diff --git "a/onshape/shard-01165.report.json" "b/onshape/shard-01165.report.json"
--- "a/onshape/shard-01165.report.json"
+++ "b/onshape/shard-01165.report.json"
@@ -219,7 +219,7 @@
         "mjcf_ms": 4.786056000739336,
         "compile_ms": 55.07082585245371,
         "graph_ms": 109.79520669206977,
-        "render_total_ms": 1839.446713682264
+        "render_total_ms": 1884.9614579230547
       },
       "mesh_preparation": {
         "status": "complete",
@@ -267,16 +267,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.981471113860607,
-        "render_ms": 1587.778318207711,
-        "compose_ms": 107.90527937933803,
-        "write_ms": 118.05501487106085,
-        "foreground_fraction": 0.7579
+        "compile_ms": 65.84267225116491,
+        "render_ms": 1524.0029068663716,
+        "compose_ms": 114.26604399457574,
+        "write_ms": 164.19592685997486,
+        "foreground_fraction": 0.7579,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "db81fc3ae18163930cb72bb99328a8d2d37a40213ccc20e23e5dcf8e2035fc3f",
         "meshes.tar": "7c4a61a5d057279d3a71f46e716c9f5b518a723ad6f55fae25c2af5ec627b378",
-        "render.png": "426b60f770027819daa928bed9109540ea1970524f8a4a12d68b8692074abf84",
+        "render.png": "ecbd85ec0d9f650f0737a7fbc4d5cc68ed7a9d9c3cee747f954c46cb716f0bf1",
         "graph-raw.svg": "398d5c564624066a2bf32e63feeae9b03ef435905d093d8799fed0babd07d8bd",
         "graph-robot.svg": "555048ae2f0b23926719fd26cd2fae5d56a11eb5e32df72744308ff495735205"
       },
@@ -318,7 +320,7 @@
         "mjcf_ms": 8.58164532110095,
         "compile_ms": 1287.139959167689,
         "graph_ms": 462.21792977303267,
-        "render_total_ms": 2719.575760420412
+        "render_total_ms": 3546.960414852947
       },
       "mesh_preparation": {
         "status": "complete",
@@ -366,16 +368,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 333.31135334447026,
-        "render_ms": 2151.730057783425,
-        "compose_ms": 65.51192188635468,
-        "write_ms": 145.1793760061264,
-        "foreground_fraction": 0.73645
+        "compile_ms": 1264.746612869203,
+        "render_ms": 2023.9954232238233,
+        "compose_ms": 70.45125588774681,
+        "write_ms": 164.25055311992764,
+        "foreground_fraction": 0.73645,
+        "style": "link-palette-v1",
+        "colored_bodies": 17
       },
       "artifacts": {
         "robot.mjcf": "ef353fd51c398354fb0de84d5638069ea766feec6d2bf140320f772f206cd86e",
         "meshes.tar": "549f888ea22de7fe7c587e9eff64cf84ada840462e9ec4cf1db993866805bdbf",
-        "render.png": "a41b84a24a83ff1756dd9b90326a2d9c190a7d1f33821c130aed3fcc36464cdc",
+        "render.png": "01f16e6492959fb882134de7b109d5d264d327346e5c2032d7d8e31e316964fe",
         "graph-raw.svg": "24eef16991fc7f0f955f63393f67c18e8f78006d4960c10f09fb3c10f426e5cf",
         "graph-robot.svg": "95ed99d8a4961f2f46835b3facdc487a7a19b0fee2b22219ef4fdf72a52fb8a8"
       },
@@ -413,7 +417,7 @@
         "mjcf_ms": 3.587183076888323,
         "compile_ms": 11.094238143414259,
         "graph_ms": 87.32766471803188,
-        "render_total_ms": 1598.5271078534424
+        "render_total_ms": 1542.4081729725003
       },
       "mesh_preparation": {
         "status": "complete",
@@ -474,16 +478,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.426799852401018,
-        "render_ms": 1445.6984950229526,
-        "compose_ms": 65.14339381828904,
-        "write_ms": 68.35556216537952,
-        "foreground_fraction": 0.72325
+        "compile_ms": 7.979934103786945,
+        "render_ms": 1384.4015919603407,
+        "compose_ms": 69.06526582315564,
+        "write_ms": 67.56814802065492,
+        "foreground_fraction": 0.72325,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "bd2e759e89568aadb393450d2a6d2a49a6dbb873ee93326d25b7982e687153e7",
         "meshes.tar": "65ff2f5e4c38e750816cbd98b424427cf77750a7b9149c011e650f474f42f9cb",
-        "render.png": "1361ac77cd685280b75d61c42d1cfac0411d8e3c0e0d68a2a61ef2016f67995b",
+        "render.png": "e8976fd008d7bfbb2e416dbf6c1df91b7866ace06caa7973614f75d97a8c4041",
         "graph-raw.svg": "2e2e9539ed3ef65733bc1257f637bdcd87966666d3068d56d45f89dfa1ca9ad0",
         "graph-robot.svg": "9914d0a13c7fe85bf171ae2b1b4a37f0f37d9bd45c4d4856daa0911f9899ce30"
       },
@@ -521,7 +527,7 @@
         "mjcf_ms": 4.1091907769441605,
         "compile_ms": 7.266898173838854,
         "graph_ms": 309.5940453931689,
-        "render_total_ms": 1569.0258452668786
+        "render_total_ms": 1524.252078961581
       },
       "mesh_preparation": {
         "status": "complete",
@@ -569,16 +575,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.5875759571790695,
-        "render_ms": 1398.9120060577989,
-        "compose_ms": 62.09458410739899,
-        "write_ms": 87.89868606254458,
-        "foreground_fraction": 0.6721
+        "compile_ms": 5.402617156505585,
+        "render_ms": 1342.7410968579352,
+        "compose_ms": 61.66517501696944,
+        "write_ms": 100.9872411377728,
+        "foreground_fraction": 0.6721,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "939f243929555d7b002d90cd39a0914d2e752b03a7a34a7c30dde053797fefc0",
         "meshes.tar": "c49cd89ebc91cc71fc868a176cfc31a772e66e6ad7bf6e80f2c53dd008ee6940",
-        "render.png": "e4c9dc17febefb57468fae5541604cffa5898dd021809138634e29d22367c120",
+        "render.png": "97d0c2ab1d488ef110720ab0b8aad0be4708aa330e9214de4b7e86001e22f075",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -621,7 +629,7 @@
         "mjcf_ms": 5.492201074957848,
         "compile_ms": 264.9927418678999,
         "graph_ms": 125.32344600185752,
-        "render_total_ms": 1695.9322821348906
+        "render_total_ms": 1850.867441855371
       },
       "mesh_preparation": {
         "status": "complete",
@@ -669,16 +677,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 25.06629517301917,
-        "render_ms": 1515.4859451577067,
-        "compose_ms": 52.40488983690739,
-        "write_ms": 88.92011595889926,
-        "foreground_fraction": 0.39875
+        "compile_ms": 239.22291630879045,
+        "render_ms": 1449.2182983085513,
+        "compose_ms": 51.63417989388108,
+        "write_ms": 98.28096302226186,
+        "foreground_fraction": 0.39875,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "4027e6d1442f25708853900ca03eba51202d40338897cfaf8caf83813c6023d6",
         "meshes.tar": "be910e949dde1c5abdaa091944898347fdba2c6f6c39896d62281759d352d80b",
-        "render.png": "30a44f874186803cc7a8dfae3aaf1086ed6e40cb9a54c7f5744b683b5d7e61cd",
+        "render.png": "b72cda49be3c9537afcd8d8b88f0ed27d60942b4e8a0ca9161e57b82029cfb39",
         "graph-raw.svg": "28c33ffb6d1e571862a61ce7de835332f2fb0912401b73a481655d7857ec0334",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -721,7 +731,7 @@
         "mjcf_ms": 5.594972055405378,
         "compile_ms": 257.9133864492178,
         "graph_ms": 129.4913529418409,
-        "render_total_ms": 1696.7319590039551
+        "render_total_ms": 1920.4708090983331
       },
       "mesh_preparation": {
         "status": "complete",
@@ -769,16 +779,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.02332720160484,
-        "render_ms": 1488.966508768499,
-        "compose_ms": 55.4193127900362,
-        "write_ms": 96.30879666656256,
-        "foreground_fraction": 0.4444
+        "compile_ms": 255.88182685896754,
+        "render_ms": 1482.7216938138008,
+        "compose_ms": 55.31304003670812,
+        "write_ms": 111.02007701992989,
+        "foreground_fraction": 0.4444,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "13e56a7cadb32913b14e11aad39e9eee6b563994879fe1f626d64a006d7b9fde",
         "meshes.tar": "6f10e1ac52b22bdc13984e53431f815aca126e614174867522d1bb69dcd410df",
-        "render.png": "1d213ae54ee42a6c774a280c7ebeca354557f7e54f6da19daa1f2368f1778aaa",
+        "render.png": "daddbc21ff52c0e2eabe3f4e9c64cbe3ffb6c785a344a7a700d95843f321bdda",
         "graph-raw.svg": "40771252f46514ac03e213d4eccb7ac2e0db26c8937e7e01d778228d6b4efc6a",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -819,7 +831,7 @@
         "mjcf_ms": 4.497097805142403,
         "compile_ms": 15.934069640934467,
         "graph_ms": 221.5249058790505,
-        "render_total_ms": 1581.709851976484
+        "render_total_ms": 1561.8317537009716
       },
       "mesh_preparation": {
         "status": "complete",
@@ -922,16 +934,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.61292390152812,
-        "render_ms": 1452.6741867884994,
-        "compose_ms": 59.55265183001757,
-        "write_ms": 52.061997819691896,
-        "foreground_fraction": 0.572
+        "compile_ms": 9.467042982578278,
+        "render_ms": 1416.2164493463933,
+        "compose_ms": 66.29854021593928,
+        "write_ms": 52.6018962264061,
+        "foreground_fraction": 0.572,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "55bd91d19cf82eefaff781cfcaaca8141671c247d23e4f75a3cece0ad0d277fa",
         "meshes.tar": "33c9f680635384f9cd1cf952c5f889345f16cad2f592c785095efbfe3170a856",
-        "render.png": "4a3d070bf696ba36b4c90a276f7ce4559eaa1d47242250c40c3d67602a5b3000",
+        "render.png": "60ec8bc201779f372f78ee1c3df2188d935f6ff9584343d9cad1ba37737e12f4",
         "graph-raw.svg": "a76621ef19a8312ec7eae4844334fd99fd2c14b35efd393e57d4cc6caada5f97",
         "graph-robot.svg": "a827eb7f2854e6ef7abad56e1286fea74aef02820384b4435c7538d44781ef61"
       },
@@ -971,7 +985,7 @@
         "mjcf_ms": 5.13227516785264,
         "compile_ms": 33.75666635110974,
         "graph_ms": 151.41718043014407,
-        "render_total_ms": 1589.3275681883097
+        "render_total_ms": 1606.6495841369033
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1116,16 +1130,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7.808619178831577,
-        "render_ms": 1414.1152212396264,
-        "compose_ms": 73.8108647055924,
-        "write_ms": 79.98443581163883,
-        "foreground_fraction": 0.7014583333333333
+        "compile_ms": 18.24389584362507,
+        "render_ms": 1410.3181236423552,
+        "compose_ms": 75.61388984322548,
+        "write_ms": 89.34046514332294,
+        "foreground_fraction": 0.7014583333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "b9f8f3e55b333cc84ffc98cee975aa0a9bda781cb367a1da76189a39213e9fe5",
         "meshes.tar": "7fc46ff99a9da12bf287ea89adb506c9485606024167f2c98dbf932ee40c8ea8",
-        "render.png": "39e3f2f40b5ccc20f12ec2c3e39e00a5be1f37029b2cd2032e4c7604c9ead71d",
+        "render.png": "02bf2154244fcfd4da93e3c90dd924abaff2299d7f72d295e0be6b25f92233f6",
         "graph-raw.svg": "e35ae343677327b18350c1a1cd5cbd99d5186228ffeefaef0ab7934d83a325b1",
         "graph-robot.svg": "795038c85fe8d2cb0b0565a1b41000509d14c87f583516ba56589c6baa296c1b"
       },
@@ -1156,7 +1172,7 @@
         "mjcf_ms": 7.638831157237291,
         "compile_ms": 16.64682198315859,
         "graph_ms": 116.6199678555131,
-        "render_total_ms": 1605.92603078112
+        "render_total_ms": 1698.0374972335994
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1217,16 +1233,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.746387083083391,
-        "render_ms": 1382.8429956920445,
-        "compose_ms": 64.69237292185426,
-        "write_ms": 140.98013285547495,
-        "foreground_fraction": 0.4609
+        "compile_ms": 7.694736123085022,
+        "render_ms": 1483.8624033145607,
+        "compose_ms": 62.82920436933637,
+        "write_ms": 131.65241992101073,
+        "foreground_fraction": 0.4609,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "4c596c0698c775fd71ee7afa207b5e485d834bd9aeaf2938980b89c6d677cfee",
         "meshes.tar": "5e4e9344c76e6366dcd469084a12ee704f8bdf286b4069b838d34d354c22f2f4",
-        "render.png": "f67e259aa0169e10803150df498377308bd5818acc75fced24b8043c0dddd34c",
+        "render.png": "83db0ca652d572193061a03534aaa77d79153ed6b6dc40ec2d72f95fe98a5d2f",
         "graph-raw.svg": "289da5b58f69fd117944cc77d50cd3a9503d256d1eefd55d48f88aa26e2fa922",
         "graph-robot.svg": "e59c9a759fc700ebaa1ad74a2ba1687cfae13abf2dd3f60e97260022c9f7c8b4",
         "robot.urdf": "a601af646c1e39c0e7aa5f37f64443779dc604c27f2d34f1ea1e93cb76827d75"
@@ -1267,7 +1285,7 @@
         "mjcf_ms": 5.329366773366928,
         "compile_ms": 94.82354018837214,
         "graph_ms": 98.50980993360281,
-        "render_total_ms": 1632.8520919196308
+        "render_total_ms": 1678.65659436211
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1315,16 +1333,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 16.953437123447657,
-        "render_ms": 1458.0074148252606,
-        "compose_ms": 50.774534698575735,
-        "write_ms": 90.48030013218522,
-        "foreground_fraction": 0.3487
+        "compile_ms": 96.03232285007834,
+        "render_ms": 1416.4939760230482,
+        "compose_ms": 49.57558726891875,
+        "write_ms": 103.13848033547401,
+        "foreground_fraction": 0.3487,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "782da48127f7c701bf5317788960670108ba69e3edab37024cde9b3389cfef76",
         "meshes.tar": "c032ef6fb1a29a8a05ba21172e6a8b2fd201647da488d2d67344afaaf8e3f381",
-        "render.png": "ecbacef8a0cffe33152bd1bb027a648346fa61697c29e52b5f88832a707e4d0c",
+        "render.png": "b290b689d4235319d77a4965df00ee0b39c5aa3fa9136dfff327eef51c9b7bd8",
         "graph-raw.svg": "c7eed948595689746eac347f55b41eca8346bf039c54bfd61d01f65e96762c16",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -1362,7 +1382,7 @@
         "mjcf_ms": 5.83743816241622,
         "compile_ms": 104.44474499672651,
         "graph_ms": 528.3706118352711,
-        "render_total_ms": 1799.5475861243904
+        "render_total_ms": 1730.3942693397403
       },
       "mesh_preparation": {
         "status": "complete",
@@ -1941,16 +1961,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.096297841519117,
-        "render_ms": 1609.3197450973094,
-        "compose_ms": 60.67636841908097,
-        "write_ms": 93.4200519695878,
-        "foreground_fraction": 0.63245
+        "compile_ms": 93.96216878667474,
+        "render_ms": 1455.4509930312634,
+        "compose_ms": 56.62834318354726,
+        "write_ms": 109.27287908270955,
+        "foreground_fraction": 0.63245,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "7c7e27065f8fc35c0145dfe5dd3465c5fbbd609de6575d82ff39768f8d2d373c",
         "meshes.tar": "febd55837a33d9eebe8c9f88e37f99071af6e4af71efaeff8718bb7ef5a97484",
-        "render.png": "f10b35065e0565de598d644f920cf44c7f8cad1a12dcf10e93c5752ecdde9508",
+        "render.png": "0404541f9702ef5c034427d7045755ab146a2e56e9617527134417815e14d64b",
         "graph-raw.svg": "71bcd9bcb2dd58e99e0c85e58bae6b07d35cad0093c865f757858d30c523707a",
         "graph-robot.svg": "767c07fd02ed888bb27326fed3a67952a6228eba44477cfa97160495ad71d2f0",
         "robot.urdf": "77165aa218a7a65c92f40ce4527b853755ebd49f679f4501e1d90dac8ee15847"
@@ -1982,7 +2004,7 @@
         "mjcf_ms": 3.9870119653642178,
         "compile_ms": 4.461741074919701,
         "graph_ms": 80.95627697184682,
-        "render_total_ms": 1628.4854719415307
+        "render_total_ms": 1534.09078810364
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2043,16 +2065,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.586031798273325,
-        "render_ms": 1488.7659070082009,
-        "compose_ms": 66.35782402008772,
-        "write_ms": 54.245240055024624,
-        "foreground_fraction": 0.4433
+        "compile_ms": 3.1672436743974686,
+        "render_ms": 1405.6130722165108,
+        "compose_ms": 59.523701667785645,
+        "write_ms": 53.57316927984357,
+        "foreground_fraction": 0.4433,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "a32f77481bc7eea7a99df32fd377bfd848e2dc13396220ab88972f0b113d3cea",
         "meshes.tar": "3fc3f79450def8cc5eadca9f1ec0f1f0849aefce664aa56c7eaccee3f473150f",
-        "render.png": "682813ce24137a8fa6199e64b077736992e71e8b1d2798de25cd5cc4dbd23ccd",
+        "render.png": "782f6b792e7792dbbcc6c749940ecd7326cc59518024d648180e52e03ba23195",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "6dda714abfbc3e0efb1669397a9e35187674ce29f7673018bb453cc63d2ae2b1"
@@ -2093,7 +2117,7 @@
         "mjcf_ms": 4.735514987260103,
         "compile_ms": 102.26732306182384,
         "graph_ms": 105.18968617543578,
-        "render_total_ms": 1597.0101882703602
+        "render_total_ms": 1707.0536250248551
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2141,16 +2165,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.788641154766083,
-        "render_ms": 1430.8575699105859,
-        "compose_ms": 50.306261982768774,
-        "write_ms": 84.13929399102926,
-        "foreground_fraction": 0.3322
+        "compile_ms": 154.0769119746983,
+        "render_ms": 1397.0477492548525,
+        "compose_ms": 49.412043299525976,
+        "write_ms": 93.0094956420362,
+        "foreground_fraction": 0.3322,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "a2c333752d102bd3183ce038af98406ee7a5b689010833d99103d99b29a5aabe",
         "meshes.tar": "75ba2385a27f011244eab69233f713bab49aa88e5ab2466a19f84b847b05a0ec",
-        "render.png": "2c79dca91f53181504c2516208da6762b5b6f72c8cb91155d5b6b42979defc57",
+        "render.png": "66b0a18f7e41cca1c85187e9fba754d80c271925f12ef0ae00a108d66f95b69e",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -2192,7 +2218,7 @@
