anchor.diff:    (coerce 'double-float x))
   
   (defun moveit-scene-exp-eval (exp &key (context *plan-context*))
  -  (let ((container (plan-context-moveit-container 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 (robray::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))))))
  +  (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*))
  
positive.code:                                                       (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))))
  
  (defun context-remove-object (context frame-name)
    (setf (plan-context-object-graph context)
  
negative.code:                         geometry
                          tf
                          (options nil))
    "Add geometry to the context."
    ;; Add to object-graph
    (setf (plan-context-object-graph context)
          (draw-geometry (plan-context-object-graph context)
  