anchor.diff:                              :headers '("pir-param.h")
                               :relative-function "pir_tf_rel"
                               :absolute-function "pir_tf_abs"
  +                            :normalize t
                               :parents-array "pir_tf_parents"
                               :dot-file "pir-frame.dot"
                               :headers '("pir-frame.h")))
  
positive.code:               :offset "M_PI"
                :axis (1 0 0)
                :translation (0 "SDH_B/2" "-SDH_FC"))
        ,@(sdh-finger "CENTER" "T_" "SDH_TC")
        ,@(sdh-finger "L_AXIAL" "L_" 0)
        ,@(sdh-finger "R_AXIAL" "R_" 0))))
  
  (defparameter *pir-arm*
  
negative.code: (defun sdh (parent prefix)
    (reflex:prefix-frames
     parent prefix
     `(,(reflex:make-fixed-frame "BASE" nil (aa:x-angle (* -60 (/ pi 180))) :x "LWA4_L_e + LWA4_FT_L")
        ,(reflex:make-fixed-frame "CENTER" "BASE" (aa:x-angle 0) :x "SDH_LB")
        ,(reflex:make-fixed-frame "FINGERTIP" "BASE" (aa:x-angle 0))
        (:frame :name "L_AXIAL"
                :parent "CENTER"
                :type :revolute
                :configuration "Q_AXIAL"
                :offset "-M_PI"
                :axis (-1 0 0)
                :translation (0 "-SDH_B/2" "-SDH_FC"))
        (:frame :name "R_AXIAL"
  