         "mjcf_ms": 5.635127425193787,
         "compile_ms": 28.787534218281507,
         "graph_ms": 106.07592901214957,
-        "render_total_ms": 1688.7246719561517
+        "render_total_ms": 2088.2572080008686
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2240,16 +2266,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.93452388420701,
-        "render_ms": 1489.9924928322434,
-        "compose_ms": 63.736493699252605,
-        "write_ms": 116.03866796940565,
-        "foreground_fraction": 0.72545
+        "compile_ms": 27.26755803450942,
+        "render_ms": 1418.8546570949256,
+        "compose_ms": 69.90147987380624,
+        "write_ms": 554.9160819500685,
+        "foreground_fraction": 0.72545,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "3222b67c4a1d60d227d0119f30435c06ccbae0c2cdacb89fc7895a99d2f7c8bb",
         "meshes.tar": "be7e19ae93d24c62957faee072bc0c293e0300bbc482b322634e4801c8418899",
-        "render.png": "be863144e8f01586762d57ca28904d33e58ec62b8d19fd52f2f9eb02932ead80",
+        "render.png": "4d9eacf55cd058dd4355a025255584cd6be3c222975220f5095f27f8dfb011d4",
         "graph-raw.svg": "5768aca288d1139bf5f37f1d36563b763e1b0eab56c7e45b07582c9759885d0c",
         "graph-robot.svg": "90e6b64dcd9714dfe17dd14c2dc422a2dd9630f186ce6b1ad30644a59934642c"
       },
@@ -2283,7 +2311,7 @@
         "mjcf_ms": 6.288898177444935,
         "compile_ms": 26.33696887642145,
         "graph_ms": 229.67960173264146,
-        "render_total_ms": 1563.8843360356987
+        "render_total_ms": 1642.0681169256568
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2344,16 +2372,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.853759780526161,
-        "render_ms": 1403.4660630859435,
-        "compose_ms": 63.35646891966462,
-        "write_ms": 73.98003898561001,
-        "foreground_fraction": 0.50105
+        "compile_ms": 26.784955989569426,
+        "render_ms": 1453.5253611393273,
+        "compose_ms": 63.95314633846283,
+        "write_ms": 84.32722417637706,
+        "foreground_fraction": 0.50105,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "e0f6e8363df2a531264777a60430a5547c6cd196285268eaec4d5767bb310bbf",
         "meshes.tar": "cd876ecbf520c1896d14a2de64822963f02f38e5f92eca9fdd149026dd39562d",
-        "render.png": "e68e5b9b807144116b9481aba2353a536f06136be8ce90abe7eb7283610a5cc9",
+        "render.png": "c0d683a167552a1d16eb1138196cabe49e791fcedda34f8db3d365386c447908",
         "graph-raw.svg": "575436264b1479b98935b00df183260ea1358c34602d9ac58ba0930ee8c4ec30",
         "graph-robot.svg": "5a4e0575b617a2f47b460bf1e507a9b41bee7920c5e641baa88ecd1a2192ef60",
         "robot.urdf": "108574290915a3e6883f1c6ff9ee4c66a734546718a0341b08d04862c9f1d31a"
@@ -2397,7 +2427,7 @@
         "mjcf_ms": 7.309750188142061,
         "compile_ms": 37.49945480376482,
         "graph_ms": 156.35418239980936,
-        "render_total_ms": 1642.8893418051302
+        "render_total_ms": 1649.9785296618938
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2445,16 +2475,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.195143081247807,
-        "render_ms": 1481.9883219897747,
-        "compose_ms": 58.15224535763264,
-        "write_ms": 76.60265499725938,
-        "foreground_fraction": 0.52085
+        "compile_ms": 35.474587231874466,
+        "render_ms": 1468.6127402819693,
+        "compose_ms": 57.02439835295081,
+        "write_ms": 76.18956407532096,
+        "foreground_fraction": 0.52085,
+        "style": "link-palette-v1",
+        "colored_bodies": 15
       },
       "artifacts": {
         "robot.mjcf": "0381ea1462893c3c7ad6da7e8338132b71cb1bf6448cc51dfd4931a879ce5c4a",
         "meshes.tar": "e8e3cafe8aa49bf7cc657b0d912380053a79b485d88b3ea06352f90c82ff9f5d",
-        "render.png": "56b796af3dd5374944a2da85b805dd38b848732347069a90d16c5d7e358834d1",
+        "render.png": "1b027338c440692b5a89af8e01e003a2f3aa3ea7470f733faad51ed01fd04ca6",
         "graph-raw.svg": "c7bd02831330f7512d2820e412c3886291ca7a5698476d43d333da8b9df15e80",
         "graph-robot.svg": "c18867f76021ed16eecb99860a15c5502297a75bd60c54c1d379bfa10443b12a"
       },
@@ -2497,7 +2529,7 @@
         "mjcf_ms": 6.195391993969679,
         "compile_ms": 160.72251787409186,
         "graph_ms": 151.4153010211885,
-        "render_total_ms": 1751.622875686735
+        "render_total_ms": 1804.8895439133048
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2545,16 +2577,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 43.28223317861557,
-        "render_ms": 1539.4083238206804,
-        "compose_ms": 62.601408921182156,
-        "write_ms": 89.98420974239707,
-        "foreground_fraction": 0.5973
+        "compile_ms": 134.6046170219779,
+        "render_ms": 1491.3052171468735,
+        "compose_ms": 62.108393758535385,
+        "write_ms": 103.62444818019867,
+        "foreground_fraction": 0.5973,
+        "style": "link-palette-v1",
+        "colored_bodies": 8
       },
       "artifacts": {
         "robot.mjcf": "26869547864ca47a08cebacb236db21bbefe761a637d6e5b0ca45a997375ff1c",
         "meshes.tar": "34bf3fb68aa8ee80fe485b45511828550d48fddb2f1e77be5b7937305e4caacd",
-        "render.png": "47aa2361f9460b186575ca550bebf33bee419241e237d0edeae47218cdac1b1b",
+        "render.png": "fcdc4b0c1e00830b4f8b01a699d492b08e5ce4a039011f60db26bc927f55210e",
         "graph-raw.svg": "04b8137e4ba18c7f371b59e83d0ff700b7731b7c5596a9e222e85ec74fc56904",
         "graph-robot.svg": "738176795c86db6859ddf3a831c91396a49421a4ffe3c35a50667e75258d114f"
       },
@@ -2590,7 +2624,7 @@
         "mjcf_ms": 4.836041945964098,
         "compile_ms": 4.42305114120245,
         "graph_ms": 163.21384301409125,
-        "render_total_ms": 1594.9423182755709
+        "render_total_ms": 1496.8717438168824
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2651,16 +2685,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.8199241496622562,
-        "render_ms": 1439.5765252411366,
-        "compose_ms": 68.02847981452942,
-        "write_ms": 70.69162605330348,
-        "foreground_fraction": 0.55055
+        "compile_ms": 4.047197755426168,
+        "render_ms": 1349.8348100110888,
+        "compose_ms": 60.894052032381296,
+        "write_ms": 69.08777914941311,
+        "foreground_fraction": 0.55055,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "6390d7878108d45da92434ebc48ea74952f390043593842597aa669192e1c156",
         "meshes.tar": "c818509ef634457df2559cb03f9c9895270f616e8ef44c8244d37b9ed94fd70e",
-        "render.png": "c5be492df7c5f52910d13a3b87dff2743cc67f9f705c0a0cb12f51d2899e4cff",
+        "render.png": "dae5d3557dc54e44ddf920539b2a048553aad1ab4557a68cba1326d0b339cbd9",
         "graph-raw.svg": "237a6b4edf30ea5c3c3bbc607284c417b369b024ac5c2a39956216cbc59acdb0",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "f730a03333d034aa6f7d0132b24e73736e72d9b2dfc0fcee97b59ea8b6305c61"
@@ -2693,7 +2729,7 @@
         "mjcf_ms": 5.291846115142107,
         "compile_ms": 15.205519739538431,
         "graph_ms": 133.65915697067976,
-        "render_total_ms": 1549.2861857637763
+        "render_total_ms": 1597.1089210361242
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2803,16 +2839,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.5981121473014355,
-        "render_ms": 1397.7287053130567,
-        "compose_ms": 59.32701984420419,
-        "write_ms": 72.78665993362665,
-        "foreground_fraction": 0.35365
+        "compile_ms": 9.62104881182313,
+        "render_ms": 1440.5645532533526,
+        "compose_ms": 56.38873763382435,
+        "write_ms": 76.8638071604073,
+        "foreground_fraction": 0.35365,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "13f13d41c4e537a839ad800a3627492c83ed37f6ea0eefc561825b5929e68f8d",
         "meshes.tar": "3162561d178b53765457d59aef348a0a3b2e229eae6a84811f50f78637812fe6",
-        "render.png": "f94fa2b8cdfac82dbd5eee7584477486a287908f8e47da2e03736f3dcff25751",
+        "render.png": "01ede0b9974d9299b95d25ea5350ae63f4877e3d46d5b14b9ec96a7a5f6887de",
         "graph-raw.svg": "7bd75dcf95c67d92aa966c078a5511248b59550903418a4785de0a5e16bc51f3",
         "graph-robot.svg": "3716a01054ad5ded6935b29d4ebe8f9bf728b02843982f941469ded077fda4a7",
         "robot.urdf": "73aa87358db32b1f6abeb580f31df70df3d8fbf7fc028f203d3e015dc97ee962"
@@ -2852,7 +2890,7 @@
         "mjcf_ms": 4.220705013722181,
         "compile_ms": 52.28306772187352,
         "graph_ms": 82.11829094216228,
-        "render_total_ms": 1561.6229381412268
+        "render_total_ms": 1527.3102410137653
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2900,16 +2938,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.246080208569765,
-        "render_ms": 1428.1236557289958,
-        "compose_ms": 48.630091827362776,
-        "write_ms": 58.53392602875829,
-        "foreground_fraction": 0.15785
+        "compile_ms": 44.97813293710351,
+        "render_ms": 1360.157589893788,
+        "compose_ms": 46.99223302304745,
+        "write_ms": 62.28843703866005,
+        "foreground_fraction": 0.15785,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "a0d932c56245a6feb3cc62cb358f919560bd820d0026edc1e3410706851192fe",
         "meshes.tar": "f6290fb7c7fb252bfca5d8ad70fac24937405d4ae9e644bf23bc65473bf53de1",
-        "render.png": "569d2d900f5b369db1be6fe66dd62aa6ab0c2ac73267012608a73993f1e48d44",
+        "render.png": "ebea25f6d9160b19895927902fc985dd88065b47f22236155b8d6180e93de926",
         "graph-raw.svg": "af1f9fd7d40bd1feb413bca29a1c378f28909f12bb7edf14a806839bd9088503",
         "graph-robot.svg": "0b4b1701c9c4237b1588070899b12961d2201ce371b3359236985bba87b7585d"
       },
@@ -2951,7 +2991,7 @@
         "mjcf_ms": 4.325665067881346,
         "compile_ms": 3.5858890041708946,
         "graph_ms": 243.65940177813172,
-        "render_total_ms": 1568.2358932681382
+        "render_total_ms": 1479.0801159106195
       },
       "mesh_preparation": {
         "status": "complete",
@@ -2999,16 +3039,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2.808015327900648,
-        "render_ms": 1446.578302886337,
-        "compose_ms": 47.54250217229128,
-        "write_ms": 57.580905966460705,
-        "foreground_fraction": 0.2871
+        "compile_ms": 3.394929226487875,
+        "render_ms": 1360.0710066966712,
+        "compose_ms": 46.81850504130125,
+        "write_ms": 56.56033614650369,
+        "foreground_fraction": 0.2871,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "29f99679bfc43b819124e178ad6e622ddaaf1e296daf504d5d87576a9b4d1bc0",
         "meshes.tar": "cea24bb6752dc85f7288900b0abf1c08dbf295678876da43a9bbcf9c7b11d2b4",
-        "render.png": "29a1ddc1cb878aa2e0f29113e2957080f642e9c3f66a4baa342152a0fbcb101f",
+        "render.png": "2dc36d6198cbb434ea691460486d874c77b3c7369450373a27178fea8dd4ab2c",
         "graph-raw.svg": "c56adb6e5923868294fb789542398532136d9acf5d5d2ea8cb31ce386a0f53ff",
         "graph-robot.svg": "c6001b26a3fd3c38033a5d55775d88c65ab26c4917cca8582642e08dd6e8c436"
       },
@@ -3125,7 +3167,7 @@
         "mjcf_ms": 163.54574309661984,
         "compile_ms": 567.7343881689012,
         "graph_ms": 2843.308267183602,
-        "render_total_ms": 2536.483879201114
+        "render_total_ms": 2711.5295752882957
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3198,16 +3240,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 512.9261799156666,
-        "render_ms": 1858.6163828149438,
-        "compose_ms": 57.91948875412345,
-        "write_ms": 93.9700030721724,
-        "foreground_fraction": 0.52305
+        "compile_ms": 581.870726775378,
+        "render_ms": 1964.3171159550548,
+        "compose_ms": 56.88985111191869,
+        "write_ms": 95.26610607281327,
+        "foreground_fraction": 0.52305,
+        "style": "link-palette-v1",
+        "colored_bodies": 146
       },
       "artifacts": {
         "robot.mjcf": "091d29ccce813e73c9823d224a3988142d34445ea9cf8be57932df6ab6282e0d",
         "meshes.tar": "bee44af90e9a6b989c11d40ff7ff2fda967fe6e054ba8f9eb865af8d8d112fd8",
-        "render.png": "c92363103c883606e0a6759a1d06b2a17099a18f78fd0c27b925813fc1e9d40b",
+        "render.png": "1bc39a90f382780d4fee1eaba1a39cafca1f262f1ddc468865d095f77a4c684b",
         "graph-raw.svg": "e761e4366f0e2fc7d0cb11d5b7a2ad5476a60143f5e5e147766557dadf3649af",
         "graph-robot.svg": "191acf3889e8564919d1c168638f1f5d3a25bc1766a8589fd40a9e50a9c45f0b"
       },
@@ -3238,7 +3282,7 @@
         "mjcf_ms": 4.822377115488052,
         "compile_ms": 22.0727170817554,
         "graph_ms": 90.44129308313131,
-        "render_total_ms": 1583.8927421718836
+        "render_total_ms": 1494.6523532271385
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3299,16 +3343,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 6.8390327505767345,
-        "render_ms": 1436.3121641799808,
-        "compose_ms": 60.92148507013917,
-        "write_ms": 66.20365893468261,
-        "foreground_fraction": 0.6908416666666667
+        "compile_ms": 11.25811506062746,
+        "render_ms": 1345.8548421040177,
+        "compose_ms": 59.284936636686325,
+        "write_ms": 65.5826018191874,
+        "foreground_fraction": 0.6908416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "3b7d7bab825dd7b993ee2615a636aeeedefaf48c8e97132ceeb0cd08cdaf19af",
         "meshes.tar": "8c301530129ec6c63096e263bf45bba0c42560081843ec545d051ea7af381668",
-        "render.png": "17c9a3a9c28aa6bebe8cea4a2f36f70e29ccffcc5ad0fa94854b6dce14e7bad1",
+        "render.png": "429369c3fee13c81c501a8ee4da8995aa01c167dff931b78a4a9a236d7a673f0",
         "graph-raw.svg": "116f53c2210c9d230b12ea66c399f4111c04880bbf99bfb536072e4243a84ceb",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "736b743d7bbfccf28cd32daa760e527a69942bb02ccccc7174e21cc40082c26c"
@@ -3340,7 +3386,7 @@
         "mjcf_ms": 4.876854829490185,
         "compile_ms": 481.92255571484566,
         "graph_ms": 95.50599521026015,
-        "render_total_ms": 2307.324940804392
+        "render_total_ms": 2355.0990340299904
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3401,16 +3447,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 489.19483087956905,
-        "render_ms": 1607.1886997669935,
-        "compose_ms": 55.928710382431746,
-        "write_ms": 141.89028181135654,
-        "foreground_fraction": 0.4521
+        "compile_ms": 568.109193816781,
+        "render_ms": 1563.311219215393,
+        "compose_ms": 55.228566750884056,
+        "write_ms": 155.69748869165778,
+        "foreground_fraction": 0.4521,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "aaf44fd74a9610e8313c56ce28c7fdb6364f9d4949da1af1d6505018c99674d5",
         "meshes.tar": "127ed3e8153515c0a07a68a719569060b2e886e107b9b440ad149cebd9df58d4",
-        "render.png": "0488ea05bc5dc68fc755d4e9cae713bd9190627df042f442bfdac2fc56f7415f",
+        "render.png": "cfaf4ea1f70135719f1f6f36aa98c985897888d660ba31655d94b98ab607e9dd",
         "graph-raw.svg": "2a70da303274259e8f31e2310a83c90333ad371014ea23eb1a288689200e51cf",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d",
         "robot.urdf": "692191a31b18e65add8f56daadc9ff1b181687a8fb81765833ea26ab68a996dc"
@@ -3453,7 +3501,7 @@
         "mjcf_ms": 5.40439086034894,
         "compile_ms": 150.87920427322388,
         "graph_ms": 221.46633081138134,
-        "render_total_ms": 1703.63233005628
+        "render_total_ms": 1673.5678212717175
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3501,16 +3549,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 126.99462566524744,
-        "render_ms": 1423.0754720047116,
-        "compose_ms": 57.53369303420186,
-        "write_ms": 79.17384710162878,
-        "foreground_fraction": 0.27665
+        "compile_ms": 114.02686778455973,
+        "render_ms": 1402.016491163522,
+        "compose_ms": 56.2160350382328,
+        "write_ms": 88.27747078612447,
+        "foreground_fraction": 0.27665,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "fd8a74449bcd9682b9ee1c10d2af86d3819d2ae5ca6d3cfe6ffa7aaf767f75d8",
         "meshes.tar": "20a05bee884d98c893db090d141d11038de39badfc4c0fa892cf1b25202a57dc",
-        "render.png": "03b3d45b2b642ac4dd627c70e6ff748b357892744a6199ce968835972a38c2b4",
+        "render.png": "a5dba7da3fca14fb644ed08b29fffa6716bb2f20df6810a22323d97436b913c1",
         "graph-raw.svg": "5bdfbfc38eda9f840388c72f57e9e6ecc82d25272bbbef71ef1ac5bc71b1cb1c",
         "graph-robot.svg": "6cbf1dcd88d1870ba9ad7d512630e1ec5634dc27801226fa176d5da4c2dbde7d"
       },
@@ -3541,7 +3591,7 @@
         "mjcf_ms": 5.785235203802586,
         "compile_ms": 13.179680332541466,
         "graph_ms": 108.85517485439777,
-        "render_total_ms": 1546.2158359587193
+        "render_total_ms": 1481.2115402892232
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3602,16 +3652,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 10.05643606185913,
-        "render_ms": 1394.0871469676495,
-        "compose_ms": 57.340024039149284,
-        "write_ms": 71.27810316160321,
-        "foreground_fraction": 0.28875
+        "compile_ms": 13.460312969982624,
+        "render_ms": 1328.504049219191,
+        "compose_ms": 56.91205197945237,
+        "write_ms": 69.7237472049892,
+        "foreground_fraction": 0.28875,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "ba106b43d85473e9ff02dcb5e95837ecf39a9c866209333c1615a201b875e643",
