcf_ms": 3.105043899267912,
         "compile_ms": 23.36868178099394,
         "graph_ms": 155.7826860807836,
-        "render_total_ms": 1771.756997331977
+        "render_total_ms": 2105.557419359684
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4582,16 +4642,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.28058408945799,
-        "render_ms": 1587.774177081883,
-        "compose_ms": 68.11275985091925,
-        "write_ms": 68.31084284931421,
-        "foreground_fraction": 0.1639
+        "compile_ms": 24.328466039150953,
+        "render_ms": 1718.2398056611419,
+        "compose_ms": 63.171397894620895,
+        "write_ms": 279.91370391100645,
+        "foreground_fraction": 0.1639,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "db6f180d7b714d99d5af60ddf61503bf581193937bd42649af15e4abfaa179ee",
         "meshes.tar": "35480f69a3a30c6aa9e6e9c79b4cb4155d81cb09731cdefdd30966b7ca484bc0",
-        "render.png": "a147f5a72652e7ff93b1f50acca10fc04e35b634060789b3c9fe3217d72ffc21",
+        "render.png": "2d21d656f6a5a4c6df5b4e54ced1ce9e01cee87887ec7a09aafb3a72147b958c",
         "graph-raw.svg": "de1ace9e1d66dbb65cdf33692a3dfad302c9dd85e69fcb0c14c866b24e144fc0",
         "graph-robot.svg": "7023de55c2bec247ff647988ca22bfee13fc2cc41e4d31bc23cfec9d2d3e82c2"
       },
@@ -4633,7 +4695,7 @@
         "mjcf_ms": 2.4333028122782707,
         "compile_ms": 123.61346604302526,
         "graph_ms": 109.13566686213017,
-        "render_total_ms": 2007.0607149973512
+        "render_total_ms": 2038.0717883817852
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4681,16 +4743,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 112.47413605451584,
-        "render_ms": 1702.8054767288268,
-        "compose_ms": 71.43893139436841,
-        "write_ms": 104.3045581318438,
-        "foreground_fraction": 0.74305
+        "compile_ms": 75.90545015409589,
+        "render_ms": 1729.8733526840806,
+        "compose_ms": 90.30941501259804,
+        "write_ms": 124.17381396517158,
+        "foreground_fraction": 0.74305,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "ab2247e2e66ac8dd3733353cb668684c120cc14ead987bca1b4e0c2883b590b5",
         "meshes.tar": "bd35cf99adcdb7a45950db02f61c3e150379eb40aee2bde62faa6a76ce8a4ca2",
-        "render.png": "cebec951f3a81e0894838a0c058f30de794401c94e7ed4c0e9dcb672c3dfc758",
+        "render.png": "a36a5da8a4091773530e84a98e6899efee7c7cbd8788889f951eca96edb4af05",
         "graph-raw.svg": "5df5a4b9e10f3a32e17adb06e73193f039905945599d35da01a6c005cfb91e8f",
         "graph-robot.svg": "f7e2468b606b47de1b5d1f55621f40fe9247f5fec79974ef7bc77dd4e929cabb"
       },
@@ -4728,7 +4792,7 @@
         "mjcf_ms": 2.3340610787272453,
         "compile_ms": 10.069530922919512,
         "graph_ms": 76.36507414281368,
-        "render_total_ms": 1585.594927892089
+        "render_total_ms": 1835.111137945205
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4783,16 +4847,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.00730800256133,
-        "render_ms": 1388.8760190457106,
-        "compose_ms": 87.10810914635658,
-        "write_ms": 77.68633123487234,
-        "foreground_fraction": 0.7513
+        "compile_ms": 11.478152126073837,
+        "render_ms": 1621.7670598998666,
+        "compose_ms": 93.179477378726,
+        "write_ms": 88.60490284860134,
+        "foreground_fraction": 0.7513,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "3e890e452b05bde19cad7a9c49b31cea5b0a08c8567ec263367b95165d4aa56a",
         "meshes.tar": "efe114482473e4195da59bb03f11b468faaba5761bea69e4f2f35e10c5cbdb0d",
-        "render.png": "62200cac6d4c46d519bd8a34ee26a6733e7eafe307ea819deb89d9b4f8019f77",
+        "render.png": "143ccbeaf3aced0c4dbf84214eacb70cbf3efc24fb3a832a289f6ecbb3243bbb",
         "graph-raw.svg": "854b80220e6e59bebdbcba6890a993fe24807f68bc58330419fdd1af5bbba68b",
         "graph-robot.svg": "6616b64aaa2d117e8cce991de1f91cd9f93d74c01cbb6559dafe29f48602369a"
       },
@@ -4836,7 +4902,7 @@
         "mjcf_ms": 3.1408420763909817,
         "compile_ms": 76.50807918980718,
         "graph_ms": 111.4795352332294,
-        "render_total_ms": 1573.9804063923657
+        "render_total_ms": 1949.3678333237767
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4884,16 +4950,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 73.75732902437449,
-        "render_ms": 1373.5265163704753,
-        "compose_ms": 37.071962375193834,
-        "write_ms": 72.88736803457141,
-        "foreground_fraction": 0.088
+        "compile_ms": 59.784631710499525,
+        "render_ms": 1739.7100552916527,
+        "compose_ms": 53.66309406235814,
+        "write_ms": 73.25981697067618,
+        "foreground_fraction": 0.088,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "778a30e342fbb39897cbeaeed5ec1d624386cd5615073d08c9f783bd27ae51c5",
         "meshes.tar": "c014c79c97018d0a0c60959dd6a13cd0cbfc1cc63cf1d963c846d7e0213f4057",
-        "render.png": "85e745a0c877be37cbd22bc15c117686fe7bb9f5edaa881f1a66e41af14f483a",
+        "render.png": "89657a6fb591f024ecd7969c9ba61492bcf8d89250013dcc89b7cc34de14ec80",
         "graph-raw.svg": "b2418504c057795e6bcc897adc075313cd2d09599a2ff7da4486eac2714d15b9",
         "graph-robot.svg": "1e67bba58329d70915086546c3ad54c102afa1982ea353ae5cb08d97d6de8892"
       },
@@ -4925,7 +4993,7 @@
         "mjcf_ms": 2.9891086742281914,
         "compile_ms": 25.01219790428877,
         "graph_ms": 94.36696115881205,
-        "render_total_ms": 1608.706511091441
+        "render_total_ms": 1785.611255094409
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4986,16 +5054,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.575000301003456,
-        "render_ms": 1394.0805760212243,
-        "compose_ms": 77.86028739064932,
-        "write_ms": 91.37253370136023,
-        "foreground_fraction": 0.72435
+        "compile_ms": 26.27631602808833,
+        "render_ms": 1560.9947610646486,
+        "compose_ms": 72.9315597563982,
+        "write_ms": 105.54281529039145,
+        "foreground_fraction": 0.72435,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "8a43f8d7e50343fa6ff5bae92985959fe0ada18b8326148804772c6e1b99667e",
         "meshes.tar": "3a6ff317d18f22bb31524d203aa4f43393ca337b509d9809bb8447bc09af4f55",
-        "render.png": "b7b9501ab22914d4b2b2030cfd1e12c627d8bfa6f1751fb703c3c84af917eb31",
+        "render.png": "fc8ade6cce9f98dd0e8ef620bf86fa8a849dd5946a3957ea360ae9dec59d9d8d",
         "graph-raw.svg": "491a49383e9053f7935d118c90254768d83753c7e11b022337ed23c7e93ddade",
         "graph-robot.svg": "104ec727067ab1ac359dcdd45e355a30b8b0674a36568ac2586f3957e1978dcd",
         "robot.urdf": "0436dcadfa4e9df2fe9f2dfcf632ebbb198e9d6093c59574d274e996190420bf"
@@ -5042,7 +5112,7 @@
         "mjcf_ms": 3.336529713124037,
         "compile_ms": 475.5021771416068,
         "graph_ms": 156.27201087772846,
-        "render_total_ms": 2475.6567068398
+        "render_total_ms": 2302.9616978019476
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5097,16 +5167,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 494.60842786356807,
-        "render_ms": 1791.8461728841066,
-        "compose_ms": 103.95771311596036,
-        "write_ms": 60.893306974321604,
-        "foreground_fraction": 0.56375
+        "compile_ms": 504.84889186918736,
+        "render_ms": 1620.0026059523225,
+        "compose_ms": 92.48464275151491,
+        "write_ms": 62.771343160420656,
+        "foreground_fraction": 0.56375,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "4947f8616c82bad310fec4f3ba77670f3edaf56fdf6b929e4a4b62d4cc276a83",
         "meshes.tar": "e628571ecf1f9d2e7924ef1b8f527bc2725e9c70878caa8a1355db117e924df3",
-        "render.png": "8042844b052a379a302f14cacc2144c28176c76e34f4a763d7d6087c894451e6",
+        "render.png": "5286bd9da7a93b0d80c9e6870ac0f561582380bbe65136911e0e0243cc0ff8e2",
         "graph-raw.svg": "327e29b4a5a990443db75b872619842e620911ab835ee9216da785b46c8b0471",
         "graph-robot.svg": "067fdcdab42d26733e2ddec868028628acd05191d644ca7a6f7eaf9af7ccf7ff"
       },
@@ -5146,7 +5218,7 @@
         "mjcf_ms": 2.9560402035713196,
         "compile_ms": 175.34149019047618,
         "graph_ms": 138.26564140617847,
-        "render_total_ms": 2436.495734844357
+        "render_total_ms": 2381.2222899869084
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5194,16 +5266,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 276.00815100595355,
-        "render_ms": 1962.1926308609545,
-        "compose_ms": 80.81237878650427,
-        "write_ms": 97.07510098814964,
-        "foreground_fraction": 0.59565
+        "compile_ms": 211.60505898296833,
+        "render_ms": 1935.0598249584436,
+        "compose_ms": 85.71658283472061,
+        "write_ms": 131.20963610708714,
+        "foreground_fraction": 0.59565,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "33387229e5da646c883c34ef809d1635e70691fccd2150837ddd2b28ff1ef9ba",
         "meshes.tar": "b6ada740de4d5974faa72cdf6061d84e4c254bab1d721f3f27379ba9cdd3c59d",
-        "render.png": "5d2979935587b53a0d55c1283fc5fc0b7f162f8948a322b3dfe9363c8fc68524",
+        "render.png": "b40c534bc2af9428871cfc8925b8c6a1fc3873d322fd30a6e5f370a67ed2c39d",
         "graph-raw.svg": "e25d1d38fe4614ce52ca892b7421de9ae790e1eb66e0b35d8739f89679023db9",
         "graph-robot.svg": "ac11db006358828dd7ae74c5ddf3e4db55b85c7af0cfdb6969bf056a3711eaa4"
       },
@@ -5257,7 +5331,7 @@
         "mjcf_ms": 236.49783991277218,
         "compile_ms": 1159.8251089453697,
         "graph_ms": 939.89536492154,
-        "render_total_ms": 3618.8628752715886
+        "render_total_ms": 3027.849939186126
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5305,16 +5379,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1229.0779752656817,
-        "render_ms": 2227.592138107866,
-        "compose_ms": 57.296072132885456,
-        "write_ms": 84.06210411339998,
-        "foreground_fraction": 0.38555
+        "compile_ms": 666.2844279780984,
+        "render_ms": 2166.114147286862,
+        "compose_ms": 69.19101206585765,
+        "write_ms": 99.59567105397582,
+        "foreground_fraction": 0.38555,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "86264546921422769807eb18c19d9dee730423b603a99147fdc659d5ecd016a5",
         "meshes.tar": "7f456c67946011c91f3eb3708645675d73dcdf7c6f1d5d8e66776e3bc43967ac",
-        "render.png": "e5804fe9e2ac4dfee23e8a3bf7beec7188faec8948c0dddb57f41150b4644cd3",
+        "render.png": "5293b2f13fdab43135077c7680f9d66587ee42771582599b416cf26d452daec2",
         "graph-raw.svg": "5d2f2d7a9dce4372348c9d0491ea1fad30c7c2869e7d6d798bedc9bafe84d880",
         "graph-robot.svg": "d3ad58a1cd8b580a35d7baf2d23123673bdf5464d0e534c0996e9cd83ca32950"
       },
@@ -5345,7 +5421,7 @@
         "mjcf_ms": 2.5206468999385834,
         "compile_ms": 23.579043801873922,
         "graph_ms": 68.96187830716372,
-        "render_total_ms": 1834.1708066873252
+        "render_total_ms": 1934.9997527897358
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5406,16 +5482,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.72044799104333,
-        "render_ms": 1657.1632623672485,
-        "compose_ms": 59.95844816789031,
-        "write_ms": 86.64641389623284,
-        "foreground_fraction": 0.7249666666666666
+        "compile_ms": 36.31954314187169,
+        "render_ms": 1714.7297677583992,
+        "compose_ms": 72.77325307950377,
+        "write_ms": 94.4186239503324,
+        "foreground_fraction": 0.7249666666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "cba8f51361e15fdcd7a503a4f3ee4dff536af83a6df636d32c2b1f19b1f51537",
         "meshes.tar": "68071af31a195c00f9b47180b125966adf6898e36b601d333a95310abbaf54b9",
-        "render.png": "59782a7dd7ef4aad8350e66eadfe77e0440d6cffa6b9662b29fdfe4b8a843fc7",
+        "render.png": "d0348169f0b406e565a34c33b1b668f7b90e8a1339434050a8172071d38c8bd2",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a31045a99d47cf6ec198a5b14e630cdcd0d9f1fb5ba8731a8ae7fdc4e157d637"
@@ -5462,7 +5540,7 @@
         "mjcf_ms": 12.061855755746365,
         "compile_ms": 427.2600319236517,
         "graph_ms": 1013.2868196815252,
-        "render_total_ms": 2503.428356256336
+        "render_total_ms": 2437.499008141458
