anchor.diff:    ;(break)
     (robray::win-set-scene-graph (sub-scene-graph-scene-graph sub-scene-graph))
     (robray::win-set-config start)
  -  (print (list 'ws-plan start tf))
  +  ;(print (list 'ws-plan start tf))
     (motion-plan sub-scene-graph start :workspace-goal tf :timeout 5d0))
   
   (defun act-pick-tf (sg frame start object-name o-tf-e)
  -  (print (list 'pick frame object-name (tf-array o-tf-e)))
  +  ;(print (list 'pick frame object-name (tf-array o-tf-e)))
     (let* ((ssg (scene-graph-chain sg nil frame))
            (g-tf-o (scene-graph-tf-absolute sg object-name :configuration-map start))
            (g-tf-e (g* g-tf-o o-tf-e)))
  
positive.code:       ;(print mp)
        (if (robray::motion-plan-valid-p mp)
            (values mp
                    (let* ((end (motion-plan-endpoint-map mp))
                           (g-tf-ae (scene-graph-tf-absolute sg frame :configuration-map end))
                           (o-tf-ae (g* (tf-inverse g-tf-o) g-tf-ae)))
                      (print (tf-array g-tf-e))
                      (print (tf-array g-tf-ae))
                      ;(print (tf-inverse relative-tf))
                      (scene-graph-reparent sg frame object-name
                                            ;:tf (g* (tf-inverse act-g-tf-e) g-tf-e)
  
negative.code:       ;(print mp)
        (if (robray::motion-plan-valid-p mp)
            (values mp
                    (scene-graph-reparent sg destination-name object-name :tf relative-tf))
            (values nil sg)))))
  
  (defun act-transfer-tf (sg-0 frame start object-name pick-rel-tf destination-name dst-rel-tf)
    ;(print 'transfer)
    (multiple-value-bind (mp-pick sg)
        (act-pick-tf sg-0 frame start object-name pick-rel-tf )
      (if (null mp-pick)
  