anchor.diff:  
   |====================
   
  -## Experimenting with Gains
   
  -We recommend that you try running the samples with various gains and control strategies so that you can get a feel for the differences. The easiest way for editing gains is to save the current gains to disk, edit the file, and then load it. This also lets you use diff-tools for comparison.
   
  -[source,matlab]
  -----
  -fileName = './current-gains.xml';
  -
  -% Save current gains
  -gains = group.getGains();
  -HebiUtils.saveGains(gains, fileName);
  -
  -% Load gains from file
  -gains = HebiUtils.loadGains(fileName);
  -group.send('gains', gains);
  -----
  
positive.code: 
  ### Setup Robot
  
  In order to work with a robot arm, you need to establish communications, and create a matching kinematic model. If you are using a pre-configured link:http://docs.hebi.us/hardware.html#Kits[kit] with the default actuator types as well as default naming conventions, you can simply call `setupArm.m` as shown below.
  
  [source,matlab]
  ----
  % Load arm kit w/ default configuration
  kit = '6dof';
  [ group, kin, effortOffset, gravityVec ] = setupArm(kit)
  ----
  
  The `kit` variable needs to match your system. Currently the following kits are supported:
  
  
negative.code: 
  If you are using different actuator types or non-default configurations, you will need to modify the model to match your system. You can find tutorials on defining custom kinematic structures on the online link:http://docs.hebi.us/tools.html#kinematics[kinematics documentation]. The `setupArm.m` function should provide a good starting point.
  
  
  ## Examples
  
  