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5523,16 +5601,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 408.5432840511203,
-        "render_ms": 1916.2100632674992,
-        "compose_ms": 67.29254918172956,
-        "write_ms": 93.80315290763974,
-        "foreground_fraction": 0.5577
+        "compile_ms": 452.6636968366802,
+        "render_ms": 1806.6611890681088,
+        "compose_ms": 69.93000907823443,
+        "write_ms": 89.92553502321243,
+        "foreground_fraction": 0.5577,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d8203301da110b8e27cbfee994417594226ba8d46129ad8b7271f900de02030c",
         "meshes.tar": "450e5f9c05018c369c040d83bc4276495321a4c1f6bc0edb188a6cf6376f7a92",
-        "render.png": "6a3eec9314d56a552a17c7c95d36529776f2cb4473895462434ae2e09c4f81bb",
+        "render.png": "28d62995cdee28b33ce5c5895513683ded111c37f2d52c16e4e4e5dc584bdb58",
         "graph-raw.svg": "032c4123e441814697f336ce8900daf034f868188513fc703eeef92a3598f763",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "63ccad440587c9b4cbd561dac47c8af168a1d236dd6302f9bf4bd4f32617cd2c"
@@ -5566,7 +5646,7 @@
         "mjcf_ms": 2.5476100854575634,
         "compile_ms": 391.4244044572115,
         "graph_ms": 101.01099358871579,
-        "render_total_ms": 2372.077129315585
+        "render_total_ms": 2436.0648691654205
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5627,16 +5707,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 386.68543193489313,
-        "render_ms": 1829.6482167206705,
-        "compose_ms": 62.61292891576886,
-        "write_ms": 80.11511387303472,
-        "foreground_fraction": 0.60225
+        "compile_ms": 485.13374105095863,
+        "render_ms": 1784.3848010525107,
+        "compose_ms": 68.82168538868427,
+        "write_ms": 80.22142807021737,
+        "foreground_fraction": 0.60225,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "0100cd34705e97108b14dcd13eb85faa01f408f6a1e846fbd862f5ccb7db39c7",
         "meshes.tar": "0e47922eea865f134e6bebef44eae7de8581fa9f6bf2c19231afbf962908684c",
-        "render.png": "fdfe6c01f685a5e1e40e8e7ad3e4a343a93ba842ad0577a959d85265dbc75b25",
+        "render.png": "c8b6d00d068e1ca44c459ad4135f6ccf6e937dbe75c885fedf0a0b38d2b424cf",
         "graph-raw.svg": "726ee35df8bb2cbc568c727da72f43ff4c017a3766af8eeb29e039452c6eb554",
         "graph-robot.svg": "60607d63436a21aa748da249ee33d226a300bbf33a9eef50ec33433b6836fb92",
         "robot.urdf": "796f65b39353683cc1e37564a82862bf08165b626a398cb003f0459c1ad6f57c"
@@ -5677,7 +5759,7 @@
         "mjcf_ms": 2.108065877109766,
         "compile_ms": 33.85935677215457,
         "graph_ms": 82.2408334352076,
-        "render_total_ms": 1775.1280758529902
+        "render_total_ms": 1964.6937139332294
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5725,16 +5807,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.304943952709436,
-        "render_ms": 1579.8304700292647,
-        "compose_ms": 79.356808681041,
-        "write_ms": 69.25699720159173,
-        "foreground_fraction": 0.753025
+        "compile_ms": 39.529917761683464,
+        "render_ms": 1746.2777136825025,
+        "compose_ms": 83.54875911027193,
+        "write_ms": 72.69705599173903,
+        "foreground_fraction": 0.753025,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "8e88dcc484d43fca2cf0d8541bf86b7a7a0b3c3f958dd4ff15a77dc571201d43",
         "meshes.tar": "362b7fc5576e032771336e8ed145ba978478f03d7cf0615d1075fc2c6eb8a406",
-        "render.png": "15cb1beef5eb2511281772528152f115a9fd26e78eae9c4dc18ca084fc658da4",
+        "render.png": "d37b028cfeecc3acf7b05a725c335883b7932ff8240388dccacc9e7f6e726528",
         "graph-raw.svg": "6a27f444c5f071be2675d91ec12a6adf95cbfd11566a92d1ab9d30f2d687c54b",
         "graph-robot.svg": "f50985730a4f4d492f5eacde00e8272c182832617a8bf264cb603efa813ad869"
       },
@@ -5773,7 +5857,7 @@
         "mjcf_ms": 2.3316540755331516,
         "compile_ms": 38.297127932310104,
         "graph_ms": 78.9059866219759,
-        "render_total_ms": 1804.8569089733064
+        "render_total_ms": 1716.2702442146838
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5821,16 +5905,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 35.81732604652643,
-        "render_ms": 1623.3227839693427,
-        "compose_ms": 61.33026722818613,
-        "write_ms": 71.16113416850567,
-        "foreground_fraction": 0.5731
+        "compile_ms": 42.471133172512054,
+        "render_ms": 1503.213968127966,
+        "compose_ms": 75.52578905597329,
+        "write_ms": 75.19464613869786,
+        "foreground_fraction": 0.5731,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "4a5fbea5cb42ccecd9238ab4e1398a2c6f17ee411fbd7643f2d5be06f81c1088",
         "meshes.tar": "4dafad594de4543b1a4c40a654ceca5e2110e7ae98a53d952057710a40add56f",
-        "render.png": "2e7f4936e2a601bcae53c5637b288b11ef0e75ef6e7857226cd4d305ae1ee6b3",
+        "render.png": "657b6a94e9dac7e97e45978c4d6fbc8526fb9813426a13a798cd4e178113ccdf",
         "graph-raw.svg": "dc9d6f1f50a64ac572a4c14dc7548cff4e554eab9d4740b0a4c50e6d63cbf3b1",
         "graph-robot.svg": "8417cb830a8e6535cc2566bd1db58ca00b54f510e25c04295c1131bb0598187e"
       },
@@ -5870,7 +5956,7 @@
         "mjcf_ms": 3.8970080204308033,
         "compile_ms": 210.74253041297197,
         "graph_ms": 205.1971722394228,
-        "render_total_ms": 2204.7919747419655
+        "render_total_ms": 2350.5784240551293
       },
       "mesh_preparation": {
         "status": "complete",
@@ -5918,16 +6004,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 208.1646560691297,
-        "render_ms": 1836.5925690159202,
-        "compose_ms": 56.04317272081971,
-        "write_ms": 90.69908410310745,
-        "foreground_fraction": 0.5313
+        "compile_ms": 253.79051268100739,
+        "render_ms": 1903.7809069268405,
+        "compose_ms": 71.16535864770412,
+        "write_ms": 102.1361998282373,
+        "foreground_fraction": 0.5313,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "1f0adc76f58f49dedfd3e823207a82f6c923f0f92483a3802a9da641486957d7",
         "meshes.tar": "d6f5b5a759fce6db6971231684ddf60bbcaae95c1efa50c0c81c18622921ec4e",
-        "render.png": "fbb7f22755670adae96f59cfc3d79c9ac9c6fc8bc7104ed74ba9dbcd06cb08a3",
+        "render.png": "3ed767f49a068b122ebbaa9ceaea036ae549d2f2b6842f9e974b869e34a95d1c",
         "graph-raw.svg": "7cd7cbb819050a51aaa8d0a08bcc13d196ecd53390d4d474a5c890ef059e6e5b",
         "graph-robot.svg": "ab817328b8bffb5611f46358f3378ac89e6c130cf6b3968373416acfc5a019a1"
       },
@@ -5975,7 +6063,7 @@
         "mjcf_ms": 3.4661320969462395,
         "compile_ms": 217.24786283448339,
         "graph_ms": 231.09763208776712,
-        "render_total_ms": 2174.086927436292
+        "render_total_ms": 2188.3134902454913
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6084,16 +6172,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 210.38866927847266,
-        "render_ms": 1762.1251144446433,
-        "compose_ms": 70.21372113376856,
-        "write_ms": 109.40739931538701,
-        "foreground_fraction": 0.648375
+        "compile_ms": 221.32505755871534,
+        "render_ms": 1769.6809377521276,
+        "compose_ms": 71.68493093922734,
+        "write_ms": 103.69519796222448,
+        "foreground_fraction": 0.648375,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "b42d9fae4689d3c14eb7c989436de7e0243baff0fee73d0a2d8ccb4c1bdd222c",
         "meshes.tar": "67784af4f7018b45755e2bf3ea3df72c986406ee197bca009632676a190bbb2e",
-        "render.png": "18ee370d5a08a30b71cd38cfb678e20854ff5973875a80577ea46d562b3946b0",
+        "render.png": "8939c877fee6177a4de24987682971a639087d7d6a8fe4870483a763463afce9",
         "graph-raw.svg": "2185a8590ccaaf2a2b5ae785b1da9aff130e82990913a0bef6916850563b0c13",
         "graph-robot.svg": "655ce113a7851c59b68cc9a507e54b55887e555b8ccbfb860a96453409f07807"
       },
@@ -6133,7 +6223,7 @@
         "mjcf_ms": 3.034429159015417,
         "compile_ms": 81.77677681669593,
         "graph_ms": 163.3184333331883,
-        "render_total_ms": 2017.072431743145
+        "render_total_ms": 1941.724839154631
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6181,16 +6271,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 84.00247525423765,
-        "render_ms": 1786.3640673458576,
-        "compose_ms": 64.96034702286124,
-        "write_ms": 66.26300700008869,
-        "foreground_fraction": 0.6567166666666666
+        "compile_ms": 60.163342859596014,
+        "render_ms": 1703.0440848320723,
+        "compose_ms": 81.3777232542634,
+        "write_ms": 74.19460080564022,
+        "foreground_fraction": 0.6567166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "0ecd627232f18d015603d481da2ad8c7ba8210c486ac8da167803f9513411def",
         "meshes.tar": "cf3f835715714a90071d824d19ceb3f03402cc6bf5e7980098d4bdcd04938982",
-        "render.png": "9237f2ab91da450fa73a1709008486660476cdf48b96494313ec49a86bc97cb0",
+        "render.png": "56227af8cf459013d6e0bd78594f52ec6307e3629c561b80c68a342179e23ea7",
         "graph-raw.svg": "7adc7582f949d467ff586660ceb4d0f3af35ec7f1c025ba1026da60b60120cce",
         "graph-robot.svg": "d4dab96ceca129f7e3b8312fd7079ab899bcbc5b9131065a8371844f40bbcd9a"
       },
@@ -6224,7 +6316,7 @@
         "mjcf_ms": 3.105343785136938,
         "compile_ms": 27.396481949836016,
         "graph_ms": 170.65257066860795,
-        "render_total_ms": 1838.5648760013282
+        "render_total_ms": 1864.7319939918816
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6292,16 +6384,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 27.097482699900866,
-        "render_ms": 1638.804947026074,
-        "compose_ms": 72.58120877668262,
-        "write_ms": 87.04494591802359,
-        "foreground_fraction": 0.7029
+        "compile_ms": 34.452348947525024,
+        "render_ms": 1617.7373342216015,
+        "compose_ms": 80.0964729860425,
+        "write_ms": 112.47004894539714,
+        "foreground_fraction": 0.7029,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "3bf55012e4b99ef60d3345175a1b9f18600eec23cb3866e807d4d2135a19be1a",
         "meshes.tar": "eb8d9b5677f73b6a2ca91f746ac1b4b43dff2c16db6f2f2939b416845972931a",
-        "render.png": "11a70508bf25e638fd73622118b4d1ae5dfc4f6af78c905db190612c9c0524ab",
+        "render.png": "f0522d90438f856b66b92a909f83db068258187eaf6a57062052c46924c381fc",
         "graph-raw.svg": "6c70ca73109904fd13e53afac9e9633a162dd3adc67567a08e77ac4d2e2c50ac",
         "graph-robot.svg": "96aa49ee02b790da594c7a458babfcc73630fb901764053c25b4eedab83c2e49",
         "robot.urdf": "73840fa5e15eb47d35f7dd8c8318a7717cdc375314fbe8b90904714a6edf9bca"
@@ -6344,7 +6438,7 @@
         "mjcf_ms": 2.8117597103118896,
         "compile_ms": 4254.065233282745,
         "graph_ms": 180.36755826324224,
-        "render_total_ms": 7016.941798385233
+        "render_total_ms": 6093.459089286625
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6489,16 +6583,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4961.108928080648,
-        "render_ms": 1892.8668019361794,
-        "compose_ms": 64.69248607754707,
-        "write_ms": 82.20286201685667,
-        "foreground_fraction": 0.4367
+        "compile_ms": 4248.037633020431,
+        "render_ms": 1682.8348999843001,
+        "compose_ms": 67.00071739032865,
+        "write_ms": 79.11284966394305,
+        "foreground_fraction": 0.4367,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "a7dba434e760d240cf46ce60740d95162b0db2fdf2374b9b87e24f90d78521a1",
         "meshes.tar": "6187912168a03800c0bbab6f5e188a9a64cdee90f2922620ffce1922058c2b52",
-        "render.png": "7de97f976da8f4b7bfe2828c9313a720814837430794982bf4fbf088cd3c1030",
+        "render.png": "fe3271eca29dc78299ecd7b011dfab76fa3c5d499439c01db271a4cc394b367f",
         "graph-raw.svg": "b47026e08cb96ab477c4446d7f9fafcbc5c5431da6b978118af34925453831e9",
         "graph-robot.svg": "62fb8df0d062debfd5fb8b1d5a05ab4edf12be105275e2bab3d300d8e70f06b3"
       },
@@ -6553,7 +6649,7 @@
         "mjcf_ms": 3.238414414227009,
         "compile_ms": 37.433587945997715,
         "graph_ms": 465.30565712600946,
-        "render_total_ms": 1884.6813295967877
+        "render_total_ms": 1689.0007499605417
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6626,16 +6722,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.844523683190346,
