anchor.diff:  
   ### 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)
  -----
  +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` in the example.
   
   The `kit` variable needs to match your system. Currently the following kits are supported:
   
  
positive.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.
  
  ### Set Gains
  
  Pre-assembled kits should already come with good gains. However, depending on the example you may want to change the control strategy or simply test different gains.  You can do this via the Scope GUI or programmatically using the following code. More information on gain tuning can be found on the online link:http://docs.hebi.us/core_concepts.html#motor_control[motion control documentation].
  
  [source,matlab]
  ----
  % Change the control strategy of all modules in a group
  desiredStrategy = 4; % change as needed
  gains = GainStruct();
  gains.controlStrategy = ones(1,group.getNumModules) * desiredStrategy;
  group.send('gains', gains)
  ----
  
  ## Examples
  
  
negative.code: 
  |====================
  
  
  
  