diff --git a/lisp/amino-rx.asd b/lisp/amino-rx.asd
index d181eb90..56b64e61 100644
--- a/lisp/amino-rx.asd
+++ b/lisp/amino-rx.asd
@@ -78,7 +78,7 @@
                (:file "rx/lexer" :depends-on ("rx/util"))
                (:file "rx/inex" :depends-on ("rx/util"))
                (:file "rx/scenefile/curly" :depends-on ("rx/scenegraph" "rx/mesh" "rx/lexer" "rx/inex"))
-               ;(:file "rx/scenefile/moveit" :depends-on ("rx/scenegraph" "rx/mesh"))
+               (:file "rx/scenefile/moveit" :depends-on ("rx/scenegraph" "rx/mesh"))
                (:file "rx/scenefile/scenefile"
                       :depends-on ("rx/scenefile/urdf" "rx/scenefile/curly"))
                (:file "rx/animate" :depends-on ("rx/scenegraph" "rx/povray"))
diff --git a/lisp/moveit-to-tmkit/moveit-to-tmkit.lisp b/lisp/moveit-to-tmkit/moveit-to-tmkit.lisp
new file mode 100644
index 00000000..b5e38021
--- /dev/null
+++ b/lisp/moveit-to-tmkit/moveit-to-tmkit.lisp
@@ -0,0 +1,23 @@
+(load "~/tmkit/load.lisp")
+
+(in-package robray)
+
+(require :amino-rx)
+
+(defparameter *robray-tmp-directory* "/tmp/amino")
+
+(defun reparent (parent-frame frame scene-graph)
+  (setf scene-graph (robray::scene-graph-reparent scene-graph parent-frame frame)))
+
+;; Loading Moveit scene into robray, with reparenting, etc.
+(defun moveit-to-tmkit (moveit-file &optional (out-file "~/out.robray")) 
+  (let* ((moveit-graph (robray::load-moveit-scene moveit-file)))
+    (progn 
+      (robray::scene-graph-f moveit-graph (scene-frame-fixed nil "null-frame"))
+      (robray::map-scene-graph-frames nil #'(lambda (frame) (setf moveit-graph (robray::reparent "null-frame" (robray::scene-frame-name frame) moveit-graph))) moveit-graph) 
+      ;; Annotate frame box1 with type moveable
+      (with-open-file (stream out-file
+                           :direction :output
+                           :if-exists :supersede
+                           :if-does-not-exist :create)
+        (format stream (sycamore:rope-string (sycamore:rope moveit-graph)))))))
diff --git a/lisp/rx/robray-package.lisp b/lisp/rx/robray-package.lisp
index fec6cff3..91bd6465 100644
--- a/lisp/rx/robray-package.lisp
+++ b/lisp/rx/robray-package.lisp
@@ -102,4 +102,7 @@
    :motion-plan-endpoint-map
    :motion-plan-endpoint-array
 
+   ;; scenegraph parsing
+   :load-moveit-scene
+
    ))
diff --git a/lisp/rx/scenefile/moveit.lisp b/lisp/rx/scenefile/moveit.lisp
index 6279c6be..28819913 100644
--- a/lisp/rx/scenefile/moveit.lisp
+++ b/lisp/rx/scenefile/moveit.lisp
@@ -140,7 +140,7 @@
                                                   (vec3 translation))
                                          :geometry (scene-geometry-box (draw-options-default :color (subseq rgba 0 3)
                                                                                              :alpha (elt rgba 3))
-                                                                       (scene-box size))))))
+                                                                        size)))))
                  (parse-mesh (name)
                    (destructuring-bind (vertex-count face-count)
                        (int-line)