         "meshes.tar": "ac04a974ee3fb0cdf1337e9a65a39357b20a9271d0a2baba2b50f982e0bb3397",
-        "render.png": "1e0524282d6971d93defcf3e1b691d2713f9505e62368b6661bdb9e91fa78921",
+        "render.png": "a914513695fc304a6690be880a26bd6431b1bfdf957960399acb5c909ac5c16a",
         "graph-raw.svg": "e769ca33b5386ebac3d06fcd4b9c71555ae87d54f2516909241a66f99ce256e9",
         "graph-robot.svg": "9ae9320f3e1b1388c6271d4ed8a3e4fa8ddf1e8648da3da347487fcbbb56a24e",
         "robot.urdf": "c0654c3f7fc9a30ec3ff891d5db68c49ecce52895939fc4e52b02c19e79b3c2e"
@@ -3658,7 +3710,7 @@
         "mjcf_ms": 6.402064114809036,
         "compile_ms": 61.84798525646329,
         "graph_ms": 259.1075790114701,
-        "render_total_ms": 1731.5446473658085
+        "render_total_ms": 1603.8130931556225
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3706,16 +3758,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 77.33974512666464,
-        "render_ms": 1492.753750178963,
-        "compose_ms": 66.07532734051347,
-        "write_ms": 80.11920284479856,
-        "foreground_fraction": 0.5852
+        "compile_ms": 65.12815458700061,
+        "render_ms": 1375.3638276830316,
+        "compose_ms": 64.4533159211278,
+        "write_ms": 85.77496279031038,
+        "foreground_fraction": 0.5852,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "b0738b96d5a697e22d32b6982caed17ec697dfe865650d76d5e93134b0917bc0",
         "meshes.tar": "724e3a1d9a088308d48a278b5d3ec2e844c037765550b48e5f78457ffbdd9e87",
-        "render.png": "86bddf0d43537e9629137a3d56af8d04270347f38f5f1a093dd4f69ec5a6f8cb",
+        "render.png": "40308f8c767014814df8ebbf6ce9ebe27d3a08153bc62aee1486332a894c7a44",
         "graph-raw.svg": "4847e84b1ac93360c82b09b1929719ccff2f3e6fc59f7e758be2b23debcda7fb",
         "graph-robot.svg": "478e07a36f0df441f4c963c872e11834730e56897989e89c5f53e188a778b42d"
       },
@@ -3753,7 +3807,7 @@
         "mjcf_ms": 4.070429131388664,
         "compile_ms": 28.313541784882545,
         "graph_ms": 83.7485077790916,
-        "render_total_ms": 1674.0509271621704
+        "render_total_ms": 1599.9939991161227
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3801,16 +3855,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 37.90003480389714,
-        "render_ms": 1454.1608556173742,
-        "compose_ms": 65.78936241567135,
-        "write_ms": 102.63730632141232,
-        "foreground_fraction": 0.77805
+        "compile_ms": 23.418545722961426,
+        "render_ms": 1366.2673472426832,
+        "compose_ms": 63.80845792591572,
+        "write_ms": 134.25029395148158,
+        "foreground_fraction": 0.77805,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "ea74ff09bd858f73f817bdb311366315ca13d5deee768382a0edac2f5712912d",
         "meshes.tar": "de35ac32f5d85756a4fe302251c737869e1dfe2a4982b952d893827f8604bf83",
-        "render.png": "149ba30433d05ecda77b2a12788e7519d5f17004965fdc6639d84599c53ef0c7",
+        "render.png": "b08430e7371424d178fc36174909de7a16b656dc49a5bffefae4f7bc6206746c",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -3852,7 +3908,7 @@
         "mjcf_ms": 10.057124309241772,
         "compile_ms": 429.6471541747451,
         "graph_ms": 365.21887639537454,
-        "render_total_ms": 2168.901026714593
+        "render_total_ms": 2076.12486789003
       },
       "mesh_preparation": {
         "status": "complete",
@@ -3900,16 +3956,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 349.7523400001228,
-        "render_ms": 1687.0972630567849,
-        "compose_ms": 58.539615012705326,
-        "write_ms": 57.98562243580818,
-        "foreground_fraction": 0.2233
+        "compile_ms": 357.24433278664947,
+        "render_ms": 1590.459750033915,
+        "compose_ms": 50.8172451518476,
+        "write_ms": 60.411016922444105,
+        "foreground_fraction": 0.2233,
+        "style": "link-palette-v1",
+        "colored_bodies": 46
       },
       "artifacts": {
         "robot.mjcf": "34adcebeec5e9b9d436111fcdcc922689642ab29658181da40320733fedf4037",
         "meshes.tar": "6b19f01e5eec122b8dec8fd9e6eeff9fcc6a109af9b4c7ab52fc83252b235a32",
-        "render.png": "1a36afcd0d2ef562b667b567df5a0e7422f81681276c9c751b2928969f6d92d4",
+        "render.png": "ff60601c7ac17b0acac7d2b91cd1833518e3b2488ba22470bc0bd1508a7d6a42",
         "graph-raw.svg": "e21eb339c43a376518558d619d6d9fc14d8557e7158acc852efb4e0ba799cb14",
         "graph-robot.svg": "2bab4a1b9a8e1f3ed43c0fe34a4fd6222e03dc973081804533fdf66664ed4a90"
       },
@@ -3956,7 +4014,7 @@
         "mjcf_ms": 7.595178205519915,
         "compile_ms": 340.5532632023096,
         "graph_ms": 461.89557760953903,
-        "render_total_ms": 2137.929777149111
+        "render_total_ms": 2262.6607031561434
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4004,16 +4062,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 359.1253533959389,
-        "render_ms": 1621.4976189658046,
-        "compose_ms": 54.69872197136283,
-        "write_ms": 89.71311384811997,
-        "foreground_fraction": 0.3718
+        "compile_ms": 416.0328316502273,
+        "render_ms": 1556.7813096567988,
+        "compose_ms": 53.66752203553915,
+        "write_ms": 223.15479489043355,
+        "foreground_fraction": 0.3718,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e96a5fc94399c4b6b6b5df95302d6c1f0b003066385fc811aff660dfba7747bd",
         "meshes.tar": "335850c54bee39068866cc58d854bbd8af9f4d305824ce746fdd6e7e6d0a83a4",
-        "render.png": "0707a8ca5d92d25f2f54f2226299f97c5362e2f939f549ff80dd8a65c7edf263",
+        "render.png": "c700001e4a05038f814ead9e3d5fde894d31b609520c56e3da614828352b5547",
         "graph-raw.svg": "476a0dfe80ffa8f22448357087ccdb7b28c583d290b5eab6414607e344a72fad",
         "graph-robot.svg": "b9ad88931cc50d11f5821330164005ed499ea86703e4e1ce4233b49965aacdf1"
       },
@@ -4044,7 +4104,7 @@
         "mjcf_ms": 5.414735991507769,
         "compile_ms": 5.772462114691734,
         "graph_ms": 133.07398417964578,
-        "render_total_ms": 1515.5045380815864
+        "render_total_ms": 1860.8313421718776
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4105,16 +4165,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.6791468523442745,
-        "render_ms": 1358.158117160201,
-        "compose_ms": 60.849618166685104,
-        "write_ms": 77.5929712690413,
-        "foreground_fraction": 0.7219333333333333
+        "compile_ms": 8.60120914876461,
+        "render_ms": 1306.2185691669583,
+        "compose_ms": 59.47023583576083,
+        "write_ms": 473.54572592303157,
+        "foreground_fraction": 0.7219333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ec8f0ff8d19f6572d458d3b5265815bb505407e58ca4c7aab2082f9c6d2ff174",
         "meshes.tar": "bd99ad469f9e24732a6fd724749519bb144f6aa83b73b08c1c1125f57adbb1a5",
-        "render.png": "5aa4447a6108eafca551c3c0ed3c45a454f943b4665e47fbf68fe67e42cea4c2",
+        "render.png": "2e6f789916a4a2d3d611eec749b4cf5c5b17ce789ff35b2ed2c8a1e821645522",
         "graph-raw.svg": "6286770fe0913f3f6581b3e5c39b46c64a86cee2b634542692428badac122dd6",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "db9f81a88004331094b1e00bcebee9bb464350ce29506ec8f51051380c8111da"
@@ -4153,7 +4215,7 @@
         "mjcf_ms": 4.550822079181671,
         "compile_ms": 32.61703019961715,
         "graph_ms": 80.39886504411697,
-        "render_total_ms": 1696.663602720946
+        "render_total_ms": 1928.2806869596243
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4201,16 +4263,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 38.060605991631746,
-        "render_ms": 1509.017635602504,
-        "compose_ms": 62.96873418614268,
-        "write_ms": 73.37792264297605,
-        "foreground_fraction": 0.7656
+        "compile_ms": 25.644763372838497,
+        "render_ms": 1362.5522782094777,
+        "compose_ms": 61.975790187716484,
+        "write_ms": 465.7234069891274,
+        "foreground_fraction": 0.7656,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "f8034f4c889f758687fe2440d9ee0384a94188148607c0bb373e8a653aaf9591",
         "meshes.tar": "db03ad95d7dee8eb4bee7c337bc9900e80ccf30803c7301673b12c4e1aa3ecc8",
-        "render.png": "c70e83f5b890e3903a6af5f3e64c7871d44c38b39df9deabe4d7aa62630611f3",
+        "render.png": "2c21245dd739dbb1ec6f54059659d7c5d3667e2ffac8f58e5237dff11c5f6775",
         "graph-raw.svg": "4d55ad44c0357751bf3568e1ffa13bb9a06d6780102c04e2dcad29ad9836b438",
         "graph-robot.svg": "4f14c30eb5b505ab7c3c679dc3135f8cf049f1b91b59b8f2970e84fc52737b55"
       },
@@ -4251,7 +4315,7 @@
         "mjcf_ms": 5.469628144055605,
         "compile_ms": 21.562520880252123,
         "graph_ms": 105.99098494276404,
-        "render_total_ms": 1607.1872459724545
+        "render_total_ms": 1563.2066959515214
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4299,16 +4363,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 28.432494029402733,
-        "render_ms": 1428.8149890489876,
-        "compose_ms": 64.50880924239755,
-        "write_ms": 72.00724212452769,
-        "foreground_fraction": 0.5467
+        "compile_ms": 18.834802322089672,
+        "render_ms": 1395.1966622844338,
+        "compose_ms": 65.41053112596273,
+        "write_ms": 70.99197572097182,
+        "foreground_fraction": 0.5467,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "83812dbbd6033ed1adcaa9fe97cb317a2da0804b4139b60dbb22ba229ae38f81",
         "meshes.tar": "20db0d11432499f1199ec937400b9021c5f408c620ed629f0cd5d31c047c0599",
-        "render.png": "9ff2f578329b3dfe9b37ad1dd891185f5132532202dc42b715c5035bbbf960b8",
+        "render.png": "8e7b914e49ec9c41b6811d95260433330dc1ad185ce781266e61fc21ec853432",
         "graph-raw.svg": "17ca41591872b0f30e5b7b42cffb8d6dfe38c7c16b946640b613476b7f9a6eff",
         "graph-robot.svg": "6616b64aaa2d117e8cce991de1f91cd9f93d74c01cbb6559dafe29f48602369a"
       },
@@ -4340,7 +4406,7 @@
         "mjcf_ms": 3.8650170899927616,
         "compile_ms": 17.369518987834454,
         "graph_ms": 94.78023601695895,
-        "render_total_ms": 1592.933134175837
+        "render_total_ms": 1496.4702418074012
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4401,16 +4467,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 22.857055999338627,
-        "render_ms": 1425.9255239740014,
-        "compose_ms": 56.8885887041688,
-        "write_ms": 74.28228668868542,
-        "foreground_fraction": 0.56925
+        "compile_ms": 13.401700649410486,
+        "render_ms": 1339.0841889195144,
+        "compose_ms": 57.23736621439457,
+        "write_ms": 73.1967119500041,
+        "foreground_fraction": 0.56925,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "ddf90054aaf5ffa44ecb19848c72456f2b1f5a94a96c5f8f5af5f47a98a53f34",
         "meshes.tar": "9e81eee02e57f73b6b02f024b30206829d76f772584c5d2ea9804131a624f37f",
-        "render.png": "0fb4118e2cae43151a4b3d152a1b1a66eeb93d48d49d717f50d8812335dfa197",
+        "render.png": "fde5925a7a033cee4b451debd51710028ddfab4e8d4788d162687a5867ee560d",
         "graph-raw.svg": "826f39b12e9521dfc8d7d8f82db9fbb5f53de70ed4c12faeb47689184d6b3e82",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "632d5a7061d62bbfe7e31b8a1e5bf26189fe7967ee2d5bf416948ba53ff531f8"
@@ -4442,7 +4510,7 @@
         "mjcf_ms": 4.432715009897947,
         "compile_ms": 51.60772101953626,
         "graph_ms": 81.06969902291894,
-        "render_total_ms": 1683.8882211595774
+        "render_total_ms": 1716.4846416562796
       },
       "mesh_preparation": {
         "status": "complete",
@@ -4503,16 +4571,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 43.03705878555775,
-        "render_ms": 1462.9081450402737,
-        "compose_ms": 65.86898770183325,
-        "write_ms": 98.24117412790656,
-        "foreground_fraction": 0.7863916666666667
+        "compile_ms": 42.4870029091835,
+        "render_ms": 1460.36158176139,
+        "compose_ms": 64.85557090491056,
+        "write_ms": 135.56821830570698,
+        "foreground_fraction": 0.7863916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "e7630325bf1d9500fbd41b121027ad34a653dbdcda27bdf0c3d1bf6414c24efa",
         "meshes.tar": "d4053e24b440d919ce57089782dfcf86f28a1f79ba38145c15257639ff8cdc61",
-        "render.png": "3d75171ee85a23694ccfe67a0ca424629cd85d404dc588a75141f4d4266cb6d1",
+        "render.png": "79a9cfa3b58f28bd9899c3bddeaa24b2a2219c9abe1f5ef3eefbf79e2934903d",
         "graph-raw.svg": "7bd127c924c83c626db1282e26d6d8022e3784775ef16fba88f50a8fd7bf99fa",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "831de4f9f8561dcea76e9ed91069cf51ac9f3380b828ddab915561a25ae22b24"
@@ -4580,7 +4650,7 @@
         "mjcf_ms": 16.42198394984007,
         "compile_ms": 4807.782581076026,
         "graph_ms": 2791.684948373586,
-        "render_total_ms": 7387.162222992629
+        "render_total_ms": 7208.72239721939
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6243,16 +6313,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4937.593961134553,
-        "render_ms": 2291.709203273058,
-        "compose_ms": 56.32426589727402,
-        "write_ms": 78.28487176448107,
-        "foreground_fraction": 0.4708
+        "compile_ms": 4874.686409253627,
+        "render_ms": 2175.5884452722967,
+        "compose_ms": 55.226597003638744,
+        "write_ms": 78.94399901852012,
+        "foreground_fraction": 0.4708,
+        "style": "link-palette-v1",
+        "colored_bodies": 20
       },
       "artifacts": {
         "robot.mjcf": "fcaacb9d19c2cdc349ea2e43ce3fd1effbd44bdea6618906822a634a7aaf3a00",
         "meshes.tar": "066d8f33580752e90f7ea4a635a5b976c28ffd5d595e577b50e2162255e88a9f",
-        "render.png": "05c9c095472d51838190f23134676a99ab5efcd4d106cee7832440b69d73919b",
+        "render.png": "9b7f039586067c0c064131495aa3c5b4c0d816abed0be81631256d2568a88660",
         "graph-raw.svg": "d9da56866d43a2b4be43d243b7b319230b80852ba1bbf7414f5e21f692876dba",
         "graph-robot.svg": "78f8c08e263331e2f890ec115b3fe07882432dde5a8d0ad03406098eced3bb69"
       },
@@ -6296,7 +6368,7 @@
         "mjcf_ms": 7.259140722453594,
         "compile_ms": 1280.8736693114042,
         "graph_ms": 754.917616955936,
-        "render_total_ms": 3534.3754910863936
+        "render_total_ms": 3056.476681958884
       },
       "mesh_preparation": {
         "status": "complete",
@@ -6915,16 +6987,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 1652.4151540361345,
-        "render_ms": 1745.4722886905074,
-        "compose_ms": 61.16887368261814,
-        "write_ms": 62.54330510273576,
-        "foreground_fraction": 0.3817
+        "compile_ms": 1227.6569921523333,
+        "render_ms": 1696.605992037803,
+        "compose_ms": 55.0848082639277,
+        "write_ms": 64.43485477939248,
+        "foreground_fraction": 0.3817,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "4f7a535436998f6f17b3851f5eaacbc32170c0954508642b369fb3b6456eae89",
         "meshes.tar": "9d87f3ed3e757c153e522c1506f764a8634b00f36c1e11db8ac7138e76c32882",
-        "render.png": "6c49d35e930a8fd36250eb6ea030bf6715a32d9fddf062ee7281a7dbdaceeb6e",
+        "render.png": "022da23fc87a352dde6f65ea4b0093d5b2bb49fd13d70da117ed2588bc4dde17",
         "graph-raw.svg": "9b4fe5f335d359ac209102f3e55d6124bedb1d4dae3e8c7613ed1b48195a9327",
         "graph-robot.svg": "4efbb80cc58766d7ed81e24bf00ac36d80d3f3b294c207841fa53c923b4409a0"
       },
@@ -6956,7 +7030,7 @@
         "mjcf_ms": 5.534318741410971,
         "compile_ms": 1970.3680439852178,
         "graph_ms": 534.2373861931264,
-        "render_total_ms": 4193.842915352434
+        "render_total_ms": 3683.891530148685
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7017,16 +7091,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2567.552202846855,
-        "render_ms": 1454.8482042737305,
-        "compose_ms": 65.05666673183441,
-        "write_ms": 92.93957613408566,
-        "foreground_fraction": 0.55165
+        "compile_ms": 2045.0821327976882,
+        "render_ms": 1452.4041013792157,
+        "compose_ms": 64.4333902746439,
+        "write_ms": 108.55597537010908,
+        "foreground_fraction": 0.55165,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "dc129726b43a883ffa98cfe21b7e8ea5130a45717b3a5a3d9639995a72022d73",
         "meshes.tar": "416a90c96c438d03a56c6a60365c74eda7d97f0a10056a36e18d67d50223a4bd",
-        "render.png": "cb6aa1c6aade83b40864a2c985d9121560ff32ffb9819da0ff6dc08ce88c760e",
+        "render.png": "9321d3cfdcbda95e82c422c42dd7d9e72607b563c050423637fd0319956812a4",
         "graph-raw.svg": "9f5f066b6b2b0d72b9aef9d5ea700b18800d98e25fcf11f59c582a6bbfb8b55e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "7928b44a4ca42c369097b5cdc755989bafe9523e8c7a06aea0710459085f9aa2"
@@ -7059,7 +7135,7 @@
         "mjcf_ms": 4.287743009626865,
         "compile_ms": 18.95604096353054,
         "graph_ms": 171.59892385825515,
-        "render_total_ms": 1408.1417443230748
+        "render_total_ms": 1475.8458831347525
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7120,16 +7196,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.161486100405455,
-        "render_ms": 1267.2986420802772,
-        "compose_ms": 62.444536946713924,
-        "write_ms": 60.056294314563274,
-        "foreground_fraction": 0.429
+        "compile_ms": 15.12251514941454,
+        "render_ms": 1325.8334752172232,
