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                                <geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
                                <geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
                                <body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
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                                  <joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
                                  <geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
                                  <geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
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                                    <inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
                                    <joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
                                    <geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
                                    <geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
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                                </body>
                              </body>
                              <body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
                                <inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
                                <joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
                                <geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
                                <geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
                                <body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
                                  <inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
                                  <joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
                                  <geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
                                  <geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
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        <body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
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              <geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
              <geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
              <geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
              <body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
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                  <geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
                  <geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
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                    <joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
                    <geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
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                    <geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
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                    <body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
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                      <joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
                      <geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
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                        <joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
                        <geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
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                        <geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
                        <geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
                        <body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
                          <inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
                          <joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
                          <geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
                          <geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
                          <site name="herb/wam/hand_attachment" class="herb/wam/"/>
                          <body name="herb/wam/bhand/">
                            <body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
                              <inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
                              <geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
                              <geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
                              <geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
                              <geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
                              <geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
                              <body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
                                <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
                                <joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
                                <geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
                                <geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
                                <geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
                                <geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
                                <body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
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                                  <joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
                                  <geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
                                  <geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
                                  <body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
                                    <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
                                    <joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
                                    <geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
                                    <geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
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                              <body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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                                <joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
                                <geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
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                                  <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
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                                    <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
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                              <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
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                                <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
                                <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
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                                  <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
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    </body>

    <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
      <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
      <joint name="//unnamed_joint_2" class="/" type="free"/>
    </body>
    <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
      <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
      <joint name="//unnamed_joint_3" class="/" type="free"/>
    </body>
    <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
      <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
      <joint name="//unnamed_joint_4" class="/" type="free"/>
    </body> -->
    <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
      <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
      <joint name="//unnamed_joint_5" class="/" type="free"/>
    </body>-->
    <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
      <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
      <joint name="//unnamed_joint_6" class="/" type="free"/>
    </body>-->
   <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
      <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
      <joint name="//unnamed_joint_1" class="/" type="free"/>
    </body>-->

    <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
      <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
      <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
    </body>

    <body name="target_obj" pos="0 0.0 0.325">
      <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
    </body>-->

    <!--<body name="gen_body_0" pos="0 0.0 0.3549998">
      <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
      <joint name="//unnamed_joint_0" class="/" type="free"/>
    </body>-->

    <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
      <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
    </body>-->

    <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
      <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
      <joint name="//unnamed_joint_1" class="/" type="free"/>
    </body>-->
    <!-- <body name="virt_box_2" pos="0 .45 0.3549998">
      <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
    </body>
    <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
      <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
    </body> -->

    
  <body euler="0 0 4.529935910834102" name="gen_body_0" pos="-0.05 -0.35 0.5187523543834687"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6771332939458752 0.050825251278274086 0.7653013229525448 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body></worldbody>

  <contact>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
    <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>



    <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
    <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
    <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
    <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->

    <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
    <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
    <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>

    <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
    <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
    <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>

    <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>

    <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
    <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
    <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
    <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
    <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
    <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
    <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
    <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
    <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>

    <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
    <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
    <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
    <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
    <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
    <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
    <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
    <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
    <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
    <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
    <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
    <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>

    <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
    <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
    <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>

    <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
    <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
    <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
    <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
    <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
    <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
    <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
    <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->


  </contact>

  <actuator>

	<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
	<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
	<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
	<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
	<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
	<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
	<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />

        <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
        <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
        <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
        <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
        <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
        <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
        <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
        <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->

        <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
	<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
	<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
	<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
	<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
	<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
	<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>

	<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
	<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
	<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
	<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
	<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
	<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
	<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>

        <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
        <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
        <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
        <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
        <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
        <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
        <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
        <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>

        <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
	<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
	<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
	<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
	<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
	<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
	<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />

        <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
        <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
        <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
        <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
        <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
        <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
        <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
        <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->

        <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
        <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
        <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
        <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
        <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
        <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
        <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
        <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>


        <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
	<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
	<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
	<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
	<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
	<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
	<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>

        <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
        <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
        <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
        <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
        <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
        <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
        <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
        <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
  </actuator>

</mujoco>