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Hi, if you want to add a new outlet template, you might want to look at pr2_plugs_actions/outlet_templates/configs for examples of existing templates and generate a new one. I am not sure I understand the PCA-SIFT part of the question. The last time I saw outlet detection, it was using one way descriptors. If you want to replace that with PCA-SIFT, take a look at outlet_template_t class from outlet_pose_estimation package.