anchor.diff:                                                        (arrow-width (* 2 width))
                                                         (arrow-length (* 1 arrow-width)))
     (setf (plan-context-object-graph context)
  -        (robray::draw-items (plan-context-object-graph context)
  -                            frame-name
  -                            (robray::item-frame-marker (robray::draw-subframe frame-name "marker")
  -                                                       :length length
  -                                                       :width width
  -                                                       :arrow-width arrow-width
  -                                                       :arrow-length arrow-length)
  -                            :options (draw-options :no-shadow t :alpha alpha
  -                                                   :visual t :collision nil))))
  +        (draw-items (plan-context-object-graph context)
  +                    frame-name
  +                    (robray::item-frame-marker (robray::draw-subframe frame-name "marker")
  +                                               :length length
  +                                               :width width
  +                                               :arrow-width arrow-width
  +                                               :arrow-length arrow-length)
  +                    :options (draw-options :no-shadow t :alpha alpha
  +                                           :visual t :collision nil))))
   
   (defun context-remove-object (context frame-name)
     (setf (plan-context-object-graph context)
  
positive.code:                                               frame object
                                                :configuration-map configuration-map)))
      (etypecase collision
        (robray::scene-box
         (container-scene-attach-box container link object (robray::scene-box-dimension collision)
                                     tf)))
      (setf (plan-context-object-graph context)
  
negative.code:   (coerce 'double-float x))
  
  (defun moveit-scene-exp-eval (exp &key (context *plan-context*))
    (destructuring-ecase exp
      ((:object name &rest keyword-arguments)
       (let* ((keyword-arguments-map (context-class-keyword-arguments context keyword-arguments))
              (keyword-arguments (kwarg-map-list keyword-arguments-map)))
         (destructuring-bind (&key parent
                                   class
                                   shape
                                   dimension rotation translation
                                   height radius
                                   (color (vec 0d0 0d0 0d0))
                                   (alpha 1d0)
                                   affords
                                   grasps
                                   )
             keyword-arguments
           (declare (ignore class affords grasps))
           (let* ((tf (tf* rotation translation))
                  (alpha (coerce alpha 'double-float))
                  (options (draw-options-default :color color
                                                 :alpha alpha
                                                 :visual t
                                                 :collision t))
                  (geometry
                   (ecase shape
                     (:box
                      (scene-box (apply #'vec dimension)))
                     (:cylinder
                      (scene-cylinder :height height :radius radius))
                     (:sphere
                      (scene-sphere radius)))))
             (when geometry
               (context-draw context parent name
                             :geometry geometry
                             :tf tf
                             :options options))))
         (tree-map-insertf (plan-context-object-init-map context)
                           name keyword-arguments-map)))
      ((:rm name)
       (context-remove-object context name))
      ((:goal name &key parent rotation translation)
       (tree-map-insertf (plan-context-object-goal-map context)
                         name (tf-tag parent (tf* rotation translation) name)))
      ((:clear)
       (context-remove-all-objects context))
      ((:class name parents &rest keyword-arguments)
       (context-add-class context name parents keyword-arguments))
      ((:seq &rest ops)
       (dolist (exp ops)
         (moveit-scene-exp-eval exp :context context)))))
  
  
  (defun moveit-scene-file (file &key (context *plan-context*))
  