anchor.diff:       with fps = (get-render-option options :frames-per-second)
        for plan in plans
        do
  -       (scene-graph-frame-animate (motion-plan-configuration-function-frame plan :fps fps)
  +       (scene-graph-frame-animate (motion-plan-configuration-function-frame plan
  +                                                                            :fps fps
  +                                                                            :time-scale time-scale)
                                     :camera-tf camera-tf
                                     :append t
                                     :options options
  
positive.code:                                                             m-sg)))
             (duration (amino::aa-ct-seg-list-duration segs)))
        (lambda (time)
          (when (<= time duration)
            (let ((q (make-vec (mutable-scene-graph-config-count m-sg))))
              (with-foreign-simple-vector (q n-q) q :output
                (amino::aa-ct-seg-list-eval-q segs time n-q q))
              (pairlist-configuration-map names q)))))))
  
  (defun motion-plan-configuration-function-frame (motion-plan &key
                                                                 (fps 30))
    (let ((time-function (motion-plan-configuration-function-time motion-plan)))
      (lambda (frame)
        (funcall time-function (coerce (/ frame fps) 'double-float)))))
  
  
negative.code: (in-package :robray)
  
  
  (defun motion-plan-configuration-function-time (motion-plan &key
                                                                (time-scale 1d0))
    (let* ((pts (amino::make-ct-pt-list))
           (m-sg (motion-plan-mutable-scene-graph motion-plan))
           (names (mutable-scene-graph-config-name-array m-sg))
  