+        "compose_ms": 61.08733778819442,
+        "write_ms": 60.50216080620885,
+        "foreground_fraction": 0.429,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "6b9737a85823b0192952aab5670440e38cd975c3acadaad7e80f5fbe3fdfcef8",
         "meshes.tar": "25035fad43163f7219a9364c0008971233572cdab396d6d6989f7b7461e42fe8",
-        "render.png": "82c5773547ebc8da9669fd4b68fce49224062a3554db5329ae0c33f0ea3e4fda",
+        "render.png": "6c552e2bddcf40fd146d3d32f68454c0641b9442561f4c2002e5e19ec66eab45",
         "graph-raw.svg": "297451dfcc20cf684d6043d234dbed0e38b697fdd89bc2b55e006bbab058eaef",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a8d0e217f5aaf75322ad7f272067feb42ad8055d8c7346c5c8259edb7523d897"
@@ -7162,7 +7240,7 @@
         "mjcf_ms": 4.7797332517802715,
         "compile_ms": 3.7542851641774178,
         "graph_ms": 120.10841490700841,
-        "render_total_ms": 1443.9182630740106
+        "render_total_ms": 1524.506147019565
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7223,16 +7301,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 5.304757971316576,
-        "render_ms": 1289.100721012801,
-        "compose_ms": 70.21634466946125,
-        "write_ms": 66.02411484345794,
-        "foreground_fraction": 0.7656
+        "compile_ms": 3.6089513450860977,
+        "render_ms": 1374.4608671404421,
+        "compose_ms": 68.63158429041505,
+        "write_ms": 65.22185588255525,
+        "foreground_fraction": 0.7656,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2aa1df05bf2d4100a6f89a0cec97c1644cc1ddb9ea6150221d32df86f6aa49d0",
         "meshes.tar": "3c10d71a706edfd8c1aea56c0bccadce349ae5143ba88be8f11233644d2f4611",
-        "render.png": "2480cb6c316a98093a34fa7e38159fbae1c262e38e4bbba46a979627c103ec82",
+        "render.png": "10bc6a1402029d40f9a8d0e8ea02775c9ee88d735aa690f5bebf40d85cbb2978",
         "graph-raw.svg": "b73c6160a22e852eb785193d795f76f6ac21541a21d6fe6c7305e0ae554f932b",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a4f6565e68b35c11d3d7ce10810fd8686b5263c4c564e79389b1aa3fe69b1d65"
@@ -7270,7 +7350,7 @@
         "mjcf_ms": 3.362426068633795,
         "compile_ms": 3.239021170884371,
         "graph_ms": 113.80326002836227,
-        "render_total_ms": 1427.952113095671
+        "render_total_ms": 1498.6902922391891
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7331,16 +7411,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 3.854630049318075,
-        "render_ms": 1285.5884870514274,
-        "compose_ms": 55.85100082680583,
-        "write_ms": 69.63929673656821,
-        "foreground_fraction": 0.46365
+        "compile_ms": 3.232182003557682,
+        "render_ms": 1339.7062248550355,
+        "compose_ms": 62.4250303953886,
+        "write_ms": 73.66952812299132,
+        "foreground_fraction": 0.46365,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "50951b993a6280868b58c8f308aa04c7307f41ea4e2a8cab74fa1297189088e1",
         "meshes.tar": "421334bdd6e17519c453a5b7ff13b538d78c78cd04ef56e4c2f523c009138e56",
-        "render.png": "8ddfca504adc5986e4d05ab0fbd4bade6b14457b8355d19b866095f2f02f8f34",
+        "render.png": "2712d33f79b69b243b74d574c28ea5592be5c12d4e066e109ec02aebf9377dd5",
         "graph-raw.svg": "f382222609b36d25ac04db119844860302bf2a69971403cec469b48f2f79a240",
         "graph-robot.svg": "e904c9b7dd51b9c094ad796a937d371ca685983233f95c8bbab4ec79235afe52"
       },
@@ -7371,7 +7453,7 @@
         "mjcf_ms": 4.691693000495434,
         "compile_ms": 45.529133174568415,
         "graph_ms": 76.75146032124758,
-        "render_total_ms": 1554.999001789838
+        "render_total_ms": 1551.4604840427637
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7432,16 +7514,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 29.233434237539768,
-        "render_ms": 1355.2662348374724,
-        "compose_ms": 64.93209581822157,
-        "write_ms": 92.1234292909503,
-        "foreground_fraction": 0.71335
+        "compile_ms": 26.949319057166576,
+        "render_ms": 1348.2493762858212,
+        "compose_ms": 63.99603700265288,
+        "write_ms": 98.97157922387123,
+        "foreground_fraction": 0.71335,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "6cff5f659686f2e306aeb655c94fbffc87b1c8ca7771a70b97091e11cca08263",
         "meshes.tar": "b33ba993b8c556c95de80b061b62562922e4ac4fdb48c921ff360c63b2c7f098",
-        "render.png": "f204d0ee220feda8d20f096eeabe93460f056e1baf6e84c3ce796b9d19c4dce9",
+        "render.png": "b46793fc040392d786f163bec4e31968a71d21c9e1d3cca9a8c498c7c08cef76",
         "graph-raw.svg": "adefa5b664f8a4f8db42e3aec5b2a06c55ce15459f07771dccba572cb9d61ed3",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "196cc448465b2c4470a6ab7a48ac09ed3befd683c5513fb0d1f5fb67484936e3"
@@ -7481,7 +7565,7 @@
         "mjcf_ms": 5.030390806496143,
         "compile_ms": 54.82400022447109,
         "graph_ms": 116.00910825654864,
-        "render_total_ms": 1544.1802530549467
+        "render_total_ms": 1683.321017306298
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7529,16 +7613,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 48.43667009845376,
-        "render_ms": 1352.00684517622,
-        "compose_ms": 61.04407925158739,
-        "write_ms": 69.36864787712693,
-        "foreground_fraction": 0.53405
+        "compile_ms": 48.45067020505667,
+        "render_ms": 1481.3145976513624,
+        "compose_ms": 67.34613701701164,
+        "write_ms": 72.79659807682037,
+        "foreground_fraction": 0.53405,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d14290c5d67be987b76a8a469f5bc1482904c377ebedb4507e873a5be5069f15",
         "meshes.tar": "d79595850fe7780723c31721cf5d15cab1efd701783b7d40c2b3e0051330508f",
-        "render.png": "aac1c117f883528ffedb21cba32e405b1e58adf3b8b498399c10e2b84b5646a8",
+        "render.png": "aef513bba6d298c2fcb5e77cb9038dc06b485942a52a73367738752a213b24e4",
         "graph-raw.svg": "e3f1bc9febb1fa60c3fd49e3f8e6560e6217450e80d8b79627e68f078a94eeca",
         "graph-robot.svg": "0c7040c4f59fe4be1eb5bfeae3e6396009d29764d003a5bd433d6ba806a2afe4"
       },
@@ -7570,7 +7656,7 @@
         "mjcf_ms": 5.401373840868473,
         "compile_ms": 67.73998634889722,
         "graph_ms": 125.79766288399696,
-        "render_total_ms": 1573.3589199371636
+        "render_total_ms": 1564.9487301707268
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7631,16 +7717,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 72.44797190651298,
-        "render_ms": 1359.211873728782,
-        "compose_ms": 57.45779117569327,
-        "write_ms": 71.10179727897048,
-        "foreground_fraction": 0.4906
+        "compile_ms": 71.17908308282495,
+        "render_ms": 1351.6462589614093,
+        "compose_ms": 57.14112380519509,
+        "write_ms": 71.88996067270637,
+        "foreground_fraction": 0.4906,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "74757b454565d5c50cbf4e4c215b2e32c2ab8257c6b09d92b88bff97a83f2049",
         "meshes.tar": "cc2759bbf917a9366cfcf8fcaadf7257af37c6d013b3325806599eb32e6f2b2d",
-        "render.png": "e4851306630c9bedbfa2ef4631544af34ecc8e5d511ad5983e251623a78e381c",
+        "render.png": "5ed15c6a1534dcf0900d5b3e6ccbecf37c36dd7dd87065568714a806a6a71a47",
         "graph-raw.svg": "f52f1ef5a1632085fdbb119943baf44cdc8986df778f34c15570f967fd208c90",
         "graph-robot.svg": "609d145286ef13e1047c85ca19915092b58a597532e19618de063f882d0d7f5c",
         "robot.urdf": "bf565c515ee5daf129ef20caf632a7d2fb871cb75d489b8a60f673043a0d4697"
@@ -7680,7 +7768,7 @@
         "mjcf_ms": 4.7157141380012035,
         "compile_ms": 72.19520304352045,
         "graph_ms": 97.52915101125836,
-        "render_total_ms": 1521.468061953783
+        "render_total_ms": 1584.487676154822
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7728,16 +7816,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 56.984227150678635,
-        "render_ms": 1326.1842909269035,
-        "compose_ms": 57.751767337322235,
-        "write_ms": 67.46787065640092,
-        "foreground_fraction": 0.48235
+        "compile_ms": 63.36898496374488,
+        "render_ms": 1383.4786671213806,
+        "compose_ms": 56.63845641538501,
+        "write_ms": 67.86884414032102,
+        "foreground_fraction": 0.48235,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "ebdcc329d3cab8a7b84f47e2f1fc5aacaa24ce7451e1884807b4b6df51b5273e",
         "meshes.tar": "8473e07003223b02f9e91e5475f0d5b56e52b2b88e1af669dbab406eac0fb415",
-        "render.png": "0d6cba878343358fe88fd26a2517d4469b9b3f232ed565a4af678dabb4a264ae",
+        "render.png": "fa743c25a9f7a54daf56bc9fcc9cf1741977080e568d3561f1ad73e10edb9474",
         "graph-raw.svg": "09cde89cea438177df35300d070a0adaf6d91b48aaa0cdb3ffd4c50081c02713",
         "graph-robot.svg": "da411d53f5516c473048e4c608ddec085868056e01c2b6d687f3690fa0a6f456"
       },
@@ -7769,7 +7859,7 @@
         "mjcf_ms": 5.055676680058241,
         "compile_ms": 65.12355292215943,
         "graph_ms": 128.75997507944703,
-        "render_total_ms": 1619.4421350955963
+        "render_total_ms": 1640.41607407853
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7830,16 +7920,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 106.35604104027152,
-        "render_ms": 1370.857136324048,
-        "compose_ms": 58.04419005289674,
-        "write_ms": 70.47925889492035,
-        "foreground_fraction": 0.4906
+        "compile_ms": 65.98456623032689,
+        "render_ms": 1432.4725582264364,
+        "compose_ms": 56.78078904747963,
+        "write_ms": 71.80531974881887,
+        "foreground_fraction": 0.4906,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "8f31225774bbeaaede08380126ce8502597c80d145c166a342163feba92e8ea6",
         "meshes.tar": "75f15ba13f490b9386c0b23520bb36ca0e316960263a79583241d8a82ca19dfc",
-        "render.png": "4e80a314828b0061e2a0745decbe5da7c9ba4dc6d91525eb840867967b8e5fbc",
+        "render.png": "8b95fac5437d3378128844c959e9c0b6f2ac385af595a033ce39886a8635f4f3",
         "graph-raw.svg": "3b333d5741647c1db2946110298abba2c90a0157372011788962a8252273adb7",
         "graph-robot.svg": "4e2665f49ef24b4077ca26f412733b35e5e42dcb3024875ee1efec1a8e3637c4",
         "robot.urdf": "12c5e69dea2090dd7419be04ae91e92aadebb7b466d07f751b77d550d76f36cf"
@@ -7879,7 +7971,7 @@
         "mjcf_ms": 4.774655215442181,
         "compile_ms": 73.62625608220696,
         "graph_ms": 113.5272728279233,
-        "render_total_ms": 1520.9392672404647
+        "render_total_ms": 1646.26700617373
       },
       "mesh_preparation": {
         "status": "complete",
@@ -7927,16 +8019,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 75.51222294569016,
-        "render_ms": 1301.4523731544614,
-        "compose_ms": 58.12967894598842,
-        "write_ms": 72.42377893999219,
-        "foreground_fraction": 0.484
+        "compile_ms": 64.9914899840951,
+        "render_ms": 1438.2090950384736,
+        "compose_ms": 56.60355789586902,
+        "write_ms": 72.63643806800246,
+        "foreground_fraction": 0.484,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "10a71e6ab0f46ea174f0ab52f630e0ae8fb0e42d65bb26365edad1b5fbee8313",
         "meshes.tar": "1951be6c2496b4461cd26c44826450ef86c23ce2df69ed8b607967bb87db04fe",
-        "render.png": "c614f0b5d9bed417d7f8e13ecf7d10db86415e7f31303a6558757d5b36b181e1",
+        "render.png": "78abad2e7ccee9e1e6343ee01f87bf8d61968d1cfbafb495db7749665a927df6",
         "graph-raw.svg": "c4529803a5710bc7f1d6c76bd16116d6618da0194034f4e585c17f83200fe282",
         "graph-robot.svg": "88d98171c64c32f911b9ec8bfbc96e636de4fe325d71af6d2514d8e180f09a5a"
       },
@@ -7968,7 +8062,7 @@
         "mjcf_ms": 5.582591984421015,
         "compile_ms": 112.32543177902699,
         "graph_ms": 133.3825238980353,
-        "render_total_ms": 1580.9102421626449
+        "render_total_ms": 1568.002643994987
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8029,16 +8123,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 77.15190015733242,
-        "render_ms": 1357.7835569158196,
-        "compose_ms": 58.144344948232174,
-        "write_ms": 71.71120820567012,
-        "foreground_fraction": 0.4906
+        "compile_ms": 94.25614820793271,
+        "render_ms": 1329.4430230744183,
+        "compose_ms": 56.863064877688885,
+        "write_ms": 72.28936906903982,
+        "foreground_fraction": 0.4906,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "2227127eb8dfb0520f8a629a1ae9578ab54b342f35252fe838dfa6d42f560270",
         "meshes.tar": "1312214f55f2b75e7c214b2d6241ac385797ba847f953e5d69a541943897c44e",
-        "render.png": "c1388e1f3c0fe10118d9ba434501ec4876848d5ade7f05697f6eef7bfacb07d5",
+        "render.png": "c3a9cf9636b7febda1c90d14f6ff585fb8d4b58a1d64d6f55d3b38a9017f2c42",
         "graph-raw.svg": "7b6cb647c9a477a418c3c6a1ea6ebbb5b6b54e042ad1a24da79c3e2f4b6f27ac",
         "graph-robot.svg": "609d145286ef13e1047c85ca19915092b58a597532e19618de063f882d0d7f5c",
         "robot.urdf": "cffc4668cf8cf9d5db6605194a03e4959c51b664e54838e2e857f9106b0beb6e"
@@ -8081,7 +8177,7 @@
         "mjcf_ms": 6.363803055137396,
         "compile_ms": 7047.163583338261,
         "graph_ms": 248.28274175524712,
-        "render_total_ms": 9796.521930024028
+        "render_total_ms": 9297.739684116095
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8129,16 +8225,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 7187.495090067387,
-        "render_ms": 2434.985480736941,
-        "compose_ms": 67.40935612469912,
-        "write_ms": 92.41537004709244,
-        "foreground_fraction": 0.44825
+        "compile_ms": 6855.5345153436065,
+        "render_ms": 2269.7960692457855,
+        "compose_ms": 68.25801637023687,
+        "write_ms": 90.51125217229128,
+        "foreground_fraction": 0.44825,
+        "style": "link-palette-v1",
+        "colored_bodies": 13
       },
       "artifacts": {
         "robot.mjcf": "8dd1ffcd2c908583f8833268b683dc29e7fe89c27befc855db2983dffbc130ef",
         "meshes.tar": "10650866d3310aed960a1eee7a670a1f6b7be14e4864ccffeebfe0d52a018af3",
-        "render.png": "7c168d60b0001632fceb2fc5352f43e2a7ec3435013960ce8acd712bd5800c28",
+        "render.png": "8defa39ad8fcdda08310ef8b249cfeb8ea07faa8981fba6ffc9c06c1f4615d86",
         "graph-raw.svg": "f15279a8e7bda2dd1be4a2e5b5ce484ec09cfcbd829d0f5d50246182f9a8d9ae",
         "graph-robot.svg": "7328a0c23bf41e91778c5bd4407a7c51832a484d98c4f36debb68f60203ea9d7"
       },
@@ -8170,7 +8268,7 @@
         "mjcf_ms": 6.312368903309107,
         "compile_ms": 61.398291029036045,
         "graph_ms": 127.75855977088213,
-        "render_total_ms": 1487.8701022826135
+        "render_total_ms": 1536.786312237382
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8231,16 +8329,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 12.549473904073238,
-        "render_ms": 1335.7423688285053,
-        "compose_ms": 59.964579064399004,
-        "write_ms": 66.21538987383246,
-        "foreground_fraction": 0.6635416666666667
+        "compile_ms": 28.620492201298475,
+        "render_ms": 1365.0121907703578,
+        "compose_ms": 66.24820875003934,
+        "write_ms": 64.5150039345026,
+        "foreground_fraction": 0.6635416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "92b258e15a209c48f5508e3db53c1f7aa74d0a9dee2b08ff06bf7ca731fbfc1f",
         "meshes.tar": "2c07a2a07eec1dd88bb143fd4f0039d72302326f764102afe012b2e5cb4b3fb7",
-        "render.png": "eab2e0b9d23b9fd6adf647d776b0259e55a1241cf0534c3aa0fb82a6078b33a9",
+        "render.png": "143de5c0e016bf86c820f63ed5aff58d43e175e451f1909abb35a12e4db9df64",
         "graph-raw.svg": "b7f8e1742965a0c81c2580dd795ad2fcaf0ed3c31b9bf4c312fb9be5567fe0ad",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "3fccfe0a3f7382f4177c2efd4699f257902c02a405f229e6cc1a2ee399ba4e68"
@@ -8296,7 +8396,7 @@
         "mjcf_ms": 9.07170120626688,
         "compile_ms": 140.25571290403605,
         "graph_ms": 489.0242242254317,
-        "render_total_ms": 1736.7699453607202
+        "render_total_ms": 1791.063035838306
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8375,16 +8475,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 152.50957710668445,
-        "render_ms": 1431.6560071893036,
-        "compose_ms": 70.80691587179899,
-        "write_ms": 68.63319221884012,
-        "foreground_fraction": 0.766675
+        "compile_ms": 141.09977101907134,
+        "render_ms": 1498.090072069317,
+        "compose_ms": 70.14468032866716,
+        "write_ms": 69.27406694740057,
+        "foreground_fraction": 0.766675,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "b4f410701e7a2e70547932e4843a929affbae22d0426913e92bccc6b2419b48e",
         "meshes.tar": "d0ad0d91ef822559bbf193b1634b788fa09a31e27850490879ce86778f08acad",
-        "render.png": "f41abbbe039ed08014c79e681fc554045d2be198d0100d51620dded0695b13c8",
+        "render.png": "f4ffe201088021a0cdb0508bd47998b7d4a237ce1c8a414db8f4500a692cd1ce",
         "graph-raw.svg": "b254cf7a369ed95e098d65c82d497a1aa165ef17b34962eb8df641a6a024e63c",
         "graph-robot.svg": "689180eb6880b0169aae65264b7171da134c9aed92fb9fbac2d9cca4d48fdf76"
       },
@@ -8423,7 +8525,7 @@
         "mjcf_ms": 6.453617010265589,
         "compile_ms": 17.12719863280654,
         "graph_ms": 206.7979769781232,
-        "render_total_ms": 1419.527927879244
+        "render_total_ms": 1452.8534850105643
