anchor.diff:             0.5662044286727905
              -1.2445718050003052
              -0.03993133828043938))
  -    (:experiment3
  +    (:experiment4
        (list -0.9895088076591492
              0.7063331007957458
              -0.47424113750457764
  
positive.code:            -1.6365865468978882
             -2.268911838531494))
      (:experiment2
       (list -0.39946720004081726
             1.4901506900787354
             -0.6373277306556702
  
negative.code:           'transform
            :translation (make-3d-vector -0.05 -0.05 0.25)))
          ee-transform
          )))
      (:experiment2
       (let ((ee-transform
               ;; TODO: replace this with a call to TF!
               ;; calib_left_arm_base_link -> left_gripper_tool_frame
               (make-transform
                (make-3d-vector -0.310 0.437 0.102)
                (make-quaternion 0.683 -0.539 -0.176 0.460))))
         (list
          (transform*
           ee-transform
           (make-instance
            'transform
            :translation (make-3d-vector 0 0 0.13)))
          ee-transform
          )
         
         ))
       
  
      ))
  
  (defun run-experiment (selector arm sim-p)
    (goto-config (start-configuration selector arm) arm sim-p)
  