SoRayPickAction in Open Inventor?

Sorry if this is a repeat, but I'm trying to figure out the implementation of SoRayPickAction in Open Inventor. I'm trying to implement it so that when I click on the mouse, select a specific node, after which I can translate, rotate, etc. I have three nodes: a table, a lamp and a frame (frame with pictures). However, I do not think my code is ok. I also have various methods such as MouseButtonCallback (which will check if the mouse is clicked and then use the navigator) and MouseMoveCallback (the same idea). So here is the code that I have, but do you have any suggestions? Right now, well, he's not doing anything.

SbViewportRegion viewport(400,300); 
    SoRayPickAction m(viewport); 
    m.setRay(SbVec3f(0.0,0.0,0.0), SbVec3f(0.0,0.0,-1.0));
    m.apply(callback_node);
    const SoPickedPoint *mpp = m.getPickedPoint(); 
    if(mpp != NULL) {
        std::cout << "test" << std::endl;
    }

Can you also learn about an action in OpenInventor that can "put" a node in a scene, i.e. place the lamp on top of the table, frame on the wall, etc. Is it with the ways? Unfortunately, I don’t even know what I’m looking for. Many thanks for your help!

Edit: what does it look like? SoSeparator * desk2; SoSeparator * lamp2; SoSeparator * pic_frame2; SoSeparator * selected;

void MouseButtonCallback(void* data, SoEventCallback* node)
{
   SoHandleEventAction* action = node->getAction();
   const SoMouseButtonEvent* event = static_cast<const SoMouseButtonEvent*>(action-          >getEvent());
   Navigator* nav = static_cast<Navigator*>(data);

   if (SoMouseButtonEvent::isButtonPressEvent(event, event->getButton())) 
       nav->OnMouseDown(event, action);
   else
         nav->OnMouseUp(event, action);

   const SbViewportRegion & viewportRegion = action->getViewportRegion();
   SoRayPickAction pickAction(viewportRegion); 

   SbVec2s mousePos = event->getPosition(viewportRegion); 
   pickAction.setPoint(mousePos); 
   pickAction.setPickAll(TRUE); 
   pickAction.setRadius(2.0F); 
   pickAction.setRay(SbVec3f(0.0,0.0,0.0), SbVec3f(0.0,0.0,-1.0));
   pickAction.apply(node);
   const SoPickedPoint *mpp = pickAction.getPickedPoint(); 
   if(mpp != NULL) {
  SoPath *path = mpp->getPath(); 

 if(desk2 != NULL && path->containsNode(desk2))
  {             //but this doesn't respond with cout when I try to test it :(
      if (SoMouseButtonEvent::isButtonPressEvent(event, event->getButton()))
      *picked = *desk2; 
  }
  else if(lamp2 != NULL && path->containsNode(lamp2))
  {
      if (SoMouseButtonEvent::isButtonPressEvent(event, event->getButton()))
      *picked = *lamp2;
  }
  else if(pic_frame2 != NULL && path->containsNode(pic_frame2))
  {
      if (SoMouseButtonEvent::isButtonPressEvent(event, event->getButton())) 
      *picked = *pic_frame2;
  }

           action->setHandled();
   }
 void MouseMoveCallback(void* data, SoEventCallback* node)
{
    SoHandleEventAction* action = node->getAction();
    const SoLocation2Event* event = static_cast<const SoLocation2Event*>(action->getEvent());
    Navigator* nav = static_cast<Navigator*>(data);

    nav->OnMouseMove(event, action);

     const SbViewportRegion & viewportRegion = action->getViewportRegion();
    SoRayPickAction pickAction(viewportRegion); 

    SbVec2s mousePos = event->getPosition(viewportRegion); 
    pickAction.setPoint(mousePos); 
    pickAction.setPickAll(TRUE); 
    pickAction.setRadius(2.0F); 
    pickAction.setRay(SbVec3f(0.0,0.0,0.0), SbVec3f(0.0,0.0,-1.0));
    pickAction.apply(node);
    const SoPickedPoint *mpp = pickAction.getPickedPoint(); 
    if(mpp != NULL) {
  SoPath *path = mpp->getPath(); 
  if(desk2 != NULL && path->containsNode(desk2))
  {
      *picked = *desk2; //can't remember how to set pointers, will figure that out
  }
  else if(lamp2 != NULL && path->containsNode(lamp2))
  {
      *picked = *lamp2;
  }
  else if(pic_frame2 != NULL && path->containsNode(pic_frame2))
  {
       *picked = *pic_frame2;
  }
   }  
        action->setHandled();
    }

  (part of main method) 

 //desk 
SoTransform *desk_transform = new SoTransform; 
desk_transform->translation.setValue(SbVec3f(380,340,330)); 
SoSeparator* desk2 = new SoSeparator(); 
desk2->addChild(desk_transform);
desk2->addChild(desk); 
root->addChild(desk2);

  SoTransformerManip* picked_transform = new SoTransformerManip(); 
   picked_transform->translation.setValue(SbVec3f(200,340,330));
  SoSeparator* pick2 = new SoSeparator(); 
  pick2->addChild(picked_transform); 
  pick2->addChild(picked); 
  root->addChild(pick2); 

 std::auto_ptr<btCollisionShape> picked_shape(new btBoxShape(btVector3(10.0f, 10.0f,  10.0f)));
  CollisionEngine* picked_collision = new CollisionEngine(collision_world.get(),      picked_shape.get());
  picked_collision->translation_in.connectFrom(&picked_transform->translation);
  picked_collision->rotation_in.connectFrom(&picked_transform->rotation);
  picked_transform->translation.connectFrom(&picked_collision->translation_out);