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8610,16 +8712,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 13.393053319305182,
-        "render_ms": 1280.6008597835898,
-        "compose_ms": 54.79845590889454,
-        "write_ms": 58.08757618069649,
-        "foreground_fraction": 0.498225
+        "compile_ms": 10.578047949820757,
+        "render_ms": 1316.4484947919846,
+        "compose_ms": 53.71391912922263,
+        "write_ms": 59.11633698269725,
+        "foreground_fraction": 0.498225,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "557f43d6e670ae3aeeefeef41557b017e24661a6e55fb012674a44e1a7a03467",
         "meshes.tar": "e998f7c02a0378483766e9d0ca1257ef6993d08b5e01190d3f9a7f9ec73d74c3",
-        "render.png": "d9705ff435e32559f94913aec9175280cc27c38ad4e91ff75235d407de49ec0f",
+        "render.png": "9b90ab4f936d257fec1aed93c1a27bf60cfca5e1fabcbf20ef788f22b88cedcb",
         "graph-raw.svg": "dba41918cbdba9333039e5c3a66695728db6aaf97ee9fa1704c912b5b499e100",
         "graph-robot.svg": "6b8f92d4a6cc7abc6286ed3ef300a3fc031e400c1a99c179d9af746d4e21cc07"
       },
@@ -8658,7 +8762,7 @@
         "mjcf_ms": 5.030401982367039,
         "compile_ms": 15.995692927390337,
         "graph_ms": 80.29098995029926,
-        "render_total_ms": 1451.4278550632298
+        "render_total_ms": 1480.2447478286922
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8713,16 +8817,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 26.237577199935913,
-        "render_ms": 1281.7954597994685,
-        "compose_ms": 58.241721242666245,
-        "write_ms": 72.22530525177717,
-        "foreground_fraction": 0.7216
+        "compile_ms": 10.542466770857573,
+        "render_ms": 1329.021206125617,
+        "compose_ms": 57.476949878036976,
+        "write_ms": 70.9637007676065,
+        "foreground_fraction": 0.7216,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "67a43465233690cf906bd2c677052ae8aae7144e8b639cf2612662472fdc3551",
         "meshes.tar": "b3267f0f51adc6903a581afb566775d86d1e3ef4265eef0b36e41ad2b70988a7",
-        "render.png": "6f9913ca56b2d88ad9545735653e9ea2e64e1e2562d31b9e4ae643dbc05afe11",
+        "render.png": "9ed80fb36efe708dee44108129b3e9e1a0203ec4da8ee091314547cbee862040",
         "graph-raw.svg": "e2369ed02dbadb5c85c7703de80d6db6b5b905a97d968223d880c951efec5a9d",
         "graph-robot.svg": "4f99d4a9b42833225fe2b1fc87cda7443418d2b21428e584456478c339b715b0"
       },
@@ -8754,7 +8860,7 @@
         "mjcf_ms": 10.395375080406666,
         "compile_ms": 308.74293483793736,
         "graph_ms": 259.0102651156485,
-        "render_total_ms": 1775.319742038846
+        "render_total_ms": 1917.6998208276927
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8815,16 +8921,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 303.73732931911945,
-        "render_ms": 1320.5455201677978,
-        "compose_ms": 57.68924904987216,
-        "write_ms": 80.34322690218687,
-        "foreground_fraction": 0.6658166666666666
+        "compile_ms": 338.8016470707953,
+        "render_ms": 1428.8832829333842,
+        "compose_ms": 56.87840795144439,
+        "write_ms": 80.72341093793511,
+        "foreground_fraction": 0.6658166666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "df8e438576d515810eb6b61634dfde44fa81ad8290a89e9f6195bc2c9d50581e",
         "meshes.tar": "3e51b6c20100a66a2d3688cc098b6264d561e288c9932eb808b66d429af7801d",
-        "render.png": "d972be08a365db5eae7db42560aa93b4ae52b325227b7b22a578d9c4070b3113",
+        "render.png": "6b9f66e0bd41e6eabe34d284fd7240172e19a99eef263ffb651772daf7515674",
         "graph-raw.svg": "ed6aea45e4dc298633ff0a5c20431864e8240588d20cabdd4ee6df92d8e495b0",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "b40239f4c9b0a7b1ea5eee3ab125529ab3dd18962276cfb63bc24310a7b623ff"
@@ -8858,7 +8966,7 @@
         "mjcf_ms": 5.914106965065002,
         "compile_ms": 31.438911333680153,
         "graph_ms": 261.2775950692594,
-        "render_total_ms": 1611.3688442856073
+        "render_total_ms": 1512.5167006626725
       },
       "mesh_preparation": {
         "status": "complete",
@@ -8919,16 +9027,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 31.197400763630867,
-        "render_ms": 1415.444667916745,
-        "compose_ms": 77.80302036553621,
-        "write_ms": 71.39863399788737,
-        "foreground_fraction": 0.7997
+        "compile_ms": 19.734714180231094,
+        "render_ms": 1344.6996081620455,
+        "compose_ms": 64.09980915486813,
+        "write_ms": 71.15305634215474,
+        "foreground_fraction": 0.7997,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "d166052863d7424993877c46f74a0d94ecb1deea7d49fdeb64f93b138aea2438",
         "meshes.tar": "f9b468d85138746c33d88ff33d866bb3e637c9f3db13c04f86751f7d68537f84",
-        "render.png": "d2a41ddf146d700adf971dba49129d14bf82818c6ff2c70afc3e40e37e19a119",
+        "render.png": "5d66ec3c7ec208f5e2b87c2e90bd85a064348197a7e79bdcfc27a2e1151eb2a7",
         "graph-raw.svg": "4699bb48918c5116f04dc61cc94340c6b15ab03cdb18f56f0bdc67bb62810b74",
         "graph-robot.svg": "6ca6f308eb9683af989680452c5dc4f141f324132ebbcfb84340c85b1bcdf509",
         "robot.urdf": "5456419466a4a73d18261d4df7bf2efd7398945090637697f84f5aadd5bc8366"
@@ -8967,7 +9077,7 @@
         "mjcf_ms": 3.2440582290291786,
         "compile_ms": 8.571334183216095,
         "graph_ms": 86.41339279711246,
-        "render_total_ms": 1465.7437042333186
+        "render_total_ms": 1434.3330319970846
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9015,16 +9125,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.404433891177177,
-        "render_ms": 1337.3106052167714,
-        "compose_ms": 51.946040242910385,
-        "write_ms": 53.994012996554375,
-        "foreground_fraction": 0.3541416666666667
+        "compile_ms": 7.656652946025133,
+        "render_ms": 1309.7429550252855,
+        "compose_ms": 50.88592600077391,
+        "write_ms": 53.6705763079226,
+        "foreground_fraction": 0.3541416666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "b697e2a2791515f378ec32e827020a65c23626a2875337cd8e43d5732c3bb941",
         "meshes.tar": "01dcce6b41f624a4a708f636eb13ca7a295368a83f7d5e6154409be696b1f676",
-        "render.png": "fbbb98b315750e4c35f3d138593233fcf59a5575950297c559e08eb42ab343fe",
+        "render.png": "b548d0a4bdfdce0a428d70ea8e50d0cf2e948561a2a1dee0df92ac0b04be6e87",
         "graph-raw.svg": "525aa5c973a56126f6d2c4d40ee3ae962e98ae30b90b74fbbbd8f7608a4720ea",
         "graph-robot.svg": "f587e4f3d24a514e8a5cdd9652a786bc13d66014628a80e922001bb78652812d"
       },
@@ -9062,7 +9174,7 @@
         "mjcf_ms": 7.064567878842354,
         "compile_ms": 86.57038491219282,
         "graph_ms": 121.5035100467503,
-        "render_total_ms": 1679.5578538440168
+        "render_total_ms": 1761.8617373518646
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9110,16 +9222,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 83.73377565294504,
-        "render_ms": 1416.7659347876906,
-        "compose_ms": 60.36982173100114,
-        "write_ms": 105.64388288185,
-        "foreground_fraction": 0.7183
+        "compile_ms": 78.63038871437311,
+        "render_ms": 1518.7271730974317,
+        "compose_ms": 61.193079221993685,
+        "write_ms": 90.98066994920373,
+        "foreground_fraction": 0.7183,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "6d613306559d2841cc7add6daa339384d03c474b2e053be3bf88dfb07e81ed2b",
         "meshes.tar": "24d1f1bf419a9e7040ce44325433e0a48945ca41db7f964f9d925a066b4d0652",
-        "render.png": "cc3fe973aa54719e794fab645ac31698a78a70001e22916158e3b0de26f90502",
+        "render.png": "3a3b18f154643dd6666cc9557a41fb8591a87af105da3867ddaf7f761eb25465",
         "graph-raw.svg": "bf3a1a3349da6623590a98068ace63173c5dc1fb493e7237a9814388e055ed0b",
         "graph-robot.svg": "97c815605f395fb6a3e87586c2e6ecfc60393036d68b24a60504ee4f209b6583"
       },
@@ -9158,7 +9272,7 @@
         "mjcf_ms": 3.959673922508955,
         "compile_ms": 27.683073189109564,
         "graph_ms": 95.65143706277013,
-        "render_total_ms": 1477.7338872663677
+        "render_total_ms": 1588.0188490264118
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9213,16 +9327,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.67362204939127,
-        "render_ms": 1292.3711049370468,
-        "compose_ms": 54.77408831939101,
-        "write_ms": 98.23653707280755,
-        "foreground_fraction": 0.6916
+        "compile_ms": 16.38348400592804,
+        "render_ms": 1389.4247310236096,
+        "compose_ms": 54.34619402512908,
+        "write_ms": 115.48874108120799,
+        "foreground_fraction": 0.6916,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "95c8e56eb0d517b152232e4914c62bc9af67b947fad76cc7305ec6bb96f2384b",
         "meshes.tar": "eee1d071688e5628775833fd57398917dd86f132a22a03fe46918015df18ea3c",
-        "render.png": "df7af4fde53d148fe8c0eaa44513ba67986fa603e8cd2869cd992083940cf6f1",
+        "render.png": "7a1a6cc4286fb0272c34d7c08480e3c6ffa8e3640e45121e166eb5526098c9a3",
         "graph-raw.svg": "b6a04f6dc42f0d0092acfb097cd109478560733aff747cd7d371dab495ec0f86",
         "graph-robot.svg": "adccfb9e51722287f60b0d7a0a80c1b5f9719e03a745223772b386b0cbfc2906"
       },
@@ -9257,7 +9373,7 @@
         "mjcf_ms": 16.103247180581093,
         "compile_ms": 355.1341472193599,
         "graph_ms": 820.607375819236,
-        "render_total_ms": 2394.1796640865505
+        "render_total_ms": 2161.892951000482
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9547,16 +9663,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 614.6411281079054,
-        "render_ms": 1482.3233019560575,
-        "compose_ms": 37.94070798903704,
-        "write_ms": 246.4295639656484,
-        "foreground_fraction": 0.06655
+        "compile_ms": 487.74340376257896,
+        "render_ms": 1550.6462757475674,
+        "compose_ms": 37.16287203133106,
+        "write_ms": 73.21960898116231,
+        "foreground_fraction": 0.06655,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "295ee2710830cf09452949761959f6ea7c9d486716340b81004a2fd97e7c10cf",
         "meshes.tar": "e6df22ff0aa6e73aa7f834adb85d0643b0dd3d370ec2942be4fa2806397ee880",
-        "render.png": "29d3abb5304de5cfeba82ac4293100b52455de865d84cac02113228f1ce6ba30",
+        "render.png": "f98ae48f957ade05abc9e0de6e753d15135d9b9465049d975a53d17a9c6f074f",
         "graph-raw.svg": "fd943a153e8acbafb495dad2c7e4db860e3cf53053e1fdba91a0adf7e317ef80",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "2803f7c9605abb2e4ccfae2d38dbcbb187d8385ffb2d5d48f4aba25bc0e2ff59"
@@ -9592,7 +9710,7 @@
         "mjcf_ms": 15.636483207345009,
         "compile_ms": 366.6533320210874,
         "graph_ms": 756.9886432029307,
-        "render_total_ms": 2195.9081389941275
+        "render_total_ms": 2123.4213057905436
       },
       "mesh_preparation": {
         "status": "complete",
@@ -9882,16 +10000,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 592.6425601355731,
-        "render_ms": 1476.3755993917584,
-        "compose_ms": 38.11878804117441,
-        "write_ms": 76.38808386400342,
-        "foreground_fraction": 0.0671
+        "compile_ms": 415.6389101408422,
+        "render_ms": 1584.0388061478734,
+        "compose_ms": 37.28503407910466,
+        "write_ms": 73.38131498545408,
+        "foreground_fraction": 0.0671,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "2e03e7cc44655fa5a902009ce1934408fdc41f20e8b0f7551d6565cfa75086f5",
         "meshes.tar": "551a5864b11d9dbf597f88ce6f47b93433e16f33169083515714f240bc0b0a07",
-        "render.png": "f949785bf4c875bead1c09a4a9e067542b75bd9c640eaf760afa87404238fd3b",
+        "render.png": "d30f313382b40e444c371b3a415a6ac69e87c3d83eff09d34c48712ad9b0d6f7",
         "graph-raw.svg": "10eb92c2eb30927990427f64f16b95b24d442104bebc544802ab6aba12c0475e",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "0f44c294814081778ed924496d603b76a3100105abddd9a91f74956b0da0a5a7"
@@ -9926,7 +10046,7 @@
         "mjcf_ms": 11.167623102664948,
         "compile_ms": 386.3732856698334,
         "graph_ms": 577.0559222437441,
-        "render_total_ms": 2320.9407990798354
+        "render_total_ms": 2068.5624461621046
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10102,16 +10222,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 719.3622612394392,
-        "render_ms": 1482.3305360041559,
-        "compose_ms": 34.82642816379666,
-        "write_ms": 72.19966407865286,
-        "foreground_fraction": 0.02805
+        "compile_ms": 398.47070071846247,
+        "render_ms": 1552.1136769093573,
+        "compose_ms": 34.27552990615368,
+        "write_ms": 70.5494019202888,
+        "foreground_fraction": 0.02805,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "0145ea40e8cfedc05bbb588fabf5ea8e8f2b5072b6753da621c196baf55d56a6",
         "meshes.tar": "b2def881729a67ce19dc365cbc22217189cd7ea4b3a783351c9a211350f8f9c1",
-        "render.png": "106a92027a0f3d1b97a9cade0173b207c949348f694f908f42e597da0ad122a6",
+        "render.png": "38638359927a396cd0df4fea9f42ea5f82afee6ceb278cbe8d538412afabfb6e",
         "graph-raw.svg": "45b751ef61ffccd6f07b4d643ddf01989f7f76cc692b7083505ae47edbf3f048",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "fc8b3a72991c217f225fa55ab1dee033e1886e411da3abd91bd2397d888e4753"
@@ -10151,7 +10273,7 @@
         "mjcf_ms": 4.61464561522007,
         "compile_ms": 16.36369712650776,
         "graph_ms": 124.53328631818295,
-        "render_total_ms": 1450.4681420512497
+        "render_total_ms": 1505.4436209611595
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10248,16 +10370,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.943787060678005,
-        "render_ms": 1280.2374358288944,
-        "compose_ms": 75.6315398029983,
-        "write_ms": 66.2976959720254,
-        "foreground_fraction": 0.7317916666666666
+        "compile_ms": 11.421938892453909,
+        "render_ms": 1339.4443457946181,
+        "compose_ms": 75.03865659236908,
+        "write_ms": 67.12331110611558,
+        "foreground_fraction": 0.7317916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "4077d6abe70f77ebcc12e40c89a6a8c907214a12062643c912a7f8a8c9e6bc75",
         "meshes.tar": "c9b98ec414e89bcff3a3fcd91f52c66b08d6363850e8ab752694c88d53a03d71",
-        "render.png": "e7afef1934fd0cbd4d4a3eaaa1603808c2f3dbb17cf9b14e1395a22f21e02229",
+        "render.png": "a45e322a76c78777afcaf0c686ed1376231ed632e6a6d6aaf16bee9610a316b9",
         "graph-raw.svg": "902a5cc6069e4e9925739a7b7355c138982e87788e82c678ce41aa49e13c84f2",
         "graph-robot.svg": "8be20565de6deb812b8c09cd4444983e3299c37209f820da82b7605702c4629f"
       },
@@ -10290,7 +10414,7 @@
         "mjcf_ms": 5.624405108392239,
         "compile_ms": 20.740346983075142,
         "graph_ms": 223.4458327293396,
-        "render_total_ms": 1510.5440667830408
+        "render_total_ms": 1558.576884213835
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10351,16 +10475,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 20.68218868225813,
-        "render_ms": 1334.6784682944417,
-        "compose_ms": 66.67791120707989,
-        "write_ms": 75.0666088424623,
-        "foreground_fraction": 0.66165
+        "compile_ms": 10.595436673611403,
+        "render_ms": 1386.9732469320297,
+        "compose_ms": 65.88586000725627,
+        "write_ms": 83.05090572685003,
+        "foreground_fraction": 0.66165,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "9fa735ca3dcd52c00424136df7e683cce881f198b7ecd544d13bbee27209f42e",
         "meshes.tar": "7e7d1f7bcaf3ddc552438902c1a4f79cf2f0a49a117a7fdebc70947a884578c7",
-        "render.png": "baa326740ee4fc45c9ab327aac1754e6dadcd08b92da4ac1214105cfeca22b24",
+        "render.png": "578d88c5ef5163d848eb71934f49d258b804d63795f9526c6230251c9affc50f",
         "graph-raw.svg": "d085997039286776a82744e5ea656e40a02885ec957f4b61650c9c5bd9fdb450",
         "graph-robot.svg": "d41df412c1a75d4a9b14fcd1d583e7504b1630b88575ed121465a7904ed0cf8c",
         "robot.urdf": "426a354a31ae830d680fa835f38791b518b164a33a6bb87aacbf81c872acb1fe"
@@ -10391,7 +10517,7 @@
         "mjcf_ms": 4.639718681573868,
         "compile_ms": 46.78871715441346,
         "graph_ms": 74.27379256114364,
-        "render_total_ms": 1561.5781778469682
+        "render_total_ms": 1562.7553639933467
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10452,16 +10578,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 45.52129004150629,
-        "render_ms": 1357.3177121579647,
-        "compose_ms": 59.5579301007092,
-        "write_ms": 86.18839085102081,
-        "foreground_fraction": 0.50655
+        "compile_ms": 34.92082795128226,
+        "render_ms": 1351.0223031044006,
+        "compose_ms": 58.88972384855151,
+        "write_ms": 104.34312606230378,
+        "foreground_fraction": 0.50655,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "79b2e0426d32525016b61669050f4230a2b3a904c711220518da6d57e67cee4a",
         "meshes.tar": "505cb7b9737f4db9e921e93695d17e6f9829dd601247d430be80a95fa036e0d4",
-        "render.png": "4b68a3cdbfead69e18d76346df40a1ee635b53230a4801232afceed5d561ffc0",
+        "render.png": "699f9209b61baaeeabe944b6ade9a82183bb618626f1e0bc28edacc34ee9655e",
         "graph-raw.svg": "3a75bed63d3460fdb300c0bf097528393cc335c13aaaf6e311af6465c3adb8a0",
