public void beBabbleGrabbed()
{ 

  double prec=5*Math.PI/180;
  int max=(int)(0.5+Math.PI/2.2/prec);


  for (int j=0;j<=3;j++)
  {
      //for (int i=0;i<=4;i++) //run the fingers
      for (int i=0;i<=1;i++) //run the fingers
   {
    if (j<2 && i!=0) continue;
    if (i==0 && j==3) continue; //block thumb last joints move
    int c=0;
    Segment pick=hand.seg[fingers[i][j]];
    pick.resetJoints();
    System.out.println("Picked:"+pick.label);
    do {
        hand.constrainedRotate(pick,prec);
        HV.cv.refreshDisplay();
       } while (hand.segmentCollision(this)<=0.0001 && c++<max);
    hand.constrainedRotate(pick,-2*prec);
   }
  }
}