anchor.diff:          unless (and (zerop (vec-x v))
                       (zerop (vec-y v)))
           do
  -          (incf i)
  -        ;; plan
  -          (setq *plan*
  -                (itmp-rec (scene-graph *sg-table* blocks) *sg-goal*
  -                          (rope *tmsmt-root* "pddl/itmp/itmp-blocks-linear.pddl")
  -                          :encoding :linear
  -                          :action-encoding :enum
  -                          :max-steps 3 :resolution *resolution*))
  -        ;;(print *plan*)
  -        ;; write output
  -          (output-timing n-obj "idtmp")))
  +          (progn
  +            (incf i)
  +            ;; plan
  +            (print 'informed-idtmp)
  +            (itmp-rec (scene-graph *sg-table* blocks) *sg-goal*
  +                      (rope *tmsmt-root* "pddl/itmp/itmp-blocks-linear.pddl")
  +                      :naive nil
  +                      :encoding :linear
  +                      :action-encoding :enum
  +                      :max-steps n-obj :resolution *resolution*)
  +            (output-timing n-obj "idtmp-side")
  +
  +            ;; (print 'naive-idtmp)
  +            (itmp-rec (scene-graph *sg-table* blocks) *sg-goal*
  +                      (rope *tmsmt-root* "pddl/itmp/itmp-blocks-linear.pddl")
  +                      :naive t
  +                      :encoding :linear
  +                      :action-encoding :enum
  +                      :max-steps n-obj :resolution *resolution*)
  +            (output-timing n-obj "n-idtmp-side")
  +          )))
   
   ;; (render-group-itmp *plan-context* *group*
   ;;                    *plan*
  
positive.code:                           (vec3* 2 2 2)
                            )
  
  (defparameter *tf-grasp-top* (tf* (y-angle (* 1 pi)) (vec3* .00 .00 .10)))
  (defparameter *tf-grasp-back* (tf* (y-angle (* .5 pi)) (vec3* -.10 .00 .035)))
  (defparameter *tf-grasp-rel* *tf-grasp-top*)
  
  (defvar *plan*)
  
  (loop for n-obj from 20 to 30
     for i = 0
     do
       (loop
  
negative.code: 
  
  
  ;; (defparameter *sg-block*  (genscene-repeat *sg-table* "block"
  ;;                                            *box*
  ;;                                            :count 30
  ;;                                            :max-locations 31
  ;;                                            :resolution *resolution*
  ;;                                            :z *z*
  ;;                                            :options (draw-options-default :color '(1 0 0)
  ;;                                                                           :specular .5
  ;;                                                                           :type "moveable"
  ;;                                                                           :visual t
  ;;                                                                           :collision t)))
  
  
  
  