         "graph-robot.svg": "9eade00b4f5108fd1e91b3f316675fd5aa675e8e22677b9581f8ef71f94dc145",
         "robot.urdf": "2430025c605ed48e37d3eddcacdd551518f9529a51dd63d81a0a3419c0f2db75"
@@ -10502,7 +10630,7 @@
         "mjcf_ms": 5.04017760977149,
         "compile_ms": 33.796029165387154,
         "graph_ms": 113.00005111843348,
-        "render_total_ms": 1486.2320078536868
+        "render_total_ms": 1536.494660191238
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10550,16 +10678,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 24.3529942817986,
-        "render_ms": 1319.426470901817,
-        "compose_ms": 58.76697087660432,
-        "write_ms": 70.48769714310765,
-        "foreground_fraction": 0.3768916666666667
+        "compile_ms": 24.037417024374008,
+        "render_ms": 1352.4834429845214,
+        "compose_ms": 59.46558574214578,
+        "write_ms": 88.07343011721969,
+        "foreground_fraction": 0.3768916666666667,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "b6c9b069f2ea290fc4f5c82c42078be8e3b48bed2ba90043f55149ad10806967",
         "meshes.tar": "af6aa7400232e7858567bf88dc09248feef3f3ff874c6caa0d676a327ec9346f",
-        "render.png": "bf692bdcf817190112c402c268cf03bf940fc6b2138346eb59c813804cf9a0d6",
+        "render.png": "a5963544f570d81cc6135b60b6e3f596881fe54eb7dc9b6b84e508fb63c9cf79",
         "graph-raw.svg": "0858c324f3efadef77dc0e15fa283a750cbd28605bf783dd60f0ca3ec235f210",
         "graph-robot.svg": "df2c61ee7a11686d05da32c4e1b4d92204ab566b5b4ac0d29386ff39ae280f1e"
       },
@@ -10599,7 +10729,7 @@
         "mjcf_ms": 14.247807674109936,
         "compile_ms": 90.715526137501,
         "graph_ms": 600.5799402482808,
-        "render_total_ms": 1626.9031460396945
+        "render_total_ms": 1700.3454002551734
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10733,16 +10863,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 90.41141718626022,
-        "render_ms": 1352.1760418079793,
-        "compose_ms": 73.967260774225,
-        "write_ms": 97.23613644018769,
-        "foreground_fraction": 0.70235
+        "compile_ms": 93.36392628028989,
+        "render_ms": 1407.8566981479526,
+        "compose_ms": 74.96481481939554,
+        "write_ms": 111.61812022328377,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 29
       },
       "artifacts": {
         "robot.mjcf": "3ad2ec332b20cc74a68a637ac3cc1639cbeedbecc715a512402d2d565f9b2df5",
         "meshes.tar": "a53ebe7cef80da11f8515b4016ebdb50d58996157a9a178580ac889cefeff563",
-        "render.png": "e8dd8e7d8555a70fb2ee5a1a0d56895b3fd4dc9187c050d06d41b6deb6387221",
+        "render.png": "403cf05d3b6032361c53be6536826b6278ce92f43c14c3e18349be2fa3ddd127",
         "graph-raw.svg": "990cc07ffb1bb8b55ad282508f336757c0f342576367c3bdf94b6f1d64abfa0b",
         "graph-robot.svg": "8769d0c033bc8221b01d1e92696bc1551ef19b0bbb8b728c806b75e3c67660a3",
         "robot.urdf": "27deca3dc1bb443d19b854038dd5754907069138fbb06fb0c9a17963b2d65f03"
@@ -10775,7 +10907,7 @@
         "mjcf_ms": 5.421776790171862,
         "compile_ms": 26.89373167231679,
         "graph_ms": 112.98721004277468,
-        "render_total_ms": 1516.2035077810287
+        "render_total_ms": 1594.8950019665062
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10836,16 +10968,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.451723840087652,
-        "render_ms": 1307.1318897418678,
-        "compose_ms": 61.083098873496056,
-        "write_ms": 104.17244909331203,
-        "foreground_fraction": 0.53075
+        "compile_ms": 16.349196899682283,
+        "render_ms": 1367.163256276399,
+        "compose_ms": 60.25065016001463,
+        "write_ms": 138.56693170964718,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "d3c74b57ba468dca5707370a990ec4f63c5ada3ce966611304a9dbe5b3886276",
         "meshes.tar": "a65fa41493c6bf75eaa0c4842456e163d9cf7067c4a5487953a037add3619855",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "a1e0721bfaabb1c41bb76875941b777c253bb9441c972645b95afeef0806b83a",
         "graph-raw.svg": "02966f114251a920b0abc9e6312bc5dd5577a86dfaee6725fd365f31b0911d91",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "abff0590d362e83349373df13484e60307e1ce22939f59f2c7602c017a155282"
@@ -10882,7 +11016,7 @@
         "mjcf_ms": 7.030154578387737,
         "compile_ms": 32.62765100225806,
         "graph_ms": 383.50868690758944,
-        "render_total_ms": 1554.8138981685042
+        "render_total_ms": 1516.4790931157768
       },
       "mesh_preparation": {
         "status": "complete",
@@ -10956,16 +11090,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 41.35981621220708,
-        "render_ms": 1353.9259741082788,
-        "compose_ms": 68.96852795034647,
-        "write_ms": 77.54676602780819,
-        "foreground_fraction": 0.76725
+        "compile_ms": 22.504541091620922,
+        "render_ms": 1336.6167969070375,
+        "compose_ms": 68.88710474595428,
+        "write_ms": 75.3995943814516,
+        "foreground_fraction": 0.76725,
+        "style": "link-palette-v1",
+        "colored_bodies": 9
       },
       "artifacts": {
         "robot.mjcf": "847d79fa818f64d5743e850d31d4ed055431990c8ae196ae72b23f46939d6256",
         "meshes.tar": "3a4371a385147c3615fb8dafad4efed15db057bd209e557e081255a484a9c93c",
-        "render.png": "ddf242354e53af94325e661da0a80be66f9bf5ed983d0327e90538e0fc601c6c",
+        "render.png": "daf32fd727bf0b2d2fb4d999a799375a26cbcf8dbd3e9f0294782f7489903de5",
         "graph-raw.svg": "f96f9f33afbe0995a9489c120dc1f6e1f84036dda59a0a80c5d9363695f0a614",
         "graph-robot.svg": "29b8110828b1e740ec39a2e48d004a18cc88136fc59ac614a4d7dfa863ef09f3",
         "robot.urdf": "a2edf3e37c9a0ee0f737db2cdf3a4978c23d62d19d5c662c744ff484ab922289"
@@ -11004,7 +11140,7 @@
         "mjcf_ms": 15.311871655285358,
         "compile_ms": 110.2115660905838,
         "graph_ms": 542.9654167965055,
-        "render_total_ms": 1657.3198130354285
+        "render_total_ms": 1712.4437438324094
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11174,16 +11310,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 137.72504404187202,
-        "render_ms": 1356.6104033961892,
-        "compose_ms": 65.79896481707692,
-        "write_ms": 84.21099605038762,
-        "foreground_fraction": 0.7499916666666666
+        "compile_ms": 106.81931534782052,
+        "render_ms": 1443.9410101622343,
+        "compose_ms": 64.78740414604545,
+        "write_ms": 83.97555397823453,
+        "foreground_fraction": 0.7499916666666666,
+        "style": "link-palette-v1",
+        "colored_bodies": 22
       },
       "artifacts": {
         "robot.mjcf": "10daedc949280acf0de1ec88ab589bd6a682d95a101b86a130161abe61702d78",
         "meshes.tar": "7414f12b03fbd59d01634b6153cc42ac0c806c0c2b00b0a8366fc1041378ffc7",
-        "render.png": "f6301d224a82a92180c317eaa1704300d3b21183815ce464a398c9715a91a22d",
+        "render.png": "57e9753e0ca6fa6da2f87eb4016817ad2945a457895ca515126705a6f23be99e",
         "graph-raw.svg": "842706c3b6f7636c9f5afb0d66daef6b8f53b22f6eefbfddefbebd54c5b014f8",
         "graph-robot.svg": "0b428646d407dff5cdb1d0dff2abaf319434d7f2a74a361d0021a3e0a0479788",
         "robot.urdf": "5b842db8a8de62a66eaccd4b51bee3d01884eda2d30c5ee886682e2c49bbb63d"
@@ -11220,7 +11358,7 @@
         "mjcf_ms": 7.932945154607296,
         "compile_ms": 45.03674665465951,
         "graph_ms": 182.88938887417316,
-        "render_total_ms": 1545.2487310394645
+        "render_total_ms": 1571.8539566732943
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11288,16 +11426,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 49.718955997377634,
-        "render_ms": 1317.5271502695978,
-        "compose_ms": 66.35126797482371,
-        "write_ms": 94.7431568056345,
-        "foreground_fraction": 0.6226
+        "compile_ms": 43.142556212842464,
+        "render_ms": 1341.9662029482424,
+        "compose_ms": 64.80463640764356,
+        "write_ms": 108.90949424356222,
+        "foreground_fraction": 0.6226,
+        "style": "link-palette-v1",
+        "colored_bodies": 11
       },
       "artifacts": {
         "robot.mjcf": "056fe526b8a3666a31dc2d69caae62efdacd8de2693dbc69936b62c7549a2dd2",
         "meshes.tar": "ed7ec16ccfa7fd2d724f6a8851501b6134b73d8d293409265d57d10d221b71ef",
-        "render.png": "72b00a1411acfd0939bbcd5462783f17d3586c97281672a76bb342bf710faecd",
+        "render.png": "4971c323a39bf4b7d9fb6cb7e3aafc74bc96b1d5af9c69177c88bd00fd1af8b0",
         "graph-raw.svg": "d942437733e6999e5ad5995a9b8ce8c8cc681cced126dd2a8acc23b5660f85b8",
         "graph-robot.svg": "8174b0a7a306ff25e0f956e2bd3034dd799cd61c8830254e8f2bab0e60a60318",
         "robot.urdf": "82f92940facc095cd562529bba4bd99cc856ca55d2720f9243f7422e4a8e2422"
@@ -11337,7 +11477,7 @@
         "mjcf_ms": 12.851409148424864,
         "compile_ms": 90.37569584324956,
         "graph_ms": 546.4565730653703,
-        "render_total_ms": 1637.5480112619698
+        "render_total_ms": 1673.7870839424431
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11471,16 +11611,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 89.02485994622111,
-        "render_ms": 1368.707599118352,
-        "compose_ms": 67.6759509369731,
-        "write_ms": 99.54579174518585,
-        "foreground_fraction": 0.70235
+        "compile_ms": 88.98852718994021,
+        "render_ms": 1394.626053981483,
+        "compose_ms": 66.04885403066874,
+        "write_ms": 111.24863987788558,
+        "foreground_fraction": 0.70235,
+        "style": "link-palette-v1",
+        "colored_bodies": 31
       },
       "artifacts": {
         "robot.mjcf": "02a4f647e724ea9c27aab67dcd638304ac88ff297e3f0c8b3a3121e2800375d4",
         "meshes.tar": "45d62186fbb04fa274807f235f60169d5cb52f2329af8b6bf010c8af22c0ec4c",
-        "render.png": "be11cde83725e656b8d7ad9986979e22ac9f89f20692a31af73cf13d3cd4c44d",
+        "render.png": "eafbdb4c4336480dcca9ce41917ef012bbe32c8a8e5db91c098aa9572f0615fd",
         "graph-raw.svg": "4061f00a3bee560a21e855c6e2ac468026098b3ad4eb1158ccb085abaf59b768",
         "graph-robot.svg": "ca53453cc44aa004d94cbe4680fdead60862a87fd0f1674b6f061adaa335d1a1",
         "robot.urdf": "ada9fe2456fd77bf1b9ecfa09c554418252262820c8be94b8fd2ae9fef16b3d8"
@@ -11519,7 +11661,7 @@
         "mjcf_ms": 13.350049033761024,
         "compile_ms": 145.95491532236338,
         "graph_ms": 773.7754099071026,
-        "render_total_ms": 1753.4351907670498
+        "render_total_ms": 1708.6770683526993
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11689,16 +11831,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 107.04225115478039,
-        "render_ms": 1481.2115198001266,
-        "compose_ms": 65.875846426934,
-        "write_ms": 86.24087041243911,
-        "foreground_fraction": 0.7492333333333333
+        "compile_ms": 129.04000002890825,
+        "render_ms": 1418.4439177624881,
+        "compose_ms": 65.05357101559639,
+        "write_ms": 83.45466572791338,
+        "foreground_fraction": 0.7492333333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "a9cb70e985e59061e2a3d3d4c4dc9d602d99c47a6236b2caaf8584ab84f94c31",
         "meshes.tar": "f76bfa6db0d9b51abf5818b96e6a970d9424c49fb22ae85f24afccb07167dedd",
-        "render.png": "1486eef582919696a9547d72e017a5b3770d6e1ea00d81a722d1c1b1580feb1d",
+        "render.png": "72dd38c317b51848c7c49676be9cdabce90f8ab87e00e5b43aa6ea9630afb48a",
         "graph-raw.svg": "23cd77924ff68c9844a2fac156ff99d60d9e6bbc965f364e3e5c5c2c90a0b61e",
         "graph-robot.svg": "6d4e1becb3168b178bf5cd9d5d55512e5e80f400c1e73e180b33180626899ffe",
         "robot.urdf": "2dfe946fb8d467d90b43c188cf3aab5d83a052afa7f8783937453543b9b018fa"
@@ -11731,7 +11875,7 @@
         "mjcf_ms": 5.943120922893286,
         "compile_ms": 28.257098980247974,
         "graph_ms": 115.14986492693424,
-        "render_total_ms": 1509.7909732721746
+        "render_total_ms": 1539.2833673395216
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11792,16 +11936,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 30.76084004715085,
-        "render_ms": 1299.2262849584222,
-        "compose_ms": 60.737005434930325,
-        "write_ms": 105.57737713679671,
-        "foreground_fraction": 0.53075
+        "compile_ms": 13.815684709697962,
+        "render_ms": 1330.198431853205,
+        "compose_ms": 59.9519251845777,
+        "write_ms": 122.5599180907011,
+        "foreground_fraction": 0.53075,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "fe6c2a6f255f25a261ddce9c43d459053208dd4a1acd331d8a482cfc3237d0ee",
         "meshes.tar": "ae0b9e74de3e4400a84a8eb26891cc6af14154130af6012ad39a8e21641328f5",
-        "render.png": "43e1eb00b6af7f990d7eb4aec9d064fb0a8f5305aa004b602be1cba629f1cd07",
+        "render.png": "e43dfb04992a090b98fa2c78b97aed30429067f692fb6f15709921f208556890",
         "graph-raw.svg": "73927b60ad3e258e4817fce021abd4e0172c266be620a9f1910b63f7cd98f753",
         "graph-robot.svg": "dba1f957819742bd64fb767d9fc7c7f331b278d3071cd8a6576db31ea654214c",
         "robot.urdf": "f9b7c0ebf94ed658811fb00cf84d96d98ad808ae0a9530032232488eeb0c90f0"
@@ -11843,7 +11989,7 @@
         "mjcf_ms": 14.350940939038992,
         "compile_ms": 119.49168890714645,
         "graph_ms": 625.3055608831346,
-        "render_total_ms": 1760.7740461826324
+        "render_total_ms": 1754.5755519531667
       },
       "mesh_preparation": {
         "status": "complete",
@@ -11953,16 +12099,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 125.06881216540933,
-        "render_ms": 1435.3064373135567,
-        "compose_ms": 78.49455485120416,
-        "write_ms": 107.53256129100919,
-        "foreground_fraction": 0.7645
+        "compile_ms": 129.0338085964322,
+        "render_ms": 1411.6479260846972,
+        "compose_ms": 71.96114584803581,
+        "write_ms": 127.82243778929114,
+        "foreground_fraction": 0.7645,
+        "style": "link-palette-v1",
+        "colored_bodies": 39
       },
       "artifacts": {
         "robot.mjcf": "181e45ebdd4564a68181b00778cfad127423ba12987153099302b6406a2b3862",
         "meshes.tar": "e11e6d9df448b7696e3d808615b84e7f6cbd2ab6e449dc673ddfa3afa5f5ca2e",
-        "render.png": "54c4838cf32425a4db45f08ddb11beaeb05e88911ed7a6f225b6b568bc9c6b43",
+        "render.png": "01ead7cab946b2c0e1be2502916e61376947dcbe884a189baf1184f5be9261ed",
         "graph-raw.svg": "9bae118800cded7cd2b2ba02b82817ef4ee765c14bb9ce0b38cdf56d6e6cdcc4",
         "graph-robot.svg": "861afc26bb64615e5f6d5361e45e35a8d3aa29f2f498f67ddce4a533f69f7eb7",
         "robot.urdf": "df687ad632664038fa7740d89fe786e5d3155fa75c450e5817f6759853975ed8"
@@ -12006,7 +12154,7 @@
         "mjcf_ms": 7.513961289077997,
         "compile_ms": 104.96252402663231,
         "graph_ms": 359.2297867871821,
-        "render_total_ms": 1713.882802054286
+        "render_total_ms": 1688.0190228112042
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12103,16 +12251,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 94.65973637998104,
-        "render_ms": 1454.9851878546178,
-        "compose_ms": 68.22449620813131,
-        "write_ms": 83.03394308313727,
-        "foreground_fraction": 0.689325
+        "compile_ms": 101.04366671293974,
+        "render_ms": 1424.641951918602,
+        "compose_ms": 66.36408623307943,
+        "write_ms": 83.18532630801201,
+        "foreground_fraction": 0.689325,
+        "style": "link-palette-v1",
+        "colored_bodies": 25
       },
       "artifacts": {
         "robot.mjcf": "6cd5a80c52277e35093bc64a2cdda66b72122a1fae9b380da78e4caac5d11484",
         "meshes.tar": "35b5ec13887c3196ad01b691e73f403b06ce71733c589b5acfa828c0d78a90fb",
-        "render.png": "7e68bd39e9c2efd0c7718f67e498b41806f9c9593bb0a184bc263ba38139cc69",
+        "render.png": "b490b29702444fdcce47cf2dabfc192249d88142a98600e22765d9a9fba55f73",
         "graph-raw.svg": "e89a3730731f884ef43120a90184ecf670cbfbbcb3e982856df1bf7d97111bc7",
         "graph-robot.svg": "ce472b01fafab196d887a58faee67c3f5e80fa125b2cc64bbe2ececdee894b11"
       },
@@ -12149,7 +12299,7 @@
         "mjcf_ms": 12.642642017453909,
         "compile_ms": 131.04650005698204,
         "graph_ms": 404.1232140734792,
-        "render_total_ms": 1655.4677886888385
+        "render_total_ms": 1638.8789797201753
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12283,16 +12433,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 137.8028648905456,
-        "render_ms": 1367.5312087871134,
-        "compose_ms": 55.7452030479908,
-        "write_ms": 81.00469224154949,
-        "foreground_fraction": 0.3256
+        "compile_ms": 81.30936790257692,
+        "render_ms": 1406.7784459330142,
+        "compose_ms": 54.99210162088275,
+        "write_ms": 82.44595909491181,
+        "foreground_fraction": 0.3256,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "3d78337b266b8331a6dea0683f2047cc2cebfbf65e19275af6d0e560fc6a606a",
         "meshes.tar": "b5c626ff0c2399b153c01c37d75deef2c80048c42d58b55fbe6407cb298fba60",
-        "render.png": "3f87721b0a9760ab834889c9dc1f28910afd1a984d63e793154fb301b8c74cfa",
+        "render.png": "aecadb00b96f34547d29bbfe2609981acad1c26eab5342d13ef54c92852ffa42",
         "graph-raw.svg": "3f0da41b5ea79df280df0c66dcc194b7ace6be6731813824f58c33aae45c24fe",
         "graph-robot.svg": "49ff8efc91f2ae3618bae77ff7ea1f8f7a102464a17839bbcf16cab295c3d221",
