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The reply from francoisferland is really instructive. Now the thing remains unclear to me is, for an actual non-pr2 robot arm, how to "create the actuators ......and add them to the hardware interface"; wondering whether there is an existing implementation for reference? Those ros implementations for existing arms, such as the katana, smart_arm, and gambit arm, all define their own controller manager rather than directly using the pr2 mechanism; the interactive arm with three actuators mentioned by francoisferland, its source is unfortunately not available either.