Man, that's one impressive shot.

I can't remember, is this from the original 4 seasons, or was this episode after?

its a very well made trick of the camera and eye, You see the ship itself is a cell shaded 3d model that's being turned in a physics engine while the crew are Rodger Rabbited in yet what makes it delightfully devilish is that Benders legs are 3d models but his torso is a still image the camera is locked on, and because of the episode context of not runining the souffle we the audience don't notice. Like a Penn and Teller magic trick