anchor.diff:                                               (cgen-call "aa_rx_sg_create")))))
         ;; Map Frames
         (item (map-scene-graph-frames 'list (lambda (frame)
  -                                            (scene-genc-frame argument-name frame))
  +                                            (scene-genc-frame scene-graph argument-name frame))
                                       scene-graph))
         ;; Initialize meshes
         (item (scene-genc-mesh-vars scene-graph))
  
positive.code: (defun scene-genc-mesh-var (mesh)
    (rope "mesh__" (scene-mesh-name mesh)))
  
  (defun scene-genc-frame (argument-name frame)
    (let* ((tf (scene-frame-tf frame))
           (name (scene-frame-name frame))
           (name-string (cgen-string (scene-frame-name frame)))
  
negative.code:                           (cgen-string (scene-frame-joint-configuration-name frame))
                            "axis"
                            (scene-frame-joint-configuration-offset frame))
            ;; TODO: Map over limits separately from frames
            (when-let* ((config-name (scene-frame-joint-configuration-name frame))
                        (limits (scene-graph-config-limits scene-graph config-name)))
              (labels ((emit-limit (fun limit-fun)
                         (when-let* ((limit (funcall limit-fun limits))
                                     (min (joint-limit-min limit))
                                     (max (joint-limit-max limit)))
                           (cgen-call-stmt fun argument-name
                                           (cgen-string config-name)
                                           min max))))
                (list (emit-limit "aa_rx_sg_set_limit_pos" #'joint-limits-position)
                      (emit-limit "aa_rx_sg_set_limit_vel" #'joint-limits-velocity)
  