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groupadd command

I like the way Ubuntu Linux works - all people in admin groups should able to run all commands after running it via sudo "command-name". How do I setup sudo under CentOS or Red Hat Enterprise Linux to allow all members of the 'admin' group to run all commands?
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I'm CentOS Linux version 5.x user and I'd like to restrict execution of /usr/sbin/userhelper to console users only in xusers group?
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