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                                  <joint name="herb/wam_1/bhand/j22" class="herb/wam_1/bhand/" range="0 2.44346" damping="0.11"/>
                                  <geom name="herb/wam_1/bhand//unnamed_geom_17" class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
                                  <geom name="herb/wam_1/bhand//unnamed_geom_18" class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
                                  <body name="herb/wam_1/bhand/finger23" pos="0.069940000000000002 0.0030000000000000001 0" quat="0.92388000000000003 0 0 0.382683">
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                                    <joint name="herb/wam_1/bhand/j23" class="herb/wam_1/bhand/" range="0 0.837758" damping="0.11"/>
                                    <geom name="herb/wam_1/bhand//unnamed_geom_19" class="herb/wam_1/bhand/viz" euler="0 0 -0.83999999999999997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
                                    <geom name="herb/wam_1/bhand//unnamed_geom_20" class="herb/wam_1/bhand/col" euler="0 0 -0.83999999999999997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
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                              <body name="herb/wam_1/bhand/finger32" pos="0 0.050000000000000003 0.075399999999999995" quat="0.5 0.5 0.5 0.5">
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                                <joint name="herb/wam_1/bhand/j32" class="herb/wam_1/bhand/" range="0 2.44346" damping="0.11"/>
                                <geom name="herb/wam_1/bhand//unnamed_geom_21" class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
                                <geom name="herb/wam_1/bhand//unnamed_geom_22" class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
                                <body name="herb/wam_1/bhand/finger33" pos="0.069940000000000002 0.0030000000000000001 0" quat="0.92388000000000003 0 0 0.382683">
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                                  <joint name="herb/wam_1/bhand/j33" class="herb/wam_1/bhand/" range="0 0.837758" damping="0.11"/>
                                  <geom name="herb/wam_1/bhand//unnamed_geom_23" class="herb/wam_1/bhand/viz" euler="0 0 -0.83999999999999997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
                                  <geom name="herb/wam_1/bhand//unnamed_geom_24" class="herb/wam_1/bhand/col" euler="0 0 -0.83999999999999997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
                                </body>
                              </body>
                            </body>
                          </body> -->
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        <site name="herb/left_arm" class="herb/" pos="0.012500000000000001 0.22 0.92000000000000004" quat="0 -0.70709999999999995 0 -0.70709999999999995"/>
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                          <joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11"/>
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                          <site name="herb/wam/hand_attachment" class="herb/wam/"/>
                          <body name="herb/wam/bhand/">
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                              <geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
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                                <joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.1415899999999999" damping="0.11"/>
                                <geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
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                                <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"/>
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                                  <joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11"/>
                                  <geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
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                                  <body name="herb/wam/bhand/finger13" pos="0.069940000000000002 0.0030000000000000001 0" quat="0.92388000000000003 0 0 0.382683">
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                                  <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11"/>
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        </body>
      </body>
      <light name="herb//unnamed_light_0" class="herb/" mode="targetbodycom" target="herb/herb" castshadow="true" pos="1 1 4.5" diffuse="0.80000000000000004 0.80000000000000004 0.80000000000000004" specular="0.40000000000000002 0.40000000000000002 0.40000000000000002"/>
    </body>
    <body name="box_1" pos="-0.053464621446560029 0.54183395581142424 0.35499999999999998">
      <geom name="//unnamed_geom_8" class="/" type="box" group="1" size="0.060657792055860901 0.055 0.055" rgba="0 0 0 1"/>
      <joint name="//unnamed_joint_0" class="/" type="free"/>
    </body>
    <!-- <body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.35499999999999998">
      <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 1"/>
      <joint name="//unnamed_joint_1" class="/" type="free"/>
    </body> -->
    <!-- <body name="box_3" pos="-0.28870895581142419 -0.54183395581142413 0.35499999999999998">
      <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="0.18177971291830414 0.38129056149692808 0.35499999999999998">
      <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="0.1176221671824321 0.62210565296867215 0.35499999999999998">
      <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 0.35499999999999998">
      <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="-0.16039386433968011 0.34115471291830413 0.35499999999999998">
      <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="virt_box_1" pos="0 -0.12243499223068688 0.35499999999999998">
      <geom name="//unnamed_geom_15" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060657792055860901 0.055 0.055" rgba="0 0 0 0.29999999999999999"/>
    </body>
    <!-- <body name="virt_box_2" pos="0 1.3877787807814457e-17 0.35499999999999998">
      <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 0.29999999999999999"/>
    </body> -->
    <!-- <body name="virt_box_3" pos="0 0.12243499223068691 0.35499999999999998">
      <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 0.29999999999999999"/>
    </body> -->
  </worldbody>

  <actuator>
    <motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="100" ctrlrange="-1 1" ctrllimited="true"/>
    <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="100" ctrlrange="-1 1" ctrllimited="true"/>
    <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="100" ctrlrange="-1 1" ctrllimited="true"/>
    <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="100" ctrlrange="-1 1" ctrllimited="true"/>
    <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="100" ctrlrange="-1 1" ctrllimited="true"/>
    <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="100" ctrlrange="-1 1" ctrllimited="true"/>
  </actuator>

</mujoco>
