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Thank you AHornung,

but I created my own message file and my own code to move the arms. I put both of these in the nao package and they are working pretty good. I am able to publish data to control each arms separately. I will be converting this into a small package. But I am having trouble with gendep tools. I am unable to find this tool to autogenerate msg files in lisp/cpp/python/header and create md5 file. I created md5 file and rest of them manually.

But overall my script is running good.