-        "render_ms": 1705.6085360236466,
-        "compose_ms": 73.97623406723142,
-        "write_ms": 61.489802319556475,
-        "foreground_fraction": 0.38005
+        "compile_ms": 33.58217002823949,
+        "render_ms": 1509.9833589047194,
+        "compose_ms": 64.59722993895411,
+        "write_ms": 61.07910582795739,
+        "foreground_fraction": 0.38005,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "37447e82524decc7ebe37a3f50dfba22680afee0bbc5ed4f17dd8500e0aff926",
         "meshes.tar": "5c4c2648610894db3537172881797059fade56d7aaa7d13d34d95b43c65d50c6",
-        "render.png": "7ede7e4b5fafd79fb95912d388d35314d538bf2d0baf5bef0818c603463ee4be",
+        "render.png": "12697d464fa2d740e27c4de565ad59920ab7faf80da2c876442d1995f9b7def5",
         "graph-raw.svg": "37b11f516430132a9211bb19da6877e7aaf528c7401aacce99a4286ac069738c",
         "graph-robot.svg": "346c2263d32657158a0ee6e88811e499c3a387647bd8def0be1ec5848ddf80cc"
       },
@@ -6673,7 +6771,7 @@
         "mjcf_ms": 2.2319150157272816,
         "compile_ms": 71.26959506422281,
         "graph_ms": 78.0005999840796,
-        "render_total_ms": 1865.0135439820588
+        "render_total_ms": 1781.1588598415256
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6721,16 +6819,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 67.2911899164319,
-        "render_ms": 1616.4116780273616,
-        "compose_ms": 68.51962208747864,
-        "write_ms": 99.71146006137133,
-        "foreground_fraction": 0.79145
+        "compile_ms": 71.97040505707264,
+        "render_ms": 1487.4263158999383,
+        "compose_ms": 77.94240675866604,
+        "write_ms": 125.62330299988389,
+        "foreground_fraction": 0.79145,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "10cb9b69aa948723c1db21ad09e423b3bb05e9caa68442ea9fe9c1fa14a862c0",
         "meshes.tar": "150a7685f7e6e2135ec12167f07e3494683e965b18fd4fb04e9630940762be3b",
-        "render.png": "61729227d086a10c813c9c83eca3c11a5b60fe28672b9e3f741c0eef621c48d2",
+        "render.png": "65868ea84c192d136919ca8ae67a3f6c57b0d19b782badc96bb87ed4bb523f30",
         "graph-raw.svg": "22927235d47a53ce4c447e39267be0ab716bb35f1b7a64193ffc587df438892e",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -6773,7 +6873,7 @@
         "mjcf_ms": 2.925809007138014,
         "compile_ms": 162.89331996813416,
         "graph_ms": 215.1915249414742,
-        "render_total_ms": 2003.9886189624667
+        "render_total_ms": 1824.0847582928836
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6930,16 +7030,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 152.01527532190084,
-        "render_ms": 1669.8542279191315,
-        "compose_ms": 95.63371632248163,
-        "write_ms": 68.32792004570365,
-        "foreground_fraction": 0.666575
+        "compile_ms": 126.05581525713205,
+        "render_ms": 1519.8331959545612,
+        "compose_ms": 89.92601977661252,
+        "write_ms": 69.87400306388736,
+        "foreground_fraction": 0.666575,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "994273e92e2f5f19d6b01dcab41fb2330c29d14bbccbbaec42431d0187393c99",
         "meshes.tar": "d22145a8516997449804548b6aee5ed009527999c24710eec6c64ef3b8178b68",
-        "render.png": "fb8bb1475e2fe5c52fcb9c6c62deca1330e17c681d7af96000bdff9332d92d73",
+        "render.png": "3b94a3a0af4c76d1a5491ec863d49d03461f00cb15f476d54375f82dabedb1f0",
         "graph-raw.svg": "300fc377a7ccb14e152767efbf06f921edc04bf269fdde9b508549dfe8f0d0f5",
         "graph-robot.svg": "35584528bf8a65dafb2cf34f4c69a0d5626cf67d68b699a00b31664a7f230b5e"
       },
@@ -6978,7 +7080,7 @@
         "mjcf_ms": 2.436100970953703,
         "compile_ms": 49.994805827736855,
         "graph_ms": 131.2048346735537,
-        "render_total_ms": 1833.7763068266213
+        "render_total_ms": 1737.250957172364
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7045,16 +7147,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 47.838494181632996,
-        "render_ms": 1636.9259841740131,
-        "compose_ms": 63.00941901281476,
-        "write_ms": 72.70043669268489,
-        "foreground_fraction": 0.6840166666666667
+        "compile_ms": 56.951376143842936,
+        "render_ms": 1494.1553729586303,
+        "compose_ms": 85.61459416523576,
+        "write_ms": 77.59847911074758,
+        "foreground_fraction": 0.6840166666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "77dc597d5681a3ca18152c75f7d7b75cb2d23f269b012135d455cdbea7e73793",
         "meshes.tar": "03664a9b8a446354933969c116182aba567cc016be58da73f0f7b9410c578041",
-        "render.png": "9f89a3a0f6c96f5f35669946fda2a43948bf160da377558507ace799ed8c54e8",
+        "render.png": "000957aa55fe274649bc67629d918ad806fe555a80e24adb0f596cb5741a52dc",
         "graph-raw.svg": "2116770f62a9e1f16beccf46e043609da80aba376eb676a7592a6efd18c2625b",
         "graph-robot.svg": "85190fc5da609ca273c7e0385e2eb928e4bd03589e365047e8f233887a4c3086"
       },
@@ -7093,7 +7197,7 @@
         "mjcf_ms": 2.7541876770555973,
         "compile_ms": 6.1056045815348625,
         "graph_ms": 301.54514592140913,
-        "render_total_ms": 1699.4083682075143
+        "render_total_ms": 1660.2366003207862
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7148,16 +7252,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.734489299356937,
-        "render_ms": 1545.8919699303806,
-        "compose_ms": 64.43282077088952,
-        "write_ms": 66.1948979832232,
-        "foreground_fraction": 0.6734
+        "compile_ms": 7.444320246577263,
+        "render_ms": 1504.5718112960458,
+        "compose_ms": 63.824423123151064,
+        "write_ms": 70.0451829470694,
+        "foreground_fraction": 0.6734,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "d81448cc37bdcd4a8363f82a1f65283c060300015b2624c9c188379f0b3743b5",
         "meshes.tar": "5b6063336b76166dc780fa91db40722d229698ba20ba50d08f80b58f87b5df3d",
-        "render.png": "31a1569f9a313f9047e240934a1f79261af7e27a25eb5ade368796571fde875c",
+        "render.png": "e5a0ae5c0f2442a185e5d1450f0a112c3e66d25b3afd2c075f0e952c86c53283",
         "graph-raw.svg": "63cda3dcab9575f458ec0e53c767ba146dabdec3059daf7fe276282b99fa7a42",
         "graph-robot.svg": "a06972669d38e874259c93d8882ba9eb390764e05eb63fdce54cfbe7dd506963"
       },
@@ -7196,7 +7302,7 @@
         "mjcf_ms": 2.7002040296792984,
         "compile_ms": 318.45512613654137,
         "graph_ms": 105.23867094889283,
-        "render_total_ms": 2314.1722143627703
+        "render_total_ms": 1979.7942200675607
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7244,16 +7350,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 323.96592712029815,
-        "render_ms": 1849.2517941631377,
-        "compose_ms": 52.18730214983225,
-        "write_ms": 75.32661408185959,
-        "foreground_fraction": 0.33605
+        "compile_ms": 344.04331911355257,
+        "render_ms": 1490.9577737562358,
+        "compose_ms": 50.033995881676674,
+        "write_ms": 81.91649988293648,
+        "foreground_fraction": 0.33605,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "b04fadbaeedac3444da09087c7ff2f781c15f3fdd6f3fd2ebcb9c802af7303f8",
         "meshes.tar": "11955b037434c640415e5f34e05b27fd8895c51e8ab6c1c15f96b42322a50e59",
-        "render.png": "986d2cbe3c27571f3d70e8dea580e7d91ef66b19b26d0ae6d34cffdc6183e440",
+        "render.png": "8ae6a7d2b3d0e16fa4a0737cad28b69ee48e7c585c4ae595577708da2915002d",
         "graph-raw.svg": "ac3cd111869d079c4140cc1093de850676560d6dec4e58cb3380e5707ae2eab7",
         "graph-robot.svg": "0b4b1701c9c4237b1588070899b12961d2201ce371b3359236985bba87b7585d"
       },
@@ -7291,7 +7399,7 @@
         "mjcf_ms": 2.3480067029595375,
         "compile_ms": 10.60513174161315,
         "graph_ms": 89.6402751095593,
-        "render_total_ms": 1777.7210720814764
+        "render_total_ms": 1634.1365319676697
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7352,16 +7460,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.679174955934286,
-        "render_ms": 1644.0411959774792,
-        "compose_ms": 50.00078724697232,
-        "write_ms": 63.73962899670005,
-        "foreground_fraction": 0.2849
+        "compile_ms": 11.14551816135645,
+        "render_ms": 1468.04043604061,
+        "compose_ms": 65.79216802492738,
+        "write_ms": 69.93678724393249,
+        "foreground_fraction": 0.2849,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "e3b23f877972df4b1d4dce802cf895fa812b3fa341cf3238818731791fbfc8a8",
         "meshes.tar": "fcae81753227778e02faa881a149363c65317aa3ce9fb526056f7537a45ff6e4",
-        "render.png": "9e1cf35f4d0912a8c6ce50724c11e92b55b9256f9c2ab6b17c3f3beca6f07cba",
+        "render.png": "18b75fc1cfa61a15367fbdf436e0950dd143c0945a8d83ef1a6860cd0630362d",
         "graph-raw.svg": "c977ec49017ed2044f46de7d6980897677cf80c2a7009edd545cbcca0b557dc0",
         "graph-robot.svg": "ed5e2f91fc71284a4df072d93c5b5bb8ccc9db4e784f32ab2c965db53ce881a5"
       },
@@ -7398,7 +7508,7 @@
         "mjcf_ms": 2.3069879971444607,
         "compile_ms": 3.4186169505119324,
         "graph_ms": 72.40742491558194,
-        "render_total_ms": 1742.2558539547026
+        "render_total_ms": 1644.9194396845996
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7446,16 +7556,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.9807939901947975,
-        "render_ms": 1580.7186882011592,
-        "compose_ms": 65.17043197527528,
-        "write_ms": 78.91023391857743,
-        "foreground_fraction": 0.72765
+        "compile_ms": 5.153575912117958,
+        "render_ms": 1456.7827600985765,
+        "compose_ms": 73.10332404449582,
+        "write_ms": 91.57900279387832,
+        "foreground_fraction": 0.72765,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "45c200ad4c86a1750d8a88b08f7fba6a05d7b42c3753d47d7cd8011849345b9e",
         "meshes.tar": "3614be7f38d74217af42dfc2a899994a429cbbec8ea541ab148f302ca59b06af",
-        "render.png": "e0cb492b431e5e7139043115fd749f5721ae8d5ada4e6984f427d04d0bd8d11a",
+        "render.png": "ebe69820acea52e1cf7ff1a76af5e3edee32a55d859d455a56999059f3f98b2c",
         "graph-raw.svg": "f551d0a1271ec951e2b91557b444fd52200a3ad4b1d0e36ee92807e08a79495f",
         "graph-robot.svg": "47aa019ec97a53c7bad9b180229604b668e8ba35e684c4f22093206c7f53b843"
       },
@@ -7485,7 +7597,7 @@
         "mjcf_ms": 2.1851579658687115,
         "compile_ms": 2.263842150568962,
         "graph_ms": 69.95428120717406,
-        "render_total_ms": 1684.8670770414174
+        "render_total_ms": 1574.834501836449
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7546,16 +7658,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.822775859385729,
-        "render_ms": 1545.4773190431297,
-        "compose_ms": 56.70812213793397,
-        "write_ms": 66.53816811740398,
-        "foreground_fraction": 0.33275
+        "compile_ms": 3.562707919627428,
+        "render_ms": 1412.4815817922354,
+        "compose_ms": 72.59743008762598,
+        "write_ms": 66.55002571642399,
+        "foreground_fraction": 0.33275,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "917d71f6182082459dee4c610ab39ffabc58434f6585652fdd0fbb8392c925dc",
         "meshes.tar": "babcff0838dae2140d43afe1d55167ed743c6bb0b75259774a69a4c96742e4fe",
-        "render.png": "da93617b2557a3dc59cdf8d5b97f7bbd0bcc5f249b78c5c6e2d48c57214a2edd",
+        "render.png": "629b1e7ddd562980bb2c822eb0101e0417ac79d5adc09e82ceee379e139a5fee",
         "graph-raw.svg": "65dc464dc946a80fae0e1ffe777f305ee55e430750ec6357bde60e7fa7bea4b2",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "69bffee3d83b13fc8d6be069fe9ba03c35f24503470a13c123afabf5ebbdb2a1"
@@ -7586,7 +7700,7 @@
         "mjcf_ms": 2.4290569126605988,
         "compile_ms": 3.2410258427262306,
         "graph_ms": 106.20418889448047,
-        "render_total_ms": 1738.3168181404471
+        "render_total_ms": 1767.3175791278481
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7647,16 +7761,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.775755874812603,
-        "render_ms": 1579.079706221819,
-        "compose_ms": 89.50626291334629,
-        "write_ms": 49.610717222094536,
-        "foreground_fraction": 0.59455
+        "compile_ms": 4.7399369068443775,
+        "render_ms": 1608.6873398162425,
+        "compose_ms": 90.7755522057414,
+        "write_ms": 49.70327205955982,
+        "foreground_fraction": 0.59455,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "882ec65ad7b6284eca332b537a06d19dccc807e0025ad3a2c9250bdfc1b760f5",
         "meshes.tar": "629d7b920c32054ab4646b3c5f532a2ed21597b1f4751aa8076db7a50c9e2909",
-        "render.png": "9d1fd124619f945eb8ad799b12878d5e9b302334b3aef2f40807cea9b6c47c9e",
+        "render.png": "facc87ca3efbae3a2372a38a160522436c0ff6735b127b728850a5803a5087b6",
         "graph-raw.svg": "59ce0c4cf9c7135bdb0df05bef3d19163e11624ad86d974227de7284ea5efa13",
         "graph-robot.svg": "90c4e03337b0bd4f9f8685256d3ef3e560a8e4df8c317a764798b75396d780bc",
         "robot.urdf": "a18b8575d02f2afc20ccea72ca1527b333e127be88fb2220622111cda3cf41d3"
@@ -7711,7 +7827,7 @@
         "mjcf_ms": 63.153319992125034,
         "compile_ms": 32.21732471138239,
         "graph_ms": 702.7828097343445,
-        "render_total_ms": 1864.9838962592185
+        "render_total_ms": 1754.1264067403972
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7759,16 +7875,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 36.09200520440936,
-        "render_ms": 1669.513886794448,
-        "compose_ms": 76.78240397945046,
-        "write_ms": 64.85300697386265,
-        "foreground_fraction": 0.72435
+        "compile_ms": 37.3237868770957,
+        "render_ms": 1571.9699379988015,
+        "compose_ms": 60.91618770733476,
+        "write_ms": 69.65799583122134,
+        "foreground_fraction": 0.72435,
+        "style": "link-palette-v1",
+        "colored_bodies": 28
       },
       "artifacts": {
         "robot.mjcf": "d074386868ca32c942ed6313180eb323f97e1c2b54b9832243849505c3468eaa",
         "meshes.tar": "1f3f56daeda763962efa6612b78ee9cba36483b1e49a4063d7822271b56625c6",
-        "render.png": "400b776ae690fd41149b1d45cb1f354f0b6aa15bf663caf783b479ad3065dc3c",
+        "render.png": "c9fc14e79985072e5c0cc9c88d4d4c261dabea5d20655df6b969ecfaa1dbf250",
         "graph-raw.svg": "1ad5c67773a9e3cef325f4a6123c656444093f13789b6fcd660429f3893581c0",
         "graph-robot.svg": "b6ac9b220466dd2d85df2a07fd644f30279137a869a04a7b7845e6cb1da0b1bc"
       },
@@ -7799,7 +7917,7 @@
         "mjcf_ms": 2.9686959460377693,
         "compile_ms": 14.37895791605115,
         "graph_ms": 79.64826002717018,
-        "render_total_ms": 1748.2800632715225
+        "render_total_ms": 1797.1985377371311
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7860,16 +7978,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.38795991614461,
-        "render_ms": 1595.0653292238712,
-        "compose_ms": 51.64318811148405,
-        "write_ms": 74.49273625388741,
-        "foreground_fraction": 0.3366
+        "compile_ms": 13.882073108106852,
+        "render_ms": 1617.1554340980947,
+        "compose_ms": 63.07126022875309,
+        "write_ms": 85.64640022814274,
+        "foreground_fraction": 0.3366,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a60176d7cb016191241d0466c6bda4e2c290ec4e0406154053130b2126f6acb6",
         "meshes.tar": "6e8ff6ec338ee7c3819cbbea579886b070233341769696c39a70b71f52b354ea",
-        "render.png": "a49d01b07ea95c315d28b338100b6ebcaa8010c6c10a3f3b3d6943c4ecd54728",
+        "render.png": "83d31c3975f05762e9e14485d7581fe71d2e900a4259e8170f0cffb51621cf89",
         "graph-raw.svg": "31597feda16c5fc400e2698696ab252c0fe2f0f6f82924119f8c203198708edf",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "edaf1d380b57228fafeb02c1ab0cb6d27f2e63210e7531bbcecfc9f94fd35c02"
@@ -7905,7 +8025,7 @@
         "mjcf_ms": 3.21618327870965,
         "compile_ms": 39.248577784746885,
         "graph_ms": 96.43001202493906,
-        "render_total_ms": 1757.8287329524755
+        "render_total_ms": 2043.9736247062683
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7966,16 +8086,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 39.164198096841574,
-        "render_ms": 1568.7927482649684,
-        "compose_ms": 65.73762465268373,
-        "write_ms": 70.58920012786984,
-        "foreground_fraction": 0.5577
+        "compile_ms": 41.95763682946563,
+        "render_ms": 1828.7236746400595,
+        "compose_ms": 81.78450725972652,
+        "write_ms": 71.52533903717995,
+        "foreground_fraction": 0.5577,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "04bd948ad2a43ec02fdc750bf2b31d2df3be6b61bf054822a86f09772322264f",
         "meshes.tar": "c186c184ada4ac3e090a6f14306645044938ec0e103e4b9e1d0e8652597551c9",
-        "render.png": "2ea808148b759c237057e84bd7332042bde717955f66bf2e9cd2d3d14d1753ad",
+        "render.png": "b4819e8022301f0fdf330077ccbd0a7bd686b7e4eaab51d0fe832d32dea7f02a",
         "graph-raw.svg": "858483206f5431df8df9865a0e0270d31293e8819987002dd15805f6ba72fdfc",
         "graph-robot.svg": "1cf12b62fb9e16ad70262c00c96829d9c18855809821b70d80eeaff33a05fc61",
         "robot.urdf": "347754cd9004a46544473b4edc7e97e0929470911d5ad31e732388995c0177f4"
@@ -8020,7 +8142,7 @@
         "mjcf_ms": 3.1653419137001038,
         "compile_ms": 81.40322798863053,
         "graph_ms": 124.96596202254295,
-        "render_total_ms": 1874.6866043657064
+        "render_total_ms": 2024.8442320153117
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8068,16 +8190,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 78.51072400808334,
-        "render_ms": 1643.9832961186767,
-        "compose_ms": 58.734125923365355,
-        "write_ms": 79.93100304156542,
-        "foreground_fraction": 0.7340666666666666
+        "compile_ms": 112.04223986715078,
+        "render_ms": 1715.5429176054895,
+        "compose_ms": 86.82529721409082,
+        "write_ms": 90.7966960221529,
+        "foreground_fraction": 0.7340666666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "81d4f056b6774fc767001299891bceebde47f600a28ef5beb9a74686eba6f30a",
         "meshes.tar": "32b13289306cf4b8ec7b537beaadce2a531bb0d02560c444de42fa17e9449abf",
-        "render.png": "f2d5865a530495d564390e9e6741fa427cea1e6c8e2971a076f23b7a9e5de5da",
+        "render.png": "442e0a5b3aee279e9c730ba149a2fab6ac83ae34a25045c62b55d7646e20aecd",
         "graph-raw.svg": "e47687b6e77c352b223ab11ab1853c5500ed19e20019c516b97d5266529d264d",
         "graph-robot.svg": "5858665d163ae48ada4f7da0c29f420d7a81a4306a3747de39eb7e19da5a28b8"
       },
@@ -8116,7 +8240,7 @@
         "mjcf_ms": 2.443880308419466,
         "compile_ms": 42.13640512898564,
         "graph_ms": 89.90531088784337,
-        "render_total_ms": 1801.0416352190077
+        "render_total_ms": 1620.9953879006207
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8164,16 +8288,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 41.172371711581945,
-        "render_ms": 1616.4294420741498,
-        "compose_ms": 60.19645696505904,
-        "write_ms": 69.6154423058033,
-        "foreground_fraction": 0.637
+        "compile_ms": 34.754610154777765,
+        "render_ms": 1428.2721285708249,
+        "compose_ms": 66.6155363433063,
+        "write_ms": 75.36816596984863,
+        "foreground_fraction": 0.637,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "e01bea2596d57f0aadcca21de33fb3c63e8a8bfd5ac647a1790930c857372d97",
         "meshes.tar": "7f5ce74e37a248ea6992bfb42f5f3b67803c0cc13d5ec17e047aa69af2c6edfc",
-        "render.png": "32f6ec26645858c085b9e940e0c108abafe62ed3e0f2d72e835a2e9939ae03f7",
+        "render.png": "a1a529d39757f81540b1b7e802c767c0717f418357c02f7a078a9bdc414d770d",
         "graph-raw.svg": "2a2abf5acb434ab648b168513329c8dcf31fdd790a84b46a8694b22929897a1f",
         "graph-robot.svg": "6a10c195b801489caf73c8df91b5b3d0f94903d417b450f1e7ec0c4bbc9c2948"
       },
@@ -8208,7 +8334,7 @@
         "mjcf_ms": 3.699196968227625,
         "compile_ms": 5.391471087932587,
         "graph_ms": 173.9592682570219,
-        "render_total_ms": 1731.0643107630312
+        "render_total_ms": 1900.8334199897945
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8269,16 +8395,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.178249139338732,
-        "render_ms": 1582.122087944299,
-        "compose_ms": 59.53128868713975,
-        "write_ms": 69.59152966737747,
-        "foreground_fraction": 0.652925
+        "compile_ms": 9.363434743136168,
+        "render_ms": 1735.9172101132572,
+        "compose_ms": 72.63656612485647,
+        "write_ms": 69.41793626174331,
+        "foreground_fraction": 0.652925,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "496060421361981dea6e273bac5bac46aff22b3bc86d9b2b31193c09d791ae2e",
         "meshes.tar": "e07a2bea302a7ba713387322598b89d69b9faeeb21ae184a25aad1f549c93e64",
-        "render.png": "03bbab8ec0faba4b39b0ef633e63be9a9046a1cdad5bb7d0ae73b05ebfaba710",
+        "render.png": "23a6e9189f180c199eb217222c864ba68061f990982ba4ceaae42dd577f879ef",
         "graph-raw.svg": "c62b1ab6b6cbde35dbdb8a329a097e998fb8a7a267e757ad9c36d29c00335061",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "433880a7555f7b08e58a86cad1373792f610151dcbf54ca2cb89def30bfe4986"
@@ -8334,7 +8462,7 @@
         "mjcf_ms": 21.359225269407034,
         "compile_ms": 788.3086213842034,
         "graph_ms": 2254.1161100380123,
-        "render_total_ms": 3044.1985791549087
+        "render_total_ms": 2814.596265088767
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8960,16 +9088,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 798.3600329607725,
-        "render_ms": 2010.9481099061668,
-        "compose_ms": 60.72074733674526,
-        "write_ms": 155.98087897524238,
-        "foreground_fraction": 0.7986
+        "compile_ms": 648.0502751655877,
+        "render_ms": 1896.167469676584,
+        "compose_ms": 68.13283823430538,
+        "write_ms": 182.35704582184553,
+        "foreground_fraction": 0.7986,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "2f9035a23340aa04fee030990ba0eb54c5578c978438881c12dcde43418da1d8",
         "meshes.tar": "f0341cc75f6516424b0de1ab43f1136ce17e3fee4b4d958ced442b32b21ccbad",
-        "render.png": "3be8c4ffa01f4051bc990c209f91c13bdbfc813e340f3d2de42fb00fe4a5352e",
+        "render.png": "a9f6379fea022d39fcc417407465b508fd1eb07fe974a8d8f82153a475c25203",
         "graph-raw.svg": "8b68f6304c1a00feec92caf86dcf28af74324b926bc566fe92e381f2fbe8bab4",
         "graph-robot.svg": "84290f385b227655e563677b0472bf7778b65729e54f13610b6ab1c51c0f5f13",
         "robot.urdf": "2fabeea00aa7e2daa124027350bea7729f28fe87e22c52a0dcf616069a5e5d78"
@@ -9003,7 +9133,7 @@
         "mjcf_ms": 8.479316253215075,
         "compile_ms": 7.965810131281614,
         "graph_ms": 603.0536419712007,
-        "render_total_ms": 1929.8467109911144
+        "render_total_ms": 1623.6040606163442
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9064,16 +9194,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 8.365769870579243,
-        "render_ms": 1752.4718288332224,
-        "compose_ms": 83.12324620783329,
-        "write_ms": 70.17289008945227,
-        "foreground_fraction": 0.730275
+        "compile_ms": 15.056148171424866,
+        "render_ms": 1433.3781050518155,
+        "compose_ms": 84.33852205052972,
+        "write_ms": 71.29395799711347,
+        "foreground_fraction": 0.730275,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "bec4d273c6db89a2d1360d9b6feae5e34711929ef46fce913e1a23a9d1b01d83",
         "meshes.tar": "20d0281829d9a01fb1981a9252eb71fe52e15f0d855a00145237c10e7b0fadba",
-        "render.png": "be07f07a796a212b15399251bbc1004fe4b0b9c94f762ce216d33a18fd5c950a",
+        "render.png": "8f35649d46dc9ab43e8d39234a97f8f1bfe45f3780f437df474f3e6ff4e5cf84",
         "graph-raw.svg": "ddbd567dc1fc6d7889ae1d50b8821638fbe81a76dd8a1b7b98020f6d85d9f1b4",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "9a000c4371de310e043a4825c778198e321b69fb2ab81a1f07af37bb15277d63"
@@ -9113,7 +9245,7 @@
         "mjcf_ms": 11.020069941878319,
         "compile_ms": 7.74289108812809,
         "graph_ms": 851.5151548199356,
-        "render_total_ms": 1867.8277311846614
+        "render_total_ms": 1854.5941561460495
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9174,16 +9306,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.60623100399971,
-        "render_ms": 1672.1086730249226,
-        "compose_ms": 72.9941357858479,
