> The main problems I am having are:
> 
>   I can't nest a StaffGroup inside a GrandStaff. According to
>   documentation, this shouldn't work anyway; I was just hoping someone
>   might have a better suggestion, before I start to teach myself lilypond
>   internals...
> 

At the moment it's not possible to have several staff groups within 
a single grand staff (well, maybe it is, try to add the following
in the \paper section: 
   \translator{\GrandStaffContext \accepts "StaffGroup";}
it might even work). However, I cannot recall even having seen
that kind of construct used. On the other hand, you could have
several grand staffs within the same staff group, which sometimes
is used in orchestral scores. 

>   I can't make a new staff appear where I want. In the picture above, I
>   CAN make the trio appear below the bass line, but there are times when
>   that's not appropriate (imagine the need to split an alto line into two
>   separate lines, for example).
> 

To avoid blank staffs, you could try to use the HaraKiriStaffContext
instead of the ordinary StaffContext, by inserting 
\translator{\HaraKiriStaffContext} in the \paper section of
your score. Then staffs that only contain \skip or multi-measure
rests (R) for a whole line are not included in the output.
I'm not sure that it works correctly at the moment, though. 
Last time I tried it, I had the problem that not all bar lines
were printed correctly.

    /Mats

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