anchor.diff:  
   === 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 details of the implementation will be covered in a separate blog post.
  -
  +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]
  
positive.code: :published_at: 2017-01-15
  :hp-tags: MATLAB, Java
  :imagesdir: ../images
  :source-highlighter: none
  
  ++++
  
negative.code: ----
  
   TODO: Add MSI picture or video? Alternatively, switch to a sine wave and add video of sidewinding? 
   
  ////
  
  == Other Hardware Interfaces
  
  