-        "write_ms": 93.24245806783438,
-        "foreground_fraction": 0.753025
+        "compile_ms": 10.483187157660723,
+        "render_ms": 1629.8274407163262,
+        "compose_ms": 87.52348413690925,
+        "write_ms": 103.92379900440574,
+        "foreground_fraction": 0.753025,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "7c0b8cdb59b9526825f5ea4427e5c587acd9defbc1b621351ab5eb93f264e809",
         "meshes.tar": "efa6187ec4c8897995ae87cab4789c7c858d610007ec26b4eeffba93597a4fea",
-        "render.png": "2940a982c7cc6f5da4bb8f5f5ed767c26ecf2aeeb60178d584b6f833d6d4a39f",
+        "render.png": "3eacc30285ce946e2c63bab373cbbdf1b1ce2b115cb69b7b196dd34564044219",
         "graph-raw.svg": "374f5b0a00dd7e9f96f970bc3fb19218d6aeb36029d4181c0e91526b707f13c8",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "60d62f909bbb57caa89180cb10c9e61659ce996210350db62af8a714a044af30"
@@ -9224,7 +9358,7 @@
         "mjcf_ms": 2.500746864825487,
         "compile_ms": 5.6606438010931015,
         "graph_ms": 117.48782824724913,
-        "render_total_ms": 1877.7303681708872
+        "render_total_ms": 1660.5557780712843
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9297,16 +9431,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.533806048333645,
-        "render_ms": 1703.0265089124441,
-        "compose_ms": 82.62465335428715,
-        "write_ms": 66.34032214060426,
-        "foreground_fraction": 0.65175
+        "compile_ms": 6.423689890652895,
+        "render_ms": 1502.1276762709022,
+        "compose_ms": 69.04109288007021,
+        "write_ms": 68.84913193061948,
+        "foreground_fraction": 0.65175,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "3fe60d58abbfb667664fc7f8642da65e071466e388685c50e18a314b79f24ff3",
         "meshes.tar": "b4d41e962d4318fd550d5a9977a2e6056c34be2f9faa28a959c7e775590aafe8",
-        "render.png": "eb64d07a32b9760170ae0cfc1b51cf13a02fa46459da45f72eca2a79584e3859",
+        "render.png": "8820c7d83aa591fe5ade6d76d0a40076efda588f4b0ac0aab054bf875852d646",
         "graph-raw.svg": "8b3c4fa9841aaac0b9b17006814f16357b280611fd99523c2db6fe8ef8027484",
         "graph-robot.svg": "adccfb9e51722287f60b0d7a0a80c1b5f9719e03a745223772b386b0cbfc2906"
       },
@@ -9355,7 +9491,7 @@
         "mjcf_ms": 3.4410101361572742,
         "compile_ms": 17.657370772212744,
         "graph_ms": 703.0266891233623,
-        "render_total_ms": 1797.3331240937114
+        "render_total_ms": 1690.121310763061
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9410,16 +9546,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.1852332316339,
-        "render_ms": 1630.4391799494624,
-        "compose_ms": 64.37396164983511,
-        "write_ms": 68.65298794582486,
-        "foreground_fraction": 0.5313
+        "compile_ms": 21.286804229021072,
+        "render_ms": 1512.5496657565236,
+        "compose_ms": 71.36728428304195,
+        "write_ms": 69.38610412180424,
+        "foreground_fraction": 0.5313,
+        "style": "link-palette-v1",
+        "colored_bodies": 13
       },
       "artifacts": {
         "robot.mjcf": "0a60458e877c205484cae772a7690d572c9ae207cbc1ac02f96a7118a20f72b9",
         "meshes.tar": "0851037095c4ceaddf774e12063f0e74e0421c4a6f1e0051d614f94181929a63",
-        "render.png": "6d48bea30352bec5eb740b77816c6c89045a612b92aea5cf80a270379903c7d7",
+        "render.png": "55da8a55d55e4387dff5d003899b36f69b55b4247d2a358fbe7dda49439a677c",
         "graph-raw.svg": "48c1ad9a70a832acc3323ef61d62186de8b7c8b2e95478ce65c7d227e2c281d6",
         "graph-robot.svg": "8667ed25a5189224a8f8286141ba181bd665331ac3fec71293a89c7995462a16"
       },
@@ -9468,7 +9606,7 @@
         "mjcf_ms": 3.0669369734823704,
         "compile_ms": 16.06670208275318,
         "graph_ms": 190.2614487335086,
-        "render_total_ms": 1825.4526467062533
+        "render_total_ms": 1629.8887571319938
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9516,16 +9654,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.68174720928073,
-        "render_ms": 1659.854345023632,
-        "compose_ms": 62.85414332523942,
-        "write_ms": 68.91048513352871,
-        "foreground_fraction": 0.39765
+        "compile_ms": 15.940539073199034,
+        "render_ms": 1455.570719204843,
+        "compose_ms": 69.44758491590619,
+        "write_ms": 70.66337997093797,
+        "foreground_fraction": 0.39765,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "88b4b789283092aa1d4a05c6d9d60db24b4742d4cdcd8d23ce9a1a6f0e639624",
         "meshes.tar": "1b843e35621a8df30f9d88bb123b340eeaf65fda80c459cbd5087dd531af6322",
-        "render.png": "df04e20cbec20da1bcf4507d5c4aee24980dcc4b8e294212bbd4e9f3155c2dce",
+        "render.png": "ba26e25fa9f1a1f4eb24f1b3471331897c61de62d77526a432dfabb7171728ed",
         "graph-raw.svg": "48c1ad9a70a832acc3323ef61d62186de8b7c8b2e95478ce65c7d227e2c281d6",
         "graph-robot.svg": "8667ed25a5189224a8f8286141ba181bd665331ac3fec71293a89c7995462a16"
       },
@@ -9556,7 +9696,7 @@
         "mjcf_ms": 2.2381292656064034,
         "compile_ms": 57.61296255514026,
         "graph_ms": 77.60641677305102,
-        "render_total_ms": 1864.7924261167645
+        "render_total_ms": 1745.6024819985032
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9624,16 +9764,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 54.456259123981,
-        "render_ms": 1604.6143756248057,
-        "compose_ms": 61.66653335094452,
-        "write_ms": 130.95193402841687,
-        "foreground_fraction": 0.5731
+        "compile_ms": 59.37344487756491,
+        "render_ms": 1531.0433879494667,
+        "compose_ms": 65.30960323289037,
+        "write_ms": 71.59382104873657,
+        "foreground_fraction": 0.5731,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "467eae09e06a97d18c69e62058c24a1cbf03fe0f1ae4fa0ccbb586e266931f4e",
         "meshes.tar": "01600ba24a7b748f9381e44c9b50219ea524d1ef8f8b2bf666742d6f2b4b5d43",
-        "render.png": "6c1727a5a554ec18c99a3ca99444f30f5a1865157233a0b355e80d20ade2d147",
+        "render.png": "74530c2894bcc4e4b76a7366ec0d8510e0e4998ac7581513e816141e301f5948",
         "graph-raw.svg": "67441c54751a0184d4eb2258861c234ca9a3435fae28b50f7eb599b0cbd59c0d",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "14d9e006b08f4f835ee14cde62d0613f8cd3f1d7a68b42211239364e6d371205"
@@ -9674,7 +9816,7 @@
         "mjcf_ms": 2.4047652259469032,
         "compile_ms": 104.02357531711459,
         "graph_ms": 99.45963276550174,
-        "render_total_ms": 2014.941215980798
+        "render_total_ms": 1899.6683093719184
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9722,16 +9864,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 99.64295290410519,
-        "render_ms": 1715.7973069697618,
-        "compose_ms": 74.15774976834655,
-        "write_ms": 105.13419192284346,
-        "foreground_fraction": 0.7886666666666666
+        "compile_ms": 58.98266518488526,
+        "render_ms": 1618.5965286567807,
+        "compose_ms": 79.98073706403375,
+        "write_ms": 122.09361186251044,
+        "foreground_fraction": 0.7886666666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "2b76263e81e640d939b3bcd7b38fff2a9161f1b14c24880ce814a2def2e6c8c1",
         "meshes.tar": "42932718415ed8530037f2debd4bf7aa53907022a47222d2b354a5b95e382b2e",
-        "render.png": "24bc54d050f2ef7b5e020bf855131feab9343f3d758b0e3a1de5c963ed055b97",
+        "render.png": "3461adf9c140fb5ede270988317057f9eadcdf98a0912a3bca3d2e80c97fb1e8",
         "graph-raw.svg": "e9b299c0dde41133614c21279fb9596442165d06cebc1c0bfa4016c840ac3fb2",
         "graph-robot.svg": "a603a5f0d0d061c6c6a333ab525e1cfa4890136223e07495b872abf517cd052c"
       },
@@ -9773,7 +9917,7 @@
         "mjcf_ms": 6.616558879613876,
         "compile_ms": 10.817565023899078,
         "graph_ms": 421.9918418675661,
-        "render_total_ms": 1784.27628101781
+        "render_total_ms": 1641.654793638736
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9936,16 +10080,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.932447854429483,
-        "render_ms": 1614.3734138458967,
-        "compose_ms": 70.22524671629071,
-        "write_ms": 68.91293078660965,
-        "foreground_fraction": 0.66275
+        "compile_ms": 12.896044179797173,
+        "render_ms": 1446.4981788769364,
+        "compose_ms": 78.10784317553043,
+        "write_ms": 84.15701193735003,
+        "foreground_fraction": 0.66275,
+        "style": "link-palette-v1",
+        "colored_bodies": 33
       },
       "artifacts": {
         "robot.mjcf": "e1f9dae4486f359aceefb042041cebea2da53504022a47e95c0f26d6b97279da",
         "meshes.tar": "d82de85e9ad2aeded6caac43627e201bb3dd8b6132884439afb00e6c42e070ac",
-        "render.png": "880bf0119877d5178d27ddd2c95bf450f376978eee92743c9ea591a192caee89",
+        "render.png": "d82948fb659471f242f520dd179be36016f8d37c9fa5c148d247f1ecfcd933d2",
         "graph-raw.svg": "3557348000cb85f1306b94cae0cad3de5f0177424344ea3b5a42d352b9568cc7",
         "graph-robot.svg": "e38cb89aeeac97ee0393cbe0c503a3f3e94e0bafd29261e0ff269141003fd092"
       },
@@ -9984,7 +10130,7 @@
         "mjcf_ms": 2.641248982399702,
         "compile_ms": 13.3679392747581,
         "graph_ms": 95.8891212940216,
-        "render_total_ms": 1746.708185877651
+        "render_total_ms": 1681.0445841401815
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10051,16 +10197,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.160845264792442,
-        "render_ms": 1574.8817338608205,
-        "compose_ms": 70.74399199336767,
-        "write_ms": 74.83069924637675,
-        "foreground_fraction": 0.7942
+        "compile_ms": 14.423250220716,
+        "render_ms": 1485.9758452512324,
+        "compose_ms": 89.96740402653813,
+        "write_ms": 76.23576000332832,
+        "foreground_fraction": 0.7942,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "9ffed8f2294ffb6835f21177509a9c6a45175b484a4ec783ca8c2d4d5020bafc",
         "meshes.tar": "290442ac45c0833234e40e32e0fbec739c686553dad3aceb627de5438076bb53",
-        "render.png": "95bc6de767ea5e4acdd4256eaba86441b35ad0b9a96f7b8bec24f88a1193c753",
+        "render.png": "dc780e21d557d4bf48108d7dbebd619c4882752da6d9b2db44e8e17a940b0221",
         "graph-raw.svg": "60836e3dee85f1909b0fe578fe86063bea8c28ccdd5680c00472659be4474a90",
         "graph-robot.svg": "086f17bb86f1c9b657b0938dea303b1aaaac9798faf657d8ab339b24d7678b99"
       },
@@ -10091,7 +10239,7 @@
         "mjcf_ms": 3.152372781187296,
         "compile_ms": 26.436624117195606,
         "graph_ms": 68.32367414608598,
-        "render_total_ms": 1743.2110272347927
+        "render_total_ms": 1663.0664779804647
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10152,16 +10300,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.161356035619974,
-        "render_ms": 1559.5699069090188,
-        "compose_ms": 71.45386701449752,
-        "write_ms": 70.05227915942669,
-        "foreground_fraction": 0.5918
+        "compile_ms": 27.537274174392223,
+        "render_ms": 1470.505183096975,
+        "compose_ms": 72.78042519465089,
+        "write_ms": 69.45457821711898,
+        "foreground_fraction": 0.5918,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "edafad9f1551f85f6172b4e666977f7333b011c2b9a6d87c6ccaee128231088e",
         "meshes.tar": "32fb0b77b5fa84cc863be0ddc6281fc62aafdb14776aea8d2fc2357f1797c899",
-        "render.png": "71df54ce5fcf0b2b50315e781f6ecbb8f6732034e8ab0bd0f9f8787ada7aab34",
+        "render.png": "1a35a1fdc79ee4f8cf17e227bfea236c0d4e0a31500390539a389254e47cce26",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3b7ff24d51050f53c30dcd19fbfbd40ed38c5a4d8e17ca4510085add892da468"
@@ -10214,7 +10364,7 @@
         "mjcf_ms": 3.4288140013813972,
         "compile_ms": 136.14795310422778,
         "graph_ms": 194.55736316740513,
-        "render_total_ms": 2103.4177648834884
+        "render_total_ms": 1921.2287249974906
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10262,16 +10412,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 119.87494817003608,
-        "render_ms": 1818.8358158804476,
-        "compose_ms": 60.60074316337705,
-        "write_ms": 88.91408517956734,
-        "foreground_fraction": 0.54395
+        "compile_ms": 174.77904399856925,
+        "render_ms": 1571.5663298033178,
