AnyFolder Push ={

  AnyKinLinear LinS={

    Ref=0;

    AnyRefFrame &BaseObject=..BaseObject;

    AnyRefFrame &StrengthObject=..StrengthObject;

  };

  LinS.StrengthObject ={

    AnyDrawSphere DrwSphere ={

      ScaleXYZ =0.01*{1,1,1};

      Opacity =...ContactStrengthSmoothed/....Strength;

    };

  };

  AnyKinMeasureOrg LinMeasureOrg0 ={

    AnyKinLinear &ref=.LinS;

    MeasureOrganizer={..Direction[0]};

  };

  AnyKinMeasureOrg LinMeasureOrg1 ={

    AnyKinLinear &ref=.LinS;

    MeasureOrganizer={..Direction[1]};

  };

  AnyKinMeasureOrg LinMeasureOrg2 ={

    AnyKinLinear &ref=.LinS;

    MeasureOrganizer={..Direction[2]};

  };

  AnyVar UserDefinedDistMeasure=LinMeasureOrg0.Pos[0];

  AnyVar RadiusMeasure=sqrt(LinMeasureOