anchor.diff:                            (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*)
  +(defparameter *tf-grasp-top* (tf* (y-angle (* 1 pi)) (vec3* .00 .00 (+ .04 (/ *box-dim* 2)))))
  +(defparameter *tf-grasp-back* (tf* (y-angle (* .5 pi)) (vec3* (- (+ .04 (/ *box-dim* 2)))  .00 .070)))
  +(defparameter *tf-grasp-rel* *tf-grasp-back*)
   
   (defvar *plan*)
   
  -(loop for n-obj from 20 to 30
  +(loop for n-obj from 6 to 6
      for i = 0
      do
        (loop
  
positive.code: 
  
  
  (defparameter *sg-block*  (genscene-repeat *sg-table* "block"
                                             *box*
                                             30
                                             :max-locations 31
                                             :resolution *resolution*
                                             :z *z*
                                             :options (draw-options-default :color '(1 0 0)
                                                                            :specular .5
                                                                            :type "moveable"
                                                                            :visual t
                                                                            :collision t)))
  
  
  
  
negative.code:         ;; create domain
          for blocks = (genscene-repeat *sg-table* "block"
                                        *box*
                                        :count n-obj
                                        :max-locations (1+ n-obj)
                                        :resolution *resolution*
                                        :z *z*
  