+        "compose_ms": 65.76892174780369,
+        "write_ms": 92.41353999823332,
+        "foreground_fraction": 0.54395,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "901cf7c578da7861376152f6e98e03621f8cd795212a03f4aca1ccbf79351177",
         "meshes.tar": "ffd3dfb9eef5e503656794a8cebd0e1d3517712b96b4d97e651784f728db0a91",
-        "render.png": "53c0daa15e7adbb2f00e765eb9272d4211bc8b13a3c77d588d3301ab98e3f60c",
+        "render.png": "51e09f5cf1100350dd623403cff551746e250b397fc5289b0d5831c04bc3c962",
         "graph-raw.svg": "0d98bd770c49b7269264ebe04eda6a53ef04b61e61c45a3cba13a39da21ac0c2",
         "graph-robot.svg": "971134a62f3d59fe37e9082d49690d1e93b792a706f9b85ee79e6c0d2631aaf7"
       },
@@ -10303,7 +10455,7 @@
         "mjcf_ms": 2.747548744082451,
         "compile_ms": 11.804955080151558,
         "graph_ms": 82.75632979348302,
-        "render_total_ms": 1795.816530007869
+        "render_total_ms": 1596.6796400025487
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10364,16 +10516,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.88667507469654,
-        "render_ms": 1642.758111935109,
-        "compose_ms": 60.1542079821229,
-        "write_ms": 66.56913319602609,
-        "foreground_fraction": 0.72345
+        "compile_ms": 16.038456931710243,
+        "render_ms": 1423.522359225899,
+        "compose_ms": 74.00609273463488,
+        "write_ms": 66.07300508767366,
+        "foreground_fraction": 0.72345,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "bb2c7e6ea06f3ed1039523c1694702e5fb7380cd3b254f69e5d1a2adc744bf64",
         "meshes.tar": "3efe17ee9c1c99de1e8e793d53f9144f59599200825e9d4712007057d5fc7d20",
-        "render.png": "31fa5da01fb55a227ca1ec15bd66a97118c230e1cacf89a2c2341caec130b06a",
+        "render.png": "87e5f8e7e6f328906a5df4c13623981893a379fe8719146abc5717df1472f45e",
         "graph-raw.svg": "28a2d7c7019267cf77c4e603d59448b063d35b703e2cae80e2aac992c0351e15",
         "graph-robot.svg": "da411d53f5516c473048e4c608ddec085868056e01c2b6d687f3690fa0a6f456",
         "robot.urdf": "c50f0f79676f2700dda74eb135beec24fca1a38363a68234786b3ae7cb2ccec5"
@@ -10414,7 +10568,7 @@
         "mjcf_ms": 3.0083730816841125,
         "compile_ms": 33.90755318105221,
         "graph_ms": 137.94104102998972,
-        "render_total_ms": 1750.4794248379767
+        "render_total_ms": 1696.6587342321873
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10481,16 +10635,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 33.06522313505411,
-        "render_ms": 1578.9156276732683,
-        "compose_ms": 57.420795783400536,
-        "write_ms": 67.87178013473749,
-        "foreground_fraction": 0.5984
+        "compile_ms": 32.46396081522107,
+        "render_ms": 1482.7283271588385,
+        "compose_ms": 74.4084850884974,
+        "write_ms": 88.75975385308266,
+        "foreground_fraction": 0.5984,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "1c2ce18b57d91268509cb677f451a04e0571efb5791efea2602ab1e55cddb0d4",
         "meshes.tar": "036438222602c4ca933f3247aa64d09f315c933b12033b670fc8adf697aa1f34",
-        "render.png": "22a1a1792be44c7e936ec8c12617c18b25070aaf31882bb5678820e247085d5e",
+        "render.png": "f1cb4402bbf9897df2374d43516b2e21326082e363c62a0e1791d1d6210e071d",
         "graph-raw.svg": "dd80bbfee1e3860cd3daebb24121c1083481eaafb6a72cb5a3620058afc864f3",
         "graph-robot.svg": "6297a5f64bb72f5c272a9c7e3cc40063601579d299ae3f5d605aa44b12a2141b"
       },
@@ -10522,7 +10678,7 @@
         "mjcf_ms": 2.4469508789479733,
         "compile_ms": 15.841047279536724,
         "graph_ms": 79.26497096195817,
-        "render_total_ms": 1728.1279489398003
+        "render_total_ms": 1639.6053242497146
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10583,16 +10739,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.191584058105946,
-        "render_ms": 1573.457641992718,
-        "compose_ms": 59.61305880919099,
-        "write_ms": 65.94128999859095,
-        "foreground_fraction": 0.7037333333333333
+        "compile_ms": 18.495666794478893,
+        "render_ms": 1464.2385342158377,
+        "compose_ms": 73.57362285256386,
+        "write_ms": 66.0208547487855,
+        "foreground_fraction": 0.7037333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "6f67dbec23490a8160b681ddb5d8fce4152bc7bc74974e4474a438c3d224116a",
         "meshes.tar": "2816f8ff63321566f145f8fde5c909b9f10b23fdc4cf2a8e74cc8c89328205e7",
-        "render.png": "88c9b526eceb8ce2ba224851217f7ae96aee1475f798b7606e16d09a0f6185be",
+        "render.png": "c3a21ecaca9b3eb74409e0eb26898a18ecd851ae55ed40905e3b4b15ca1064e9",
         "graph-raw.svg": "28a2d7c7019267cf77c4e603d59448b063d35b703e2cae80e2aac992c0351e15",
         "graph-robot.svg": "da411d53f5516c473048e4c608ddec085868056e01c2b6d687f3690fa0a6f456",
         "robot.urdf": "620ccaeba989c1fe7c31f3b125c62087a8d41f94a65201382f5d1e814bcf0fc0"
@@ -10633,7 +10791,7 @@
         "mjcf_ms": 5.764433182775974,
         "compile_ms": 31.634898856282234,
         "graph_ms": 430.6721752509475,
-        "render_total_ms": 1749.779783654958
+        "render_total_ms": 1695.3000486828387
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10850,16 +11008,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.855529941618443,
-        "render_ms": 1553.6794289946556,
-        "compose_ms": 78.74569902196527,
-        "write_ms": 70.65110094845295,
-        "foreground_fraction": 0.68365
+        "compile_ms": 37.27267403155565,
+        "render_ms": 1492.045657709241,
+        "compose_ms": 80.63875185325742,
+        "write_ms": 70.8028869703412,
+        "foreground_fraction": 0.68365,
+        "style": "link-palette-v1",
+        "colored_bodies": 31
       },
       "artifacts": {
         "robot.mjcf": "c9a461047d89423762767c5e32549523fabfaa982bd57bb09c464dd201e0a614",
         "meshes.tar": "020babb77bdb7ac094e83b04d6378433fbf684a77ab49cc83da2efdfecd81bb5",
-        "render.png": "85bf3585a4c261bc542ff07dae65ae9560a58b1c7726c827e7ef72ea45d310a7",
+        "render.png": "0ee0a92ff23ad8ddcbd2d6397030a447a0d1508be6e6cfeb3043e9fa1df26e7b",
         "graph-raw.svg": "68ff4d6aa68430f7095a9feac60cb6270df60b3e4290e069f09324ebd48e291b",
         "graph-robot.svg": "da7c094d01a157199576a50573c0761fee26cc6ffd19b08ecff12593c3679c39"
       },
@@ -10897,7 +11057,7 @@
         "mjcf_ms": 2.5196438655257225,
         "compile_ms": 72.04306172206998,
         "graph_ms": 319.22121718525887,
-        "render_total_ms": 2125.9583299979568
+        "render_total_ms": 1842.4449819140136
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10945,16 +11105,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 65.66030764952302,
-        "render_ms": 1854.2281882837415,
-        "compose_ms": 81.21943799778819,
-        "write_ms": 106.51491535827518,
-        "foreground_fraction": 0.7606083333333333
+        "compile_ms": 58.110606856644154,
+        "render_ms": 1551.4022060669959,
+        "compose_ms": 80.04695316776633,
+        "write_ms": 130.38883078843355,
+        "foreground_fraction": 0.7606083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "9ab806f96005e54fa19d9361a9bd78fe707e9afe99da180f868839612778f251",
         "meshes.tar": "723e6d5b68b6e2e5f246b5e2e75613d26901923e380bfb5011f639f7055fdada",
-        "render.png": "f16b3f8ca479efc490eb7888b8dcd0986503448e7291d193c1dd0aaf1c9e6b64",
+        "render.png": "36b823c904b7b02fcd449a7c56c0db2119cec862cef145bac9e6c501eff4109b",
         "graph-raw.svg": "a8216c96912197c43b2a434d680cad5ef4d7acda1b4128e4a26b48023ad12d79",
         "graph-robot.svg": "f46df2961980319cf746bf22e4b3ae69de4070d2f6425ce3065b1a1ef328aeea"
       },
@@ -10990,7 +11152,7 @@
         "mjcf_ms": 2.835371997207403,
         "compile_ms": 62.49913899227977,
         "graph_ms": 103.4094737842679,
-        "render_total_ms": 2047.3392340354621
+        "render_total_ms": 1733.6825807578862
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11051,16 +11213,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 56.772093288600445,
-        "render_ms": 1820.0296591967344,
-        "compose_ms": 64.90935198962688,
-        "write_ms": 82.59211713448167,
-        "foreground_fraction": 0.49225
+        "compile_ms": 67.56900576874614,
+        "render_ms": 1479.628434870392,
+        "compose_ms": 69.80678299441934,
+        "write_ms": 96.79760597646236,
+        "foreground_fraction": 0.49225,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "38976bc1898b5ebaa1674db5e626415fdf0c7d0e66190fa2c325a6f0972a9f06",
         "meshes.tar": "1728e752ea53a8ea097bcf3df3c715683d1b5703cc0a9ff75a4ec82cabfaaa54",
-        "render.png": "d2a682ab7dfeefa6e22a0365947b954eaad40e6f660bd012c7ae00a1649fa423",
+        "render.png": "476b328bf322a8743f9e68ae36104dab99f94dcbabb6a00728ae7ce43900962e",
         "graph-raw.svg": "bae7364b1e76e5407beac9b789c0a37581b67a51fff26eebe1940c897c1ed14f",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "4791ead06193c0d2a6d3e2f56b96e978da83799dd0d2c794c4a1c1e4a16987b1"
@@ -11099,7 +11263,7 @@
         "mjcf_ms": 2.346687950193882,
         "compile_ms": 375.2256650477648,
         "graph_ms": 93.50206470116973,
-        "render_total_ms": 2431.6123072057962
+        "render_total_ms": 2369.487759191543
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11178,16 +11342,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 385.3501221165061,
-        "render_ms": 1831.840058322996,
-        "compose_ms": 65.07914466783404,
-        "write_ms": 135.67251386120915,
-        "foreground_fraction": 0.781
+        "compile_ms": 498.88094468042254,
+        "render_ms": 1586.3494668155909,
+        "compose_ms": 73.36342288181186,
+        "write_ms": 193.47333488985896,
+        "foreground_fraction": 0.781,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "d2f4a2fce403efe74dc6cf13bf5b5d7a8c8480d853a3d2c0b7f28ead1f8d6b87",
         "meshes.tar": "225007d2f9936bee67d780565d5b84aa67d97420366fa6983d9dfd46e75c70d1",
-        "render.png": "4d411e0fafd53f35ff7caac6a477788651cf24a56162cf60d5167a0915d65b96",
+        "render.png": "80cb785ac66faa024df29a82937b406612d3594441b61a7b498ffa46c993e8e3",
         "graph-raw.svg": "912b7f7d5bf56e76df8a55c8a7294bb90eb9ee3d664128ad07485e250bae05db",
         "graph-robot.svg": "6dfecb4738c31c1744ce403228da4ceaf45893428ad5d27951c8e6c62a9679e9"
       },
@@ -11221,7 +11387,7 @@
         "mjcf_ms": 3.28364921733737,
         "compile_ms": 945.7157650031149,
         "graph_ms": 141.74939133226871,
-        "render_total_ms": 2731.17135418579
+        "render_total_ms": 2381.566173862666
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11282,16 +11448,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 651.3593751005828,
-        "render_ms": 1898.9538317546248,
-        "compose_ms": 62.48486787080765,
-        "write_ms": 104.89263385534286,
-        "foreground_fraction": 0.451
+        "compile_ms": 550.2493591047823,
+        "render_ms": 1628.5586971789598,
+        "compose_ms": 64.64064307510853,
+        "write_ms": 122.40792671218514,
+        "foreground_fraction": 0.451,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "b8be86f315ad14b8b0b790ea61d7cc47868ea25ed64bdc44a0d8e4b1b1281f9c",
         "meshes.tar": "e8fde65464a45af8692758665958ea70726685bafb5d5cbe13a45888b47b1e14",
-        "render.png": "def947031001b340438b9379613273770d1bf5c9493ac5cf843b10245e9539a0",
+        "render.png": "e15a277e1773cd4def117dbad90bf63fb4e1c534adea3439239c87751fdaa49d",
         "graph-raw.svg": "06917af416315549dd425adf98a78ce4e8cf2fc291d085181cb3b5bf6a4579ad",
         "graph-robot.svg": "61f1af020c0dd262b5c3aab054f45bbd41f110158d6893cf208a817db3a2cc24",
         "robot.urdf": "d6c615d0b867948c671f1ccaefa372856cd0886acac29428ded6f68a265e963f"
@@ -11333,7 +11501,7 @@
         "mjcf_ms": 2.709433902055025,
         "compile_ms": 40.618103928864,
         "graph_ms": 2841.0274339839816,
-        "render_total_ms": 1862.8438832238317
+        "render_total_ms": 1945.9753287956119
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14700,16 +14868,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 47.74059122428298,
-        "render_ms": 1624.2598192766309,
-        "compose_ms": 77.78002694249153,
-        "write_ms": 93.22401974350214,
