So, yesterday was a major downer with the conveyor belt failure on my phone. I did some profiling (which is REALLY EASY using the DDMS tool in Eclipse), and the majority of the time was spent rendering / drawing the joints (43% of the time.) To combat that, and to finally force myself to quit relying solely on the debug renderer, my goal today is to get a basic renderer up and running.
My idea is to use user data for defining texture regions references at object instantation. Then, during rendering time, iterate over all the objects in the world and simply call their draw methods, accessed via the user data reference.