         "robot.urdf": "b86bccc02f174b227ae19507c12357f3349ec7849c672a38bf2f12d3e0643849"
@@ -12333,7 +12485,7 @@
         "mjcf_ms": 13.61768739297986,
         "compile_ms": 90.59248398989439,
         "graph_ms": 768.4435951523483,
-        "render_total_ms": 1677.0542692393064
+        "render_total_ms": 1744.777416344732
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12467,16 +12619,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 87.98917522653937,
-        "render_ms": 1394.233056344092,
-        "compose_ms": 80.81633085384965,
-        "write_ms": 100.78025935217738,
-        "foreground_fraction": 0.7018
+        "compile_ms": 89.88152304664254,
+        "render_ms": 1444.8940763249993,
+        "compose_ms": 80.05197905004025,
+        "write_ms": 117.26057482883334,
+        "foreground_fraction": 0.7018,
+        "style": "link-palette-v1",
+        "colored_bodies": 33
       },
       "artifacts": {
         "robot.mjcf": "70b0f505a8e0e3bf5caa7f48415bcd5308fe201bba32a3fbb54dfd81ca0ad4ef",
         "meshes.tar": "a0c90ce7a5c6d788dde7b7f109d7a92c14ccea89196252864a1f820ca0b5175e",
-        "render.png": "563b296cfa93c3a45ce0cf243b7e276fdc31b3fa9651d70505047f8946d57b6a",
+        "render.png": "0e5514d3f53210f5c68c7afa7ddf94034b21a85bb2737574aa62737b50380253",
         "graph-raw.svg": "12bd1a6bbfb9c5154b511e088cccf6c23cb320e1a6c7d792cdb01164fd5491be",
         "graph-robot.svg": "89c6810d41ddae985fe94e09676a69bb8c0d8cb5750dd3584dcd992e64e349b1",
         "robot.urdf": "c1083eac554c853b9700ebd869fee7c2eb4948b4a78bb7a0ad9b25197ab3ced4"
@@ -12510,7 +12664,7 @@
         "mjcf_ms": 6.572137121111155,
         "compile_ms": 32.96103375032544,
         "graph_ms": 125.39385305717587,
-        "render_total_ms": 1555.3475618362427
+        "render_total_ms": 1584.726631641388
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12571,16 +12725,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 35.1416589692235,
-        "render_ms": 1352.3422949947417,
-        "compose_ms": 76.8944681622088,
-        "write_ms": 75.5843329243362,
-        "foreground_fraction": 0.6182
+        "compile_ms": 27.847853023558855,
+        "render_ms": 1406.381017062813,
+        "compose_ms": 61.150162015110254,
+        "write_ms": 76.82997873052955,
+        "foreground_fraction": 0.6182,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "bf8d0b8ed9078b49776e79a963df68684edd5baac6a57cc3f0956157a0ea170e",
         "meshes.tar": "95056d39e8b3082505583146c31abadb4a4298692ac370238a8819026a4b521b",
-        "render.png": "c45c1aecbd2512fe39c2bb242fdaa0ec20fd18c3f2b5e681ac81136f1e5bb420",
+        "render.png": "3e701c847f1922fa752d6577ff6ec1242c481ce7daa7b95cf2e61e98a37960bc",
         "graph-raw.svg": "883e0595cf29d2063aceead1cc94024a37cea4ac04a080911aa98ee70d14061d",
         "graph-robot.svg": "b477f9a026a693b52950743c984a598c147b7a716e7ca6c60bf78f86af8248d1",
         "robot.urdf": "d45b16bbe02531895910721a33deb9fa9418e943a1fdf4f356a9398e479c09c3"
@@ -12616,7 +12772,7 @@
         "mjcf_ms": 10.296077001839876,
         "compile_ms": 59.0647803619504,
         "graph_ms": 363.7197511270642,
-        "render_total_ms": 1630.5680996738374
+        "render_total_ms": 1596.8534988351166
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12750,16 +12906,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 74.11830360069871,
-        "render_ms": 1387.0546342805028,
-        "compose_ms": 76.49020431563258,
-        "write_ms": 79.8086286522448,
-        "foreground_fraction": 0.77055
+        "compile_ms": 54.71779825165868,
+        "render_ms": 1379.4575743377209,
+        "compose_ms": 71.80627528578043,
+        "write_ms": 78.31001002341509,
+        "foreground_fraction": 0.77055,
+        "style": "link-palette-v1",
+        "colored_bodies": 21
       },
       "artifacts": {
         "robot.mjcf": "c585098b73f4fe78a0fbcbbbd340f0b233930831cb6d3764789bbc92ad926a9a",
         "meshes.tar": "ace0f881e7299cf8d4c9e670cfb6585c8b9002d184a78117188d31e9b810a31e",
-        "render.png": "04cd2d28a78f38616477c64aa28b63423cd2ec41b30c6ac7bfefa83556bb5acd",
+        "render.png": "3f09cc2e789c2823db8f92d1e15682d4e0012396cf2cc4340787e17fd3befc7c",
         "graph-raw.svg": "8a6e79ef730cda9611a66acdb330f66d5b78a3fdfee3a036d2d5f6f45191dc65",
         "graph-robot.svg": "d486fd7fb249f7df368c770edb24eaae125a063b74ab55a11efbbf4b98232ee7",
         "robot.urdf": "ea223a95b78829c9cddaab4794bdffc23821744930ec634853a8908e1abc4106"
@@ -12812,7 +12970,7 @@
         "mjcf_ms": 8.181171026080847,
         "compile_ms": 212.7469340339303,
         "graph_ms": 366.75405921414495,
-        "render_total_ms": 1756.7411940544844
+        "render_total_ms": 1767.4563718028367
       },
       "mesh_preparation": {
         "status": "complete",
@@ -12975,16 +13133,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 186.37621402740479,
-        "render_ms": 1428.5322111099958,
-        "compose_ms": 52.44170222431421,
-        "write_ms": 76.54295116662979,
-        "foreground_fraction": 0.242
+        "compile_ms": 180.3372916765511,
+        "render_ms": 1441.608689725399,
+        "compose_ms": 52.425394766032696,
+        "write_ms": 80.62536455690861,
+        "foreground_fraction": 0.242,
+        "style": "link-palette-v1",
+        "colored_bodies": 26
       },
       "artifacts": {
         "robot.mjcf": "1dca0ccda0360494c5529fb89205e87d8165944a50bbf0c40e6c6cb4150965af",
         "meshes.tar": "ae0179109312167c8f849c8d1b1fd74d37c02f056a1c77172e0f5cfb528dfcff",
-        "render.png": "46c8d1d5a365b7ff7c30c969bf40e0d9f2bdcb2305fc44ef441a61e149678276",
+        "render.png": "549eae6d5bb79ceb454a907353b720361e167991a8df51b01e91095d51e0094b",
         "graph-raw.svg": "877777e39ebdfe36a429ea283683b81c37aae4bf6aa6c1612ae90ae99a09b1b9",
         "graph-robot.svg": "653331775785a0ba724648dad133ab2a04054635c38c19273c9fbc717532f575"
       },
@@ -13016,7 +13176,7 @@
         "mjcf_ms": 4.554313141852617,
         "compile_ms": 212.89950609207153,
         "graph_ms": 156.78674401715398,
-        "render_total_ms": 1756.1448579654098
+        "render_total_ms": 1831.016122829169
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13168,16 +13328,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 204.25429102033377,
-        "render_ms": 1355.7879100553691,
-        "compose_ms": 64.51187515631318,
-        "write_ms": 118.37640358135104,
-        "foreground_fraction": 0.57365
+        "compile_ms": 195.3072575852275,
+        "render_ms": 1381.4358203671873,
+        "compose_ms": 64.39165119081736,
+        "write_ms": 177.6972129009664,
+        "foreground_fraction": 0.57365,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "9b63a27ed76b353cd5bcbdbc70f6002645d3d01e3250e6b0937bdaf3153cfd57",
         "meshes.tar": "96ac679e592d1b5648f3f85aefae73db83edb31827b2b4b8565b37a168d4c9a3",
-        "render.png": "0a8982544394fc98aa8ac5037d8e88f167ef3053b3a507a0fc7ba250b063f429",
+        "render.png": "6b58747fdaf53815730fb1220c2fdd5adfe39ff63f79b1676f043a32eef5dcfd",
         "graph-raw.svg": "67005fe3f6f9f2e777621331ef8ca33e99be09fe6fc430524d31742163fe9375",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "a293c14043c94d38059984ce21f4dc1ababd5b2f4f418f23ffcd388ad10c6c7f"
@@ -13221,7 +13383,7 @@
         "mjcf_ms": 13.735109008848667,
         "compile_ms": 4741.548927966505,
         "graph_ms": 973.085624165833,
-        "render_total_ms": 6708.510342054069
+        "render_total_ms": 6841.665058862418
       },
       "mesh_preparation": {
         "status": "complete",
@@ -13979,16 +14141,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4664.542667102069,
-        "render_ms": 1884.3129728920758,
-        "compose_ms": 65.54823694750667,
-        "write_ms": 80.68919694051147,
-        "foreground_fraction": 0.7424083333333333
+        "compile_ms": 4666.5825615637,
+        "render_ms": 1867.4469268880785,
+        "compose_ms": 60.62236288562417,
+        "write_ms": 233.6157839745283,
+        "foreground_fraction": 0.7424083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 7
       },
       "artifacts": {
         "robot.mjcf": "e1d27f5e3923c708b8a64068aeeb2b8ab796b7e8debe45d7a8f6d08fd892398e",
         "meshes.tar": "4c81e46d714053c65a065ed712c450f9ace5e2aa6f5011d0a6e0f174b380e6d9",
-        "render.png": "6b746e483c64a0f742707144ea4c1c4f8fe0ac5ffce16acbf57fdfbec6c4a2ea",
+        "render.png": "98c15f1afd46ef938616c7589d8a45218aa07e8841a7937ce031df4a2eeeb8ea",
         "graph-raw.svg": "7d8ac82700d1d7e3396bd888a991a2a815aa9d73f6c7c65bd429f4d767e6bbf9",
         "graph-robot.svg": "76117cd2efe302c84ff7cbb6cf1bc4b2c54881f7bb0c03b2990f171e797d0fcb",
         "robot.urdf": "ff16155484a23b2c16099ec2907b1e20f09769f55fb120fd0372cbb96942f378"
@@ -14027,7 +14191,7 @@
         "mjcf_ms": 4.373637028038502,
         "compile_ms": 28.14600709825754,
         "graph_ms": 104.00846600532532,
-        "render_total_ms": 1505.6028342805803
+        "render_total_ms": 1508.3999196067452
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14094,16 +14258,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 4.971867892891169,
-        "render_ms": 1350.349626969546,
-        "compose_ms": 74.38708795234561,
-        "write_ms": 62.42276495322585,
-        "foreground_fraction": 0.42185
+        "compile_ms": 19.377370830625296,
+        "render_ms": 1345.116978045553,
+        "compose_ms": 68.1134331971407,
+        "write_ms": 61.43792485818267,
+        "foreground_fraction": 0.42185,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "d6bf5e760683f0ae4c377c90989e4b3131faaff4ed50657fa5f6fce3ec2e0b79",
         "meshes.tar": "72eb0b023de81d3a2d93039bd0526783545fbd7e202a264b111758279f31eb93",
-        "render.png": "ba0cd759dc65d911aa6e1371d9626f4591e27a9e00bcd0cda5d2cbd52406a7f3",
+        "render.png": "10bac051ec1f61412f015cc7f8c003cdfccf9a94a327bfec514fa163179a4c57",
         "graph-raw.svg": "4a6208ce82de626e03022bc2509986b5f6119e6c51bea5cff26faaa4d2e28ae5",
         "graph-robot.svg": "9d8b7156a35ef91c9be8632ab252c893c7c4d2ad5f10472b41c4e26839384dd3"
       },
@@ -14135,7 +14301,7 @@
         "mjcf_ms": 5.470864940434694,
         "compile_ms": 23.273789323866367,
         "graph_ms": 81.91946893930435,
-        "render_total_ms": 1452.316074166447
+        "render_total_ms": 1497.4066060967743
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14196,16 +14362,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 14.425234869122505,
-        "render_ms": 1302.4606830440462,
-        "compose_ms": 50.603175070136786,
-        "write_ms": 71.49791531264782,
-        "foreground_fraction": 0.3586
+        "compile_ms": 11.3567179068923,
+        "render_ms": 1342.990871053189,
+        "compose_ms": 50.64223287627101,
+        "write_ms": 80.61214303597808,
+        "foreground_fraction": 0.3586,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "36cf3ae0a07326501d90f3e3e565f57f668bc6cb6c41367e41635a5e7426f1bc",
         "meshes.tar": "96728636aeefd33cf2c6073be721dd8e11e053ba15da171bd6625841e9d0f0e1",
-        "render.png": "183d671e9cf225d7256dac8f5582826db8e9c20122917dfbae1051bd33e26272",
+        "render.png": "4e01a54de8bdf10a20a6eeddd0042cc45991362e76ccd3eb06f481e83bed1669",
         "graph-raw.svg": "7bd127c924c83c626db1282e26d6d8022e3784775ef16fba88f50a8fd7bf99fa",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "63fd7c0bef182ac3cfe9852aa01d9384ad2e5ef840c9be10143224f9ee1f9353"
@@ -14237,7 +14405,7 @@
         "mjcf_ms": 4.619027953594923,
         "compile_ms": 11.097608599811792,
         "graph_ms": 240.23741576820612,
-        "render_total_ms": 1510.9259290620685
+        "render_total_ms": 1489.4555141218007
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14298,16 +14466,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 9.992056991904974,
-        "render_ms": 1349.3326241150498,
-        "compose_ms": 73.02216719835997,
-        "write_ms": 65.14095608144999,
-        "foreground_fraction": 0.77715
+        "compile_ms": 5.203179083764553,
+        "render_ms": 1337.3524192720652,
+        "compose_ms": 70.76128711923957,
+        "write_ms": 64.14898810908198,
+        "foreground_fraction": 0.77715,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "dfb8ecfb52ff5ee5b03757a1c68f054873566f03b1d97e7812fbfcd07157dd69",
         "meshes.tar": "30ae9f8b1183a1725803384dc0ff8341af6161cab28d8ad5fe719e88d0d4c589",
-        "render.png": "2e2ed7646b436d4fd31bfdea5837a7b7f268513757db354494b836438478ba97",
+        "render.png": "c12f8311ebfccf3d7e48524e4512b8da492ae34d81da35ed81dfcacc88b31444",
         "graph-raw.svg": "e56be615f63b1f39d02b5e765fe2ac874f53583ee636f4c0a5751662379021d2",
         "graph-robot.svg": "c70ca0767807ab108273022fc41f54bd51aae6d3f15d53acc953f05735bcdb65",
         "robot.urdf": "72e4a5782dc64251d39706d1545cb2c10836f8dff411ce91d43ce37db326abbc"
@@ -14350,7 +14520,7 @@
         "mjcf_ms": 6.778481882065535,
         "compile_ms": 67.11280904710293,
         "graph_ms": 364.206625148654,
-        "render_total_ms": 1618.7874441966414
+        "render_total_ms": 1623.1399700045586
       },
       "mesh_preparation": {
         "status": "complete",
@@ -14783,16 +14953,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 69.91198007017374,
-        "render_ms": 1386.4967026747763,
-        "compose_ms": 81.09761402010918,
-        "write_ms": 68.19050200283527,
-        "foreground_fraction": 0.72655
+        "compile_ms": 64.67582983896136,
+        "render_ms": 1397.3752963356674,
+        "compose_ms": 80.37313399836421,
+        "write_ms": 68.96328320726752,
+        "foreground_fraction": 0.72655,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "37546b1d5acbe7cb11de429bb1e098b487aedf06d2eafd2f9a76f78da278643c",
         "meshes.tar": "6be595f8105c4ad6a4adb13bc78c31461147033bc7a7fe45779aa8bebb108929",
-        "render.png": "8c2cad1241a2e1eae877aa93b597159a8d43b454421926c82211443c05ddcd2e",
+        "render.png": "2f335e262af3b59f13eb9c71fb41cdbcb39eb9a2a17af33577c03e498e13a0b7",
         "graph-raw.svg": "521ed4e6e9a04399a247b86202f5423bdbdefe0671034167428803b0d4541cb3",
         "graph-robot.svg": "465ef6ef67a56ef39a75bddc811b89c1a9707b5b636293f2941b679e457a64c8"
       },
@@ -14832,7 +15004,7 @@
         "mjcf_ms": 5.315372720360756,
         "compile_ms": 82.10189221426845,
         "graph_ms": 185.82300283014774,
-        "render_total_ms": 1626.9925078377128
+        "render_total_ms": 1584.9102442152798
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15019,16 +15191,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 72.58149888366461,
-        "render_ms": 1407.7396714128554,
-        "compose_ms": 73.9566208794713,
-        "write_ms": 59.64995315298438,
-        "foreground_fraction": 0.5698
+        "compile_ms": 52.10568802431226,
+        "render_ms": 1388.1234731525183,
+        "compose_ms": 73.65093240514398,
+        "write_ms": 58.95784730091691,
+        "foreground_fraction": 0.5698,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "b586ee65b2d005ddb784c25c7ebbb17bd8e29b60e50227b59bb04f5cc850fb12",
         "meshes.tar": "2798bf4aaf3d27ece345981d0cbc3a1c1ddb693669c91269fa8bd83aae92621d",
-        "render.png": "a2a2345d0a78f314fc5305e4a7c9eeac8c5a99e154d7f0f3723c4ec250566593",
+        "render.png": "8fdff5bdc6e2ca37bf4d6c1803f4be9476c2708be51cd27a0ed01d086dcbcdcc",
         "graph-raw.svg": "11534ebd2093d878b97a29287f169ac73c48e5064477d6508794d5df2d5e5156",
         "graph-robot.svg": "17bd53514ff490d9a710217d986631666902a57d4c68b3e2dfa03494e0422765"
       },
@@ -15067,7 +15241,7 @@
         "mjcf_ms": 4.388436209410429,
         "compile_ms": 28.97255215793848,
         "graph_ms": 113.41722263023257,
-        "render_total_ms": 1486.0920486971736
+        "render_total_ms": 1551.3185318559408
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15146,16 +15320,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 18.248212058097124,
-        "render_ms": 1287.8643260337412,
-        "compose_ms": 62.09503905847669,
-        "write_ms": 104.28492585197091,
-        "foreground_fraction": 0.76615
+        "compile_ms": 16.250583808869123,
+        "render_ms": 1349.2844859138131,
+        "compose_ms": 61.03519396856427,
+        "write_ms": 112.66903160139918,
+        "foreground_fraction": 0.76615,
+        "style": "link-palette-v1",
+        "colored_bodies": 1
       },
       "artifacts": {
         "robot.mjcf": "144cd64eaf63d0d3e16293c0c07f1ccbb394fd91bbf7af319d132486572625dd",
         "meshes.tar": "423c78e1e80a59293534aaa8cb675698ace491178a4353365504f368877919a1",
-        "render.png": "2db6975bb0168000a378c95fc2394621d4157f8d89001ab23110e6e4587bc37f",
+        "render.png": "2eae81d3d308c6cdd0e41be161e7e6d3423d567853f6825371eb0eca3538ee36",
         "graph-raw.svg": "e0a68a9961fc3ad3f4b0713c38afbafdccf25a8821112e0456a3ed6bd8f6ee4a",
         "graph-robot.svg": "a772bed85834aa884f148c0e1fb14a87884b795ffecb56716b5e39466bb7a573"
       },
@@ -15194,7 +15370,7 @@
         "mjcf_ms": 4.701218102127314,
         "compile_ms": 81.55147358775139,
         "graph_ms": 111.29098711535335,
-        "render_total_ms": 1605.361853260547
+        "render_total_ms": 1618.6679969541728
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15255,16 +15431,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 79.70328908413649,