-        "foreground_fraction": 0.739375
+        "compile_ms": 46.00528301671147,
+        "render_ms": 1673.9248209632933,
+        "compose_ms": 85.72457963600755,
+        "write_ms": 121.4855769649148,
+        "foreground_fraction": 0.739375,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "5d8b56d1768b76e2379e914da1051c1800b9ac4452fd8eb04e5e47e4322960b9",
         "meshes.tar": "9fd0babc4c43454fcbb316b6a8387e8a8a6b1e90c38147b4b01b1af83acd1f21",
-        "render.png": "f3db7902994154a9222fdc5105a23c0ff475786403008eed3b4bd4a52a269d01",
+        "render.png": "24b746e1af3afe0553b441159c8954ce4b35d0cb56f38a884c3d417e5e52f536",
         "graph-raw.svg": "0340750c3e24f130d9325fc68f0ecb66e2c16743f36b6ad7c4d6a4d095e82659",
         "graph-robot.svg": "ef68f190c33fd797ce74424240e637ce24b93e48b8988ecb2ac539b5b7595406"
       },
@@ -14772,7 +14942,7 @@
         "mjcf_ms": 8.060128893703222,
         "compile_ms": 621.8345770612359,
         "graph_ms": 3422.4994918331504,
-        "render_total_ms": 2716.5137878619134
+        "render_total_ms": 2472.205386031419
       },
       "mesh_preparation": {
         "status": "complete",
@@ -17695,16 +17865,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 585.130135063082,
-        "render_ms": 1980.937629006803,
-        "compose_ms": 63.12714098021388,
-        "write_ms": 74.76110802963376,
-        "foreground_fraction": 0.62535
+        "compile_ms": 561.9828016497195,
+        "render_ms": 1733.6259349249303,
+        "compose_ms": 73.99897277355194,
+        "write_ms": 79.54286690801382,
+        "foreground_fraction": 0.62535,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "89cacef0ed8e11fa3629270601109906537b39db7431780058810f073f927423",
         "meshes.tar": "c05abd7a44d1b0474711ed78e4aa1d742eb1f3848177b85f1d9bb6599004573d",
-        "render.png": "c1ee979f33b80a2cf3716dd4cc74f59c3311f3a3064dfda5c5e4805ffcae79d5",
+        "render.png": "622419ec83b7a1f7921aaae526fcae106931ed4083d4856f50aafee0c862dc83",
         "graph-raw.svg": "c226deaa72d4a4cce4d1f280d08ba580f1c4b2bc15f15ea6c79e5139ab91c81c",
         "graph-robot.svg": "df81bb31098871f23fc6151d47135cd4c018ef3292ab10539cba07f2059f2482"
       },
@@ -17745,7 +17917,7 @@
         "mjcf_ms": 3.3962582238018513,
         "compile_ms": 32.15568698942661,
         "graph_ms": 184.96711738407612,
-        "render_total_ms": 1821.776570752263
+        "render_total_ms": 1724.3647002615035
       },
       "mesh_preparation": {
         "status": "complete",
@@ -17830,16 +18002,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.02604264393449,
-        "render_ms": 1656.9108287803829,
-        "compose_ms": 58.51209629327059,
-        "write_ms": 67.22954288125038,
-        "foreground_fraction": 0.5753
+        "compile_ms": 45.37972807884216,
+        "render_ms": 1523.6987960524857,
+        "compose_ms": 72.82720785588026,
+        "write_ms": 66.82081380859017,
+        "foreground_fraction": 0.5753,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2bca4510bb8696e7f55d462e1c0a099f8d8c498d503ace1c037b83acc9fbf18f",
         "meshes.tar": "7e49d759d48dfca4331bdd0f04f6107bb29eb2d92015b9288d96a9f37fb4218e",
-        "render.png": "6c40a2675a32bd5d3652f24388c3aa2855e381c5971fc5b73cade9ba60205aa1",
+        "render.png": "3fb4f2dbfe45586b6c05930f3f1b6a45d9cc54e85a3219c48bbdd6eca98a9f7b",
         "graph-raw.svg": "900837fd8f2c2cedb8f9515a039e05f1b9b5c9b8222e40917ee0978da840e5f6",
         "graph-robot.svg": "9c9595b24d4ba3a0a64ffa0859a76055e81262f94295c75a7301509672906638"
       },
@@ -17878,7 +18052,7 @@
         "mjcf_ms": 2.400653902441263,
         "compile_ms": 12.364645022898912,
         "graph_ms": 89.49122577905655,
-        "render_total_ms": 1870.3923746943474
+        "render_total_ms": 1624.3182620964944
       },
       "mesh_preparation": {
         "status": "complete",
@@ -17926,16 +18100,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.780365068465471,
-        "render_ms": 1689.035079907626,
-        "compose_ms": 67.02216109260917,
-        "write_ms": 88.41356914490461,
-        "foreground_fraction": 0.6666
+        "compile_ms": 14.040901325643063,
+        "render_ms": 1427.34268726781,
+        "compose_ms": 66.87708338722587,
+        "write_ms": 103.25247934088111,
+        "foreground_fraction": 0.6666,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "a356ef701aa7d3c9fc1e6a6645f34bb15b01105b1413a702e1389a8f614787e1",
         "meshes.tar": "611f21b1b93b386f709ea34c3a0f1b2098a3f9e852aa22dac07207b5e3b9c863",
-        "render.png": "8897adcc6fb90ffd4dba787190d5a74e001876bbfb678f93da75353f78d54964",
+        "render.png": "72f885b2053d3915133126818b7f8f83d4b1bc9e3c3569606b94e2f578f764f1",
         "graph-raw.svg": "9cb539f4316d49a77b87e686920b44407c9643facff55edfde1f93456d416739",
         "graph-robot.svg": "4b883f1e3bdaf3d7fb29eab4d763303623ae5a3fdd8b561a1321efec9aef2319"
       },
@@ -17967,7 +18143,7 @@
         "mjcf_ms": 2.4773948825895786,
         "compile_ms": 7.261469028890133,
         "graph_ms": 69.9928249232471,
-        "render_total_ms": 1713.1720236502588
+        "render_total_ms": 1593.3310971595347
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18028,16 +18204,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.562951184809208,
-        "render_ms": 1566.4726542308927,
-        "compose_ms": 61.51847029104829,
-        "write_ms": 64.54231077805161,
-        "foreground_fraction": 0.5533
+        "compile_ms": 8.066190872341394,
+        "render_ms": 1446.8482728116214,
+        "compose_ms": 60.13823579996824,
+        "write_ms": 65.68873720243573,
+        "foreground_fraction": 0.5533,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "042d51cfedf6c7c806d8bb1d4cb353e26e1c51ed83ed17662a8ad98d34e17280",
         "meshes.tar": "d5b91e1ac792538dddb05bc4cf3e5fe9cbe74844516c13a5da1e2715f1b53b06",
-        "render.png": "7d143525daffdc3c16b35700f15bb5cd4d6f755b7bed391b382a7eb5bb8ce6e0",
+        "render.png": "1cd012217c5d43fdb0ef24a78269935467de116ac8f26c4dbecadd40d172b7b9",
         "graph-raw.svg": "aee321fd40423ac7128b39335eafa6345dced954e890358fcffe907d0ce0a7bb",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "05aaf78e4a5360cdd31320ef7eb695766b81101ca2b829c9f526f056a7ef63f6"
@@ -18070,7 +18248,7 @@
         "mjcf_ms": 3.138467203825712,
         "compile_ms": 7.578718010336161,
         "graph_ms": 132.98284681513906,
-        "render_total_ms": 1741.0134649835527
+        "render_total_ms": 1569.4704833440483
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18131,16 +18309,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.960515096783638,
-        "render_ms": 1583.730474114418,
-        "compose_ms": 63.493895810097456,
-        "write_ms": 69.86608542501926,
-        "foreground_fraction": 0.77605
+        "compile_ms": 7.509380113333464,
+        "render_ms": 1415.7855701632798,
+        "compose_ms": 63.17523028701544,
+        "write_ms": 70.26630500331521,
+        "foreground_fraction": 0.77605,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "4f774bae9ab93430bcab6d4a7fe8df78f19b8902d5ead2dec8f088994852de61",
         "meshes.tar": "82a8706837c909b08fa65ff0555d357369e09b1246f4722060c832c373933ed9",
-        "render.png": "3853be9e69dd13988bef639ec891aed28da0914b7f8b18e2e8e9d33b403a518b",
+        "render.png": "ed03e81d3b24bda68285a06977edcf0092f0f9d7695574056d2a720ad8abc516",
         "graph-raw.svg": "de9ae9fdfd8a3cb08f49acddecb6b5d3bcf2f7bfa53fbe5624caf83e60fc8090",
         "graph-robot.svg": "deab2283b41ef2dd334df7bd325ba4ddff5eeb0a56dfdf7716af20f506772f24",
         "robot.urdf": "aa37baaf88463b85f0ae95a80a6c989d16f9e2bfc35466bc2230946fdfe75b44"
@@ -18171,7 +18351,7 @@
         "mjcf_ms": 2.576744183897972,
         "compile_ms": 110.60827691107988,
         "graph_ms": 86.72672836109996,
-        "render_total_ms": 2150.7378998212516
+        "render_total_ms": 1858.663781080395
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18232,16 +18412,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 113.14608808606863,
-        "render_ms": 1822.6947449147701,
-        "compose_ms": 84.6175029873848,
-        "write_ms": 108.47643204033375,
-        "foreground_fraction": 0.50765
+        "compile_ms": 109.90173416212201,
+        "render_ms": 1511.3391219638288,
+        "compose_ms": 78.41618172824383,
+        "write_ms": 138.76925921067595,
+        "foreground_fraction": 0.50765,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e7206c15fe569b9ce6a3fffe32f5ff73b524175fe1986e9d86e565cea0fb7d97",
         "meshes.tar": "6c2d7d1d6babc7b937b8d5c8721ed446972ac68288e6a2eb95076afeee070790",
-        "render.png": "e1c25f9aa406d3cdbb95536958ac9eeb68d8ffbcbb3627f6f2c3e43cf6915ff3",
+        "render.png": "132f88b7450fba48d681efaa24f2a104cc332761b636d5787b854bd302414e01",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "86688e05b9e11556d2847da4e1eda37c8a65fdbb728db7b35c54fb09fc6a82d2"
@@ -18276,7 +18458,7 @@
         "mjcf_ms": 3.2186941243708134,
         "compile_ms": 45.053678564727306,
         "graph_ms": 126.55610917136073,
-        "render_total_ms": 1974.496501032263
+        "render_total_ms": 1800.3268702886999
       },
       "mesh_preparation": {
         "status": "complete",
@@ -18337,16 +18519,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 40.55483127012849,
-        "render_ms": 1747.1604137681425,
-        "compose_ms": 71.32605789229274,
-        "write_ms": 95.14589793980122,
-        "foreground_fraction": 0.6017
+        "compile_ms": 50.59110699221492,
+        "render_ms": 1536.5351480431855,
+        "compose_ms": 83.66162236779928,
+        "write_ms": 107.22396103665233,
+        "foreground_fraction": 0.6017,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "553de59b26963dd3d2be93825fad4d0ff0ee79d3ecb3b81bf4e78994cb9f2e52",
         "meshes.tar": "cc286bed2065c2743443de809e3aeb5eff2e54955e8637b04e25e3ee4432b1d6",
-        "render.png": "9a0fe441a47c60a7a218105113da964f24657b342f9ada69cf16f6a0b0d6f72d",
+        "render.png": "17eaaf0d94d62e097c8b7ac31e37d9fed206becd1ff1a5fce3d439c8a318f750",
         "graph-raw.svg": "52e18bb7074816ea1bde78be9da6bab2d73493e62282dba13ea14c23a034115d",
         "graph-robot.svg": "9d242987910effffabc83059fcbb887e081790123c77335f2ec2fe7f08c0a21a",
         "robot.urdf": "c9fc41cf7ee46b60f833ec9b33b21e0eb807314f17f2d9c561c10f32bfbb36b0"
@@ -18386,7 +18570,7 @@
         "mjcf_ms": 2.7508651837706566,
         "compile_ms": 3760.0829959847033,
         "graph_ms": 769.5881850086153,
-        "render_total_ms": 6538.387626875192
+        "render_total_ms": 5810.307295061648
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19413,16 +19597,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4035.5736720375717,
-        "render_ms": 2333.3804002031684,
-        "compose_ms": 67.07097729668021,
-        "write_ms": 83.3681421354413,
-        "foreground_fraction": 0.4136
+        "compile_ms": 3658.3214518614113,
+        "render_ms": 1969.788920134306,
+        "compose_ms": 66.29872508347034,
+        "write_ms": 96.22779581695795,
+        "foreground_fraction": 0.4136,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "eed6877cb5b7b9eaa449f73ed39500ac51aa8539445ed2589d673d2872c1e3f8",
         "meshes.tar": "0de308abfe71896ca5f44a19f5d9b4305daf4e6a929391ce14c52d388df131f3",
-        "render.png": "aabfde1ad40d583c0b787704364dec114a72948abafb5af33abe80749859c967",
+        "render.png": "903fcb3c0e2cf907d4d98a1dba33fc969f21325cd3afe366917a7e60cb64c6a6",
         "graph-raw.svg": "74ad310d8126ab60f286559f68e6b94ee9834f7cd17bb7f1d9f3167dfb27ba2f",
         "graph-robot.svg": "5027b71699f0dccf4fd44868b657d9d3346a70eb7ecb4537a1252608d5f92489"
       },
@@ -19481,7 +19667,7 @@
         "mjcf_ms": 6.182054057717323,
         "compile_ms": 1197.210039012134,
         "graph_ms": 593.7611949630082,
-        "render_total_ms": 3008.2494379021227
+        "render_total_ms": 2974.4760179892182
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19529,16 +19715,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 985.1658469997346,
-        "render_ms": 1806.9056500680745,
-        "compose_ms": 109.04930671676993,
-        "write_ms": 81.84612588956952,
-        "foreground_fraction": 0.73975
