anchor.diff:                                     )
                keyword-arguments
              (declare (ignore class affords grasps))
  -           (let ((tf (tf* rotation translation))
  -                 (alpha (coerce alpha 'double-float)))
  -             (ecase shape
  -               (:box
  -                (context-add-box context parent name tf (vec3 dimension)
  -                                 :color color :alpha alpha))
  -               ;(:cylinder
  -                ;(container-scene-add-cylinder container name height radius absolute-tf))
  -               ;(:sphere
  -                ;(container-scene-add-sphere container name radius (amino:translation absolute-tf)))
  -               )))
  -         (tree-map-insertf (plan-context-object-init-map context)
  -                           name keyword-arguments-map)))
  +           (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)
          (container-scene-rm container name))
  
positive.code:   (robray::scene-graph-tf-absolute (plan-context-object-graph context)
                                     name))
  
  (defun context-add-geometry (context parent name tf geometry &key
                                                                 no-shadow
                                                                 (color '(0 0 0))
                                                                 (alpha 1d0)
                                                                 (collision t)
                                                                 (visual t))
  
    (setf (plan-context-object-graph context)
          (draw-geometry (plan-context-object-graph context)
                         parent name
                         :geometry geometry
                         :tf tf
                         :options (robray::draw-options-default :no-shadow no-shadow
                                                                :color color
                                                                :alpha alpha
                                                                :visual visual
                                                                :collision collision))))
  
  (defun context-add-sphere (context parent name tf radius &key
                                                             no-shadow
                                                             (color '(0 0 0))
                                                             (alpha 1d0)
                                                             (collision t)
                                                             (visual t))
    ;; Scene Graph
    (context-add-geometry context parent name tf (scene-sphere radius)
                          :no-shadow no-shadow
                          :color color :alpha alpha
                          :collision collision :visual visual)
    ;; Move It Scene
    (when collision
      (container-scene-add-sphere (plan-context-moveit-container context)
                                  name radius
                                  (translation (robray::scene-graph-tf-absolute (plan-context-object-graph context)
                                                                                name)))
      (container-scene-set-color (plan-context-moveit-container context)
                                 name color alpha)))
  
  (defun context-add-box (context parent name tf dimensions &key
                                                             no-shadow
                                                              (color '(0 0 0))
                                                              (alpha 1d0)
                                                              (collision t)
                                                              (visual t))
    ;; Scene Graph
    (context-add-geometry context parent name tf (scene-box dimensions)
                          :no-shadow no-shadow
                          :color color :alpha alpha
                          :collision collision :visual visual)
    ;; Move It Scene
    (when collision
      (container-scene-add-box (plan-context-moveit-container context)
                               name dimensions
                               (robray::scene-graph-tf-absolute (plan-context-object-graph context)
                                                                name))
      (container-scene-set-color (plan-context-moveit-container context)
                                 name color alpha)))
  
  
  (defun context-add-cylinder (context parent name tf length radius
                               &key
                                 no-shadow
                                 (color '(0 0 0))
                                 (alpha 1d0)
                                 (collision t)
                                 (visual t))
    ;; Scene Graph
    (context-add-geometry context parent name tf (scene-cylinder :height length :radius radius)
                          :no-shadow no-shadow
                          :color color :alpha alpha
                          :collision collision :visual visual)
    (when collision
      (error "Unimplimented")))
  
  
  (defun context-add-cone (context parent name tf length start-radius end-radius
                           &key
                             no-shadow
                             (color '(0 0 0))
                             (alpha 1d0)
                             (collision t)
                             (visual t))
    ;; Scene Graph
    (context-add-geometry context parent name tf (scene-cone :height length
                                                                     :start-radius start-radius
                                                                     :end-radius end-radius)
                          :no-shadow no-shadow
                          :color color :alpha alpha
                          :collision collision :visual visual)
    (when collision
      (error "Unimplimented")))
  
  
  (defun context-draw (context parent name
                        &key
                          geometry
                          tf
                          (options nil))
  
    (setf (plan-context-object-graph context)
          (draw-geometry (plan-context-object-graph context)
                         parent name
                         :geometry geometry
                         :tf tf
                         :options options)))
  
  
  (defun context-add-frame-marker (context frame-name &key
                                                        (alpha 0.5d0)
  
negative.code:     (setf (plan-context-object-graph context)
            (scene-graph-reparent (plan-context-object-graph context) frame object
                                  :tf tf))))
  
  ;; (defun context-dettach-object (context group q-group object)
  ;;   (let* ((container (plan-context-moveit-container context))
  ;;          (configuration-map (container-group-configuration-map container group q-group))
  ;;          (scene-graph (robray::scene-graph-merge  (plan-context-robot-graph context)
  ;;                                                   (plan-context-object-graph context)))
  ;;          (object-frame (robray::scene-graph-lookup scene-graph object))
  ;;          (collision (robray::scene-frame-collision object-frame))
  ;;          (tf (robray::scene-graph-tf-absolute scene-graph object
  ;;                                               :configuration-map configuration-map)))
  ;;     (container-scene-rm container object)
  ;;     (setf (plan-context-object-graph context)
  ;;           (scene-graph-reparent (plan-context-object-graph context) frame object
  ;;                                 :tf tf))))
  
  
  
  