-        "render_ms": 1349.3110099807382,
-        "compose_ms": 110.01713993027806,
-        "write_ms": 52.93287243694067,
-        "foreground_fraction": 0.6991833333333334
+        "compile_ms": 59.63842524215579,
+        "render_ms": 1384.5762233249843,
+        "compose_ms": 109.85564719885588,
+        "write_ms": 52.51032905653119,
+        "foreground_fraction": 0.6991833333333334,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "9449bc242538bdd65ac0e4a7fa9b1085dcb81d4e51b4587d65451cd37572cc13",
         "meshes.tar": "e8ad3cc6ca6547a69cbfcb26af09978e904791b9846de25688b9b7191940ac38",
-        "render.png": "6eac22a5137fdc9c21819124bc947350417b95beb17ca549b9d04fe099350b07",
+        "render.png": "c13fc052d9f4aa1b790f13a15357d0485411c1a3f3ef16ca586ea6ed3d1cbcc8",
         "graph-raw.svg": "971d8ba105369180c063ef3847065300c953b421cb18b8bd8011665a8031c77e",
         "graph-robot.svg": "ff831237d6fa551f238b6d395f2e9e5a08625573d1f0d85052785c9da6e5b311"
       },
@@ -15303,7 +15481,7 @@
         "mjcf_ms": 7.192831952124834,
         "compile_ms": 55.43776415288448,
         "graph_ms": 304.4533017091453,
-        "render_total_ms": 1540.8716988749802
+        "render_total_ms": 1578.1146478839219
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15351,16 +15529,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 77.90537597611547,
-        "render_ms": 1319.673600140959,
-        "compose_ms": 59.81406383216381,
-        "write_ms": 70.0176521204412,
-        "foreground_fraction": 0.495
+        "compile_ms": 54.3361771851778,
+        "render_ms": 1379.8278700560331,
+        "compose_ms": 58.79565607756376,
+        "write_ms": 73.17516813054681,
+        "foreground_fraction": 0.495,
+        "style": "link-palette-v1",
+        "colored_bodies": 10
       },
       "artifacts": {
         "robot.mjcf": "728a6b02e72ddb99c580b5a5136e4ced69942e4e3b47e9b1d6e111794da4d9d0",
         "meshes.tar": "a908e92dd2e5da37930bbf2ef1de0d1aa0ef255a8f0ec8ab3413c9a32d142011",
-        "render.png": "c9912bd7d255e6f00295ea6500c468da15dbc4e5863e2a78de362cb94a8267c4",
+        "render.png": "9b03cc3968ce28f92b21be22bc7cb0b850153e9c55d691f820cfdce1958a6779",
         "graph-raw.svg": "e5ed4176acab752ce15c3443a23e0844164d62fc3ce0f9e4371befce02db51b9",
         "graph-robot.svg": "dcdd48482f212f7f8c485cd1fda13cd4cf528ac1c6c6da6be28e8e432db364ee"
       },
@@ -15399,7 +15579,7 @@
         "mjcf_ms": 4.6849618665874,
         "compile_ms": 27.626814786344767,
         "graph_ms": 105.01173790544271,
-        "render_total_ms": 1485.2437330409884
+        "render_total_ms": 1610.1541463285685
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15447,16 +15627,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 17.979086842387915,
-        "render_ms": 1286.1822457052767,
-        "compose_ms": 61.82152684777975,
-        "write_ms": 105.62078095972538,
-        "foreground_fraction": 0.7151083333333333
+        "compile_ms": 16.132456716150045,
+        "render_ms": 1383.5196131840348,
+        "compose_ms": 60.74864184483886,
+        "write_ms": 137.6404003240168,
+        "foreground_fraction": 0.7151083333333333,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "fb8eec9e37bc75f2ed4df18924b86381ac3568e4a057ddd4e18f517410ba4c0b",
         "meshes.tar": "b7ed77a5d054e99563bf6f22ffa8b4e6017811306d5c523402714bcc80a24cd9",
-        "render.png": "896d4ef17cc301ff4f17bc17a26f0e11db4134c14d839a6ed36e626be13d8ca4",
+        "render.png": "e85533092bb32a3f065563bfec8ddd28b3ba23327a87568d421052b872717759",
         "graph-raw.svg": "780e75b7ba11e878ac499211c434b2890639a71edb24d093b7b8ee76c8ad5ef7",
         "graph-robot.svg": "9ea9b2632e58792b4e9aafc8f7e969ef727cf120d926f5c80df7a2679851e3e0"
       },
@@ -15499,7 +15681,7 @@
         "mjcf_ms": 5.570300854742527,
         "compile_ms": 241.95841373875737,
         "graph_ms": 123.89712408185005,
-        "render_total_ms": 1786.3794160075486
+        "render_total_ms": 1829.3601959012449
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15547,16 +15729,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 200.58276411145926,
-        "render_ms": 1426.1829443275928,
-        "compose_ms": 59.91624528542161,
-        "write_ms": 86.69380703940988,
-        "foreground_fraction": 0.495
+        "compile_ms": 233.5891961120069,
+        "render_ms": 1429.274651221931,
+        "compose_ms": 58.801061008125544,
+        "write_ms": 95.5500490963459,
+        "foreground_fraction": 0.495,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "214be30000623d6ffd0651e49a0f6f45ffe3a7eb9aff0edf8292836bcb388d15",
         "meshes.tar": "40633db3bbfa4eb61aea370ea070ee3a44cd62327d36c36ca4d608683df7653d",
-        "render.png": "0347af03a9d6c13022d21677eb564b740b817d5ea2ca4ceebe84a97a4bc1c2b0",
+        "render.png": "03103ef2aab46a3969841b9130fd8b6da624b1db56cb7be73ab88408f75b015e",
         "graph-raw.svg": "40771252f46514ac03e213d4eccb7ac2e0db26c8937e7e01d778228d6b4efc6a",
         "graph-robot.svg": "b2c601e538341acb711b30f1c97f72a8ba535138c0becdd37545705092edfc5c"
       },
@@ -15599,7 +15783,7 @@
         "mjcf_ms": 5.628016777336597,
         "compile_ms": 279.3871723115444,
         "graph_ms": 130.07555389776826,
-        "render_total_ms": 1849.7018651105464
+        "render_total_ms": 2102.076118811965
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15647,16 +15831,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 238.5020893998444,
-        "render_ms": 1453.5700301639736,
-        "compose_ms": 58.01502801477909,
-        "write_ms": 86.19685098528862,
-        "foreground_fraction": 0.462
+        "compile_ms": 387.9794580861926,
+        "render_ms": 1530.7625220157206,
+        "compose_ms": 57.38952988758683,
+        "write_ms": 112.9722991026938,
+        "foreground_fraction": 0.462,
+        "style": "link-palette-v1",
+        "colored_bodies": 5
       },
       "artifacts": {
         "robot.mjcf": "6363a1fa23c2be8a09f6dfa85eb150ffb8ef0b58ceee630974c6936a8085c58c",
         "meshes.tar": "6fd0ab69434f7e193bde05c6955cd6c9ea87c937f2d9f622fc490c2a9552f751",
-        "render.png": "99e943053e11c28941e2ebc46b15276262db710ebfa0598d66debcd61b1412ed",
+        "render.png": "ead5735e248ae1104fc75e147e2adfd14b5f09104e49a79d260f4f268ba7b6df",
         "graph-raw.svg": "fa89d0d5a01765891af1ff1dc2213a5f0b87e055ff450e110c30128068553e2f",
         "graph-robot.svg": "db8d94dc61f5047460691e2b9d142555f0d8cf6adb25d1b9ef7708004d53217b"
       },
@@ -15691,7 +15877,7 @@
         "mjcf_ms": 6.709676701575518,
         "compile_ms": 35.763413179665804,
         "graph_ms": 134.66151477769017,
-        "render_total_ms": 1598.4684810973704
+        "render_total_ms": 1590.0506270118058
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15752,16 +15938,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 58.09738906100392,
-        "render_ms": 1373.1102528981864,
-        "compose_ms": 61.33017595857382,
-        "write_ms": 92.00152987614274,
-        "foreground_fraction": 0.5357
+        "compile_ms": 34.969570115208626,
+        "render_ms": 1371.3330556638539,
+        "compose_ms": 60.05014292895794,
+        "write_ms": 111.09874024987221,
+        "foreground_fraction": 0.5357,
+        "style": "link-palette-v1",
+        "colored_bodies": 6
       },
       "artifacts": {
         "robot.mjcf": "892c01af474a5eef4d818c0250cd8da09eb3ed76a34905ec2d2b49f669f9c3fb",
         "meshes.tar": "c625e6b3a7e245059c7e0fa91ba2912f0aabe4d60e05393e08ea5528880442b0",
-        "render.png": "c59d95d14d624656bd3f8c19c88f49f8a9d24d427e110c481e87ec754511ac67",
+        "render.png": "cfe0d52095b00ec39e2ddb556912ab4903b7d9b61387095f253cadb4a0f76fa3",
         "graph-raw.svg": "ad096577b034def8c9439a7b9e16a1757e1e1c238b6c6d53d9586d2bd06094a5",
         "graph-robot.svg": "b419e88473b4169d8f10451d65ef57b445e242753aedd586c4f0e29139cefa06",
         "robot.urdf": "a89f3598bd0365aeb767feb8e1280dab1252f9ea2f9b3a9ccef0ee54ff776364"
@@ -15802,7 +15990,7 @@
         "mjcf_ms": 5.08661987259984,
         "compile_ms": 88.94338691607118,
         "graph_ms": 105.57629493996501,
-        "render_total_ms": 1537.4946189112961
+        "render_total_ms": 1672.065882012248
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15850,16 +16038,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 84.12995422258973,
-        "render_ms": 1311.1537056975067,
-        "compose_ms": 48.13824500888586,
-        "write_ms": 80.58151882141829,
-        "foreground_fraction": 0.28435
+        "compile_ms": 96.80534526705742,
+        "render_ms": 1424.8888245783746,
+        "compose_ms": 47.19604691490531,
+        "write_ms": 89.75675981491804,
+        "foreground_fraction": 0.28435,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "a06aa4941f4a02fc5b8859dbd89e3b0b06683e3537b72f260ff5e171aa65974f",
         "meshes.tar": "8bf587151c519f27d6f274d69b0a2c66a63c24fc0c872baa7cd7b723c333af6e",
-        "render.png": "678dce94494cb9eded76fb294f8779c7260f792e1fd84835eb89024f8957c668",
+        "render.png": "633ff45b0beacde3467bfc405cfea702a79a3e81411a44a2cca7880edc037dca",
         "graph-raw.svg": "cd30697e6238e71186b7d88223756cd22f7b572dbc5e2dbafae21df5c7d387c4",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -15899,7 +16089,7 @@
         "mjcf_ms": 4.560831934213638,
         "compile_ms": 99.5778376236558,
         "graph_ms": 104.55211903899908,
-        "render_total_ms": 1624.352253973484
+        "render_total_ms": 1652.9305619187653
       },
       "mesh_preparation": {
         "status": "complete",
@@ -15947,16 +16137,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 86.44846081733704,
-        "render_ms": 1390.8617780543864,
-        "compose_ms": 49.697685055434704,
-        "write_ms": 84.24567198380828,
-        "foreground_fraction": 0.3311
+        "compile_ms": 109.56066008657217,
+        "render_ms": 1376.6424129717052,
+        "compose_ms": 49.16782025247812,
+        "write_ms": 105.05320131778717,
+        "foreground_fraction": 0.3311,
+        "style": "link-palette-v1",
+        "colored_bodies": 2
       },
       "artifacts": {
         "robot.mjcf": "4a9a1819f0a7f6f55c2e5cd649bf5b40132107e60d6447b203a45dfeac987a3e",
         "meshes.tar": "083a6ba63b1d57479c7e2257cc79aafbbd68ab10accd291245080730fce658dc",
-        "render.png": "99dd0f59b13c742d82d864f31bd8690eabd31ffcd1da3d32b3bbe3062fb58195",
+        "render.png": "cadcca67c335b5dbda66b48d8b2ced6b9d68d2ae4f59b3e81bb8bc17282c5dc3",
         "graph-raw.svg": "7917e934bc6d23522551b03ee9bf191de97f397a1ebabf0501b2d7889f3d8bed",
         "graph-robot.svg": "73aba5f828c186aeb6dcfdecbdb6e748794a03b2115ff4a340939ef9568eb50d"
       },
@@ -15995,7 +16187,7 @@
         "mjcf_ms": 4.537608008831739,
         "compile_ms": 22.589900065213442,
         "graph_ms": 122.86306312307715,
-        "render_total_ms": 1436.5529781207442
+        "render_total_ms": 1499.845361802727
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16043,16 +16235,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 15.46208607032895,
-        "render_ms": 1286.5574290044606,
-        "compose_ms": 48.92041860148311,
-        "write_ms": 72.87696143612266,
-        "foreground_fraction": 0.26015
+        "compile_ms": 12.390460819005966,
+        "render_ms": 1352.4581771343946,
+        "compose_ms": 48.422268591821194,
+        "write_ms": 74.053596239537,
+        "foreground_fraction": 0.26015,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "db03a3188d94df2b6d050eba61fdd2bb66687aeb5d194ff41c2b7fa83b6fe815",
         "meshes.tar": "e9d1b851c062acb6b621cfac3b152f2c59842a6a6646dfee756681e7a1be1903",
-        "render.png": "606608f810bdd4655d2089494cdaeedc4a36945b547aa2738a5b1a151669a6db",
+        "render.png": "f6a29567eea58fd8679d4bcf225a3cc101e7c0b87d4c3f6d604b9dcb06d8eaa5",
         "graph-raw.svg": "4f032ba82be52b14043cca49fef001e4918a6448bf8b16737845d8664ea54d64",
         "graph-robot.svg": "ed03878222e63dfbdce7fc85ef7a70e2fcd2d1f05fb731bb95f1ef6499a000cb"
       },
@@ -16093,7 +16287,7 @@
         "mjcf_ms": 6.5607489086687565,
         "compile_ms": 33.4703722037375,
         "graph_ms": 289.6730052307248,
-        "render_total_ms": 1540.8919309265912
+        "render_total_ms": 1548.7685976549983
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16148,16 +16342,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 32.46185788884759,
-        "render_ms": 1351.480167824775,
-        "compose_ms": 63.00447788089514,
-        "write_ms": 80.93840209767222,
-        "foreground_fraction": 0.45925
+        "compile_ms": 29.447447042912245,
+        "render_ms": 1353.6265981383622,
+        "compose_ms": 62.09124717861414,
+        "write_ms": 91.80456306785345,
+        "foreground_fraction": 0.45925,
+        "style": "link-palette-v1",
+        "colored_bodies": 12
       },
       "artifacts": {
         "robot.mjcf": "9cf17714e0614278dabae78dcaecae46f61d36a2bfa7cfa04b88c758988af29d",
         "meshes.tar": "ca915e28378e5b55ec4f76d4b65ca9028c98c65d5de1ec6184173e56af852e30",
-        "render.png": "50b664efb46508f8033ae747c90dc5a6128d12b673ec61f3d44abfbfe4258e9d",
+        "render.png": "a84ae1fdf443ab0cb8f3f35c8bc750759bd58edcef28c7de919f12febd419b07",
         "graph-raw.svg": "557764a0c03609d2caf4f0c19c9562434b8d8a1fbbf4159d5c3b1c45eb4057a0",
         "graph-robot.svg": "bd6f60b34910e0455263112b225054f8792747abed8c8d52423375ce15bdfc23"
       },
@@ -16197,7 +16393,7 @@
         "mjcf_ms": 5.54395979270339,
         "compile_ms": 55.14334607869387,
         "graph_ms": 114.79094810783863,
-        "render_total_ms": 1559.6262933686376
+        "render_total_ms": 1539.3839781172574
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16245,16 +16441,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 42.1069678850472,
-        "render_ms": 1372.2328571602702,
-        "compose_ms": 58.671393897384405,
-        "write_ms": 73.41655297204852,
-        "foreground_fraction": 0.5357
+        "compile_ms": 43.64536702632904,
+        "render_ms": 1350.5332828499377,
+        "compose_ms": 57.872684206813574,
+        "write_ms": 75.17806999385357,
+        "foreground_fraction": 0.5357,
+        "style": "link-palette-v1",
+        "colored_bodies": 3
       },
       "artifacts": {
         "robot.mjcf": "d0e406f519af0d8cf73b0976861b23c70e5921581de210ff9bd69a25806e67ac",
         "meshes.tar": "2a8065765faa6055e03850cf096130f03e250ecd11f69ceacff6d60808f3f442",
-        "render.png": "743731767c8025ed0aa42c291d67e1ec64e160cebddb46439c5632e5bea23326",
+        "render.png": "a348c3819c831d2808e83be6f4d3d8cb4550023b2bc33a893f3de0a8140d8599",
         "graph-raw.svg": "4435e4ebe554f292cea3a495049b9c9d9fceb7309c391d7d06cd8b662776b33b",
         "graph-robot.svg": "4a6837aa3489000b6b671c5774073e7265ce74389b6a739245a8f412081c3961"
       },
@@ -16293,7 +16491,7 @@
         "mjcf_ms": 4.984444938600063,
         "compile_ms": 2313.414681237191,
         "graph_ms": 109.4723199494183,
-        "render_total_ms": 4734.4560590572655
+        "render_total_ms": 4187.816102989018
       },
       "mesh_preparation": {
         "status": "complete",
@@ -16341,16 +16539,18 @@
         "width": 1600,
         "height": 1200,
         "dpi": 300,
-        "compile_ms": 2691.7914957739413,
-        "render_ms": 1810.6767861172557,
-        "compose_ms": 65.26631209999323,
-        "write_ms": 153.17289484664798,
-        "foreground_fraction": 0.71335
+        "compile_ms": 2308.8835780508816,
+        "render_ms": 1703.8601548410952,
+        "compose_ms": 63.902948051691055,
+        "write_ms": 99.301400128752,
+        "foreground_fraction": 0.71335,
+        "style": "link-palette-v1",
+        "colored_bodies": 4
       },
       "artifacts": {
         "robot.mjcf": "7023284c0f294274e90e90a0a0a0fe581091aea69713ca81bbe9e344057b1b89",
         "meshes.tar": "a922383a8ce5ebb818267c30745f2dded4545a9855326e65d1b86321446e685b",
-        "render.png": "9fe04fb327dddf9b7c98549c3797dcbafd626602afa1b23c54c793fee2adcce7",
+        "render.png": "7fb93a65bfafb3547ec1020ab573247f9b06854d941a814eceebfcc149726a7a",
         "graph-raw.svg": "331654844954c7b42cfaf16d3af8e23c3b4aa50d87cd5dbe43a111b21f2238ff",
         "graph-robot.svg": "dc947194801678b9ffb540a984a262abc63bfe903eeb4de6f5f0cc595514354c"
       },
@@ -16362,12 +16562,89 @@
   ],
   "output": {
     "archive": "shard-01165.tar",
-    "archive_sha256": "952b0e7e7ca0dc07547daffe1a48329d5aa8acd3cbe5edb4745302ce1c2f4757",
+    "archive_sha256": "977a3b3b1fbf086e7fab26f01b2640b081dcb6042d69e21f22a7938ff1a308a5",
     "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": "952b0e7e7ca0dc07547daffe1a48329d5aa8acd3cbe5edb4745302ce1c2f4757",
+      "report_sha256": "1b5f286d250268647094a08f65af4da450e07725f7bd2bbc90a9f80f59006120"
+    },
+    "scheduler": {
+      "job_id": "60317376",
+      "array_job_id": "60313720",
+      "array_task_id": "1165",
+      "node": "gl3153",
+      "host": "gl3153.arc-ts.umich.edu"
+    }
+  },
   "verification": {
     "samples": 100,
     "compiled_models": 100,
-    "archive_sha256": "952b0e7e7ca0dc07547daffe1a48329d5aa8acd3cbe5edb4745302ce1c2f4757"
+    "archive_sha256": "977a3b3b1fbf086e7fab26f01b2640b081dcb6042d69e21f22a7938ff1a308a5"
   }
 }