anchor.diff:  
   hx_close();
   ----
  -
  -
   At the top level, the API consisted of https://bitbucket.org/osrf/haptix-comm/src/a961986b0254a3dbcabcc89ba14f78915d5d968a/matlab/[several MATLAB functions] that provided help text and forwarded calls to an underlying MEX function.
   
   [source,matlab]
  
positive.code: ----
  
   TODO: Add MSI picture or video? Alternatively, switch to a sine wave and add video of sidewinding? 
  
  
  
  == Other Hardware Interfaces
  
  
negative.code: 
  === HEBI Robotics' Modular Actuators
  
  Lastly, we developed our own http://hebirobotics.com/matlab[MATLAB API] for controlling modular actuators. We decided to implement it as a standalone library in order reduce the number of setup steps and to provide an overall better user experience. The below example shows a closed-loop controller implementing a virtual spring that uses torque control to drive the output towards the origin.
  
  [source,matlab]
  ----
  % Find actuator by human readable ID
  actuator = HebiLookup.newGroupFromNames('Family', 'Name');
  stiffness = 1; % [Nm/rad]
  
  % Virtual spring using torque control
  cmd = CommandStruct();
  while true
      fbk = actuator.getNextFeedback();
      cmd.torque = -stiffness * fbk.position;
      actuator.set(cmd);
  end
  ----
  
  // TODO: expand?
  
  The details of the implementation will be covered in a separate blog post.
  
  ////
  The code below shows a full example of kinesthetic control of two 16-DoF snake robots where one acts as a master, and the other one as a slave that copies its motion. A single run lasts 60 seconds. The slave robot's data is automatically logged to disk and the position tracking error is plotted after each trial.
  
  [source,matlab]
  