Halle Berry and Gabriel Aubry -- Counseling for Everyone

Halle Berry and Gabriel Aubry have been urged to get some serious counseling for the benefit of Nahla, but their marathon court hearing today was contentious and largely unproductive ... law enforcement sources connected with the case tell TMZ.

We've learned the L.A. County Department of Children and Family Services submitted more than a dozen recommendations to the judge, including mediation ... in which a 3rd party would sit with Halle and Gabriel and try to figure out how they can peacefully raise their child. We're told Halle was receptive but Gabriel wasn't.

And our sources say ... Halle agreed to continue her individual counseling, which will help her deal with what has become an impossible situation.

As for Gabriel, he's agreed to counseling for his anger issues.

And, as we first reported, both parties agreed today to send 3-year-old Nahla to counseling.

We're told the judge did not make any decision on the fate of the nanny, whom Gabriel wants fired.

And the judge hasn't ruled on Halle's request to keep Gabriel from Nahla until the child endangerment investigation runs its course.

Sources say Gabriel has objected to most of the recommendations and the judge is on the verge of holding a full hearing -- similar to a trial -- so he can firmly call the shots.