anchor.diff:  		orientation = NewOrientation,
   		orientation_vel = NewOrientationVel,
   		orientation_acc_abs = OrientationAccAbs,
  -		orientation_acc_rel = OrientationAccRel,
  +		orientation_acc_rel = OrientationAccRel
   	}.
  
positive.code: 		orientation = Orientation,
  		orientation_vel = OrientationVel,
  		orientation_acc_abs = OrientationAccAbs,
  		orientation_acc_rel = OrientationAccRel,
  	} = State,
  
  	% ---------------------------------------------------------------------
  
negative.code: 	NewOrientationVel = quaternion:compose(OrientationVel, quaternion:scale_rotation(OrientationAcc, StepSize)),
  
  	% Calculate new orientation, in world space
  	NewOrientation = quaternion:compose(Orientation, quaternion:scale_rotation(NewOrientationVel, StepSize)),
  
  	% ---------------------------------------------------------------------
  	
  