+        "compile_ms": 897.5745160132647,
+        "render_ms": 1874.0814463235438,
+        "compose_ms": 89.20973399654031,
+        "write_ms": 91.7995241470635,
+        "foreground_fraction": 0.73975,
+        "style": "link-palette-v1",
+        "colored_bodies": 29
       },
       "artifacts": {
         "robot.mjcf": "7e4af85bf3a8ff75982e3695a6c7e6d2288ff9e02741252a5dbb89d2f717ec75",
         "meshes.tar": "0c6c8375318745fec5fac50ba04c701ac9a128c5f6e040d0ae243816105a584f",
-        "render.png": "37aa520af46d12def0ef656ced0e9a03938fa897010f39cadbadaa14b94f68c8",
+        "render.png": "139566aaf0bb98cd0868dbf8d171ce0e5a1476666398f5d6fc2f392f1909f6ef",
         "graph-raw.svg": "53033b019c510a36df30cc5f116999ebec1913f9d27f63f71b5d73fe6f391aa9",
         "graph-robot.svg": "50599129d562e22a0c397cb323ff6303bcf5a9bb73e9af835b24ff2b86447a47"
       },
@@ -19578,7 +19766,7 @@
         "mjcf_ms": 2.215640153735876,
         "compile_ms": 47.47389303520322,
         "graph_ms": 149.7206618078053,
-        "render_total_ms": 1617.5121888518333
+        "render_total_ms": 1656.6352313384414
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19651,16 +19839,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.28607316687703,
-        "render_ms": 1475.1150477677584,
-        "compose_ms": 47.54845891147852,
-        "write_ms": 48.841620329767466,
-        "foreground_fraction": 0.0748
+        "compile_ms": 48.59897494316101,
+        "render_ms": 1481.1249780468643,
+        "compose_ms": 58.46394365653396,
+        "write_ms": 48.41304197907448,
+        "foreground_fraction": 0.0748,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "f36bc6bf092bf769bdde1926709bf653bf43feab128430fbfd195117c0891192",
         "meshes.tar": "816df80158cee91b2dbcad398417388c0e7ebe4d3f9a8431c5ed7671507e4949",
-        "render.png": "80f3185a614ec779cbfb0c893875f2b4bdc9002df0ed8d22a5c95901e2a2cd1c",
+        "render.png": "212f1c0cf52ce86d43b1a1a506bae77a81a0cdd68331e2d234b25ca7264cfe0a",
         "graph-raw.svg": "e0e780a7acc107a8830e28685ec7d8c7521a5ba9ee9f1f1e5299cf666e1a3537",
         "graph-robot.svg": "64bd2d69202d87d8ab2acc2c7bbc33fd8cea615b3497ac6449f56a7543c2c10f"
       },
@@ -19692,7 +19882,7 @@
         "mjcf_ms": 2.94662918895483,
         "compile_ms": 23.95974798128009,
         "graph_ms": 83.83240085095167,
-        "render_total_ms": 1660.8964097686112
+        "render_total_ms": 1779.9497433006763
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19753,16 +19943,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.142458707094193,
-        "render_ms": 1479.1109468787909,
-        "compose_ms": 65.54012699052691,
-        "write_ms": 72.85989122465253,
-        "foreground_fraction": 0.46475
+        "compile_ms": 25.987811386585236,
+        "render_ms": 1614.5110460929573,
+        "compose_ms": 53.239911794662476,
+        "write_ms": 71.66144484654069,
+        "foreground_fraction": 0.46475,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "d8fa3b5c951822aa231ec109405a063b44d65536c39b46bfff86dca6de9915bd",
         "meshes.tar": "f8cb1f3c82e40be31c30c48bea5e0f6c932d72ac11fe803222210c0bdcc04adc",
-        "render.png": "526fd8b28903b5581d2d402085290c63a181977c086a8a1c6c069753055ea077",
+        "render.png": "05620da903f3f337735c52ee5444db2fc37d876296e5cfad34b1bdc1001c82dd",
         "graph-raw.svg": "aee321fd40423ac7128b39335eafa6345dced954e890358fcffe907d0ce0a7bb",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "36264285bac2bceff6a595e609b3159ba3cfbad2a8b3fb7747ab974f7b8b7a34"
@@ -19798,7 +19990,7 @@
         "mjcf_ms": 2.8546592220664024,
         "compile_ms": 25.952288880944252,
         "graph_ms": 295.62364984303713,
-        "render_total_ms": 1752.3614671081305
+        "render_total_ms": 1740.771192125976
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19859,16 +20051,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 33.70373183861375,
-        "render_ms": 1536.847423762083,
-        "compose_ms": 79.37759812921286,
-        "write_ms": 84.34777380898595,
-        "foreground_fraction": 0.675675
+        "compile_ms": 33.363967668265104,
+        "render_ms": 1504.9157510511577,
+        "compose_ms": 80.09543037042022,
+        "write_ms": 104.07634172588587,
+        "foreground_fraction": 0.675675,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "8136a4ce3ae90f4b9ca54f187a856cbe2165b923320d170c502b8cf7939ee760",
         "meshes.tar": "464db2d4f80d89eeb9224f5ca1bf8161beb9fd5adfa89f987d542d8879068587",
-        "render.png": "2f04dc971a2d1fb55c45e6d054c8465455db2f4f0768cdbbb0ec8e36ff09a41e",
+        "render.png": "6c83bbf12fbc0b02a7a223945d4fce5b28f048fa791f88b23588521e486ce317",
         "graph-raw.svg": "82ea092218dfba77af6a598871fbc42a22f9cda0743460874017cd02db250324",
         "graph-robot.svg": "b28e2419e15c54a662530801289a2fe49f5fe55791779d1fda8e2ddc7dbf2919",
         "robot.urdf": "5e30733a08f78bc7a2a219760d3e9ebc698ca2e8162131dfb339507d6e2acf80"
@@ -19909,7 +20103,7 @@
         "mjcf_ms": 2.301884815096855,
         "compile_ms": 6.25629210844636,
         "graph_ms": 111.03097908198833,
-        "render_total_ms": 1834.864383097738
+        "render_total_ms": 1635.0094741210341
       },
       "mesh_preparation": {
         "status": "complete",
@@ -19988,16 +20182,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.992067210376263,
-        "render_ms": 1641.0126122646034,
-        "compose_ms": 93.67838269099593,
-        "write_ms": 72.7990111336112,
-        "foreground_fraction": 0.70675
+        "compile_ms": 9.671498090028763,
+        "render_ms": 1448.9047471433878,
+        "compose_ms": 84.90599831566215,
+        "write_ms": 76.92437106743455,
+        "foreground_fraction": 0.70675,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "3ac2fbc3f3ca8850cc4d9fbc0469f6c1d325e86571cab5bbdd5b8c405d79bdd0",
         "meshes.tar": "4c8f371f0780d553810bd36c87e37fc7326df1af99b598696b69469309521ac0",
-        "render.png": "3d53c68452386a55355d172b7148818191cdd4848fffef1122a3a73b8d438670",
+        "render.png": "90f574e12c2b37992b35d4a1eb1f7d576e3a13009aadabc7135a993543100fc7",
         "graph-raw.svg": "1b9ce54e4763d57da7fd1ebb18f4279f994d478d96933310493ffe09e1faaeae",
         "graph-robot.svg": "d0e3c97b731dd2beed773f35516b78881c2cc06c2883bea0f3f03b7c8ef44d6a"
       },
@@ -20036,7 +20232,7 @@
         "mjcf_ms": 2.3214351385831833,
         "compile_ms": 170.48508767038584,
         "graph_ms": 88.23089627549052,
-        "render_total_ms": 1975.9709532372653
+        "render_total_ms": 1854.8897979781032
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20084,16 +20280,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 170.71374086663127,
-        "render_ms": 1647.9145651683211,
-        "compose_ms": 63.78607917577028,
-        "write_ms": 77.11921213194728,
-        "foreground_fraction": 0.6116
+        "compile_ms": 173.1130126863718,
+        "render_ms": 1515.9033187665045,
+        "compose_ms": 69.44611482322216,
+        "write_ms": 80.8214140124619,
+        "foreground_fraction": 0.6116,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "3636f8e458f160c38b5155220748f7ccb1dc2ffc057633b195d7967df6ec386a",
         "meshes.tar": "cd1922e84e82c11d0d235833a0f20b261c058f5a17eb60c145e80849d7cc32f1",
-        "render.png": "8153454abc41743696bf6238635b3993675c1cc1f4740c9af4eff7b718778ced",
+        "render.png": "dd0d1b28efba51b5fef5098a57c4c2a76a57fcfae8bdd7d888339aecd6a35069",
         "graph-raw.svg": "4d5852497fa9c7e85f18ba2a7783f09cb6e5ce08dc9ac47f98976f903b9c231e",
         "graph-robot.svg": "da411d53f5516c473048e4c608ddec085868056e01c2b6d687f3690fa0a6f456"
       },
@@ -20139,7 +20337,7 @@
         "mjcf_ms": 3.442751243710518,
         "compile_ms": 904.7955721616745,
         "graph_ms": 235.53861631080508,
-        "render_total_ms": 2940.5332119204104
+        "render_total_ms": 2500.2635889686644
       },
       "mesh_preparation": {
         "status": "complete",
@@ -20296,16 +20494,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 561.2328979186714,
-        "render_ms": 2185.897579882294,
-        "compose_ms": 69.01860795915127,
-        "write_ms": 101.65755217894912,
-        "foreground_fraction": 0.34375
+        "compile_ms": 538.0165721289814,
+        "render_ms": 1752.025285270065,
+        "compose_ms": 65.40714669972658,
+        "write_ms": 122.44272604584694,
+        "foreground_fraction": 0.34375,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "1a49a10783e1fc448e6ec0451a16ad42a82f083e15517435e470f28e8457509a",
         "meshes.tar": "6badaa33ea04781e5565e82fd2210bd39900510e9ea3605f30a9e84eba7ddf15",
-        "render.png": "fd362fcc66559d7ab2bfc0b6929726010889f5b0d01474de8b4827b0957dbd11",
+        "render.png": "d90f65e48959624ad835100f6b4f63abb942acb2e5ac63b16efab52f32b31b6c",
         "graph-raw.svg": "af3d7338e35ac682b681c6cecd453da7679ea99b7a8181ca1746711a1ffb6581",
         "graph-robot.svg": "303b202b26a98a9f0812cfe3ed95c300955ee3db888fcf7d9cf5b669cfffbdd9"
       },
@@ -20317,12 +20517,89 @@
   ],
   "output": {
     "archive": "shard-01162.tar",
-    "archive_sha256": "c7c45093ac1155b2d3a0dad64c1e1c22d343b3c171c34dae495eaa5f545af258",
+    "archive_sha256": "96a257944e911cf4fff6eace4fecbfac1dbc1f9729569dc521186906e9f25beb",
     "packaged_samples": 100
   },
+  "render_enrichment": {
+    "schema_version": 1,
+    "definition": "Preview renders were regenerated from the packaged MJCF and meshes with the recorded camera and image settings and a deterministic per-link palette; no conversion artifact, count, or timing other than the render's was recomputed",
+    "identity": {
+      "style": "link-palette-v1",
+      "palette_sha256": "aeceafaddf4f6dc009c3db778801e6535c0a0feee5fa9439f1d918c4298898f1",
+      "render": {
+        "width": 1600,
+        "height": 1200,
+        "dpi": 300,
+        "padding": 0.06,
+        "supersample": 2,
+        "azimuth": 135.0,
+        "elevation": -35.264389682754654,
+        "distance_scale": 2.5,
+        "orthographic": true,
+        "geom_groups": [
+          1
+        ],
+        "headlight_ambient": 0.35,
+        "headlight_diffuse": 0.55,
+        "headlight_specular": 0.1,
+        "background": [
+          255,
+          255,
+          255
+        ],
+        "show_ground_plane": false,
+        "camera": null,
+        "link_palette": "link-palette-v1"
+      },
+      "render_backend": "osmesa",
+      "pipeline_identity": {
+        "schema_version": 1,
+        "codesign_version": "0.4.2",
+        "repository": {
+          "commit": "f16a2b5e07dc30d82dc74975390e71ad383c37ba",
+          "dirty": false
+        },
+        "source_sha256": "29f37e7336061889d2fbda8ccaf4c0dcf6af89e138fcbea3d4fe99d4eec02821",
+        "native_core_sha256": "f3188cb8879a19ff0ef65d12c27c98dbe6b642e3ad41d511a830ccb544db622b",
+        "dependencies": {
+          "cascadio": "0.0.13",
+          "huggingface-hub": "1.28.0",
+          "matplotlib": "3.11.1",
+          "mujoco": "3.11.0",
+          "networkx": "3.6.1",
+          "pillow": "12.3.0",
+          "trimesh": "4.12.2"
+        },
+        "mesh_producer": {
+          "schema_version": 2,
+          "codesign_version": "0.4.2",
+          "geometry_sha256": "936cc5faf6edd66a4199a59734e71b68c9b51f29320a875349b928d72e833a17",
+          "python": "3.12.13",
+          "implementation": "cpython",
+          "system": "Linux",
+          "machine": "x86_64",
+          "dependencies": {
+            "cascadio": "0.0.13",
+            "trimesh": "4.12.2"
+          }
+        }
+      }
+    },
+    "source": {
+      "archive_sha256": "c7c45093ac1155b2d3a0dad64c1e1c22d343b3c171c34dae495eaa5f545af258",
+      "report_sha256": "94665ebc5d23456c1f4bcc6192e8de5fcd75170a2249b3def4a432ae05eb877d"
+    },
+    "scheduler": {
+      "job_id": "60317343",
+      "array_job_id": "60313720",
+      "array_task_id": "1162",
+      "node": "gl3089",
+      "host": "gl3089.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 100,
     "compiled_models": 100,
-    "archive_sha256": "c7c45093ac1155b2d3a0dad64c1e1c22d343b3c171c34dae495eaa5f545af258"
+    "archive_sha256": "96a257944e911cf4fff6eace4fecbfac1dbc1f9729569dc521186906e9f25beb"
   }
 }