ublic <cite>_joint</cite> class.</p>
<ul class="simple">
<li><p>Include a joint-specific constructor, destructor, and the two essential functions: <cite>run_joint</cite> and <cite>set_controller</cite> in the public section.</p></li>
<li><p>In the private section, declare instances of the controller class specific to this joint and create new objects as needed.</p></li>
<li><p>Essentially, copy the structure used for the other joints and change the names and controllers accordingly.</p></li>
</ul>
</li>
</o