anchor.diff:              for rgba-text = (when visual-node (path-1 visual-node '("material" "color" "@rgba")))
               for rgba = (if rgba-text (parse-float-sequence rgba-text)
                              (append default-color (list default-alpha)))
  -            do (let* ((shape (node-shape visual-node))
  +            do (let* ((shape (node-shape visual-node name))
                         (frame-name (node-origin name visual-node "visual" shape))
                         (options (node-options :rgba rgba :visual t)))
                    ;; bind geometry
  
positive.code:              (dom-select-path node path :singleton t :undefined-error nil :default default))
             (path-n (node path &optional default)
               (dom-select-path node path :singleton nil :undefined-error nil :default default))
             (node-shape (node)
               (let* ((mesh-file (path-1 node '("geometry" "mesh" "@filename")))
                      (box-size (path-1 node '("geometry" "box" "@size")))
                      (sphere-radius (path-1 node '("geometry" "sphere" "@radius")))
                      (cylinder-radius (path-1 node '("geometry" "cylinder" "@radius")))
                      (cylinder-length (path-1 node '("geometry" "cylinder" "@length"))))
                 (assert (xor mesh-file box-size sphere-radius (and cylinder-length
                                                                    cylinder-radius)))
                 (cond (mesh-file
                        (make-scene-mesh :source-file (urdf-resolve-file mesh-file)))
                       (sphere-radius
  
negative.code:                                                  (scene-geometry shape options)))))
           (loop for collision-node in (path-n link-node '("collision"))
              do
                (let* ((shape (node-shape collision-node name))
                       (frame-name (node-origin name collision-node "collision" shape))
                       (options (node-options :rgba default-rgba :visual nil :collision t)))
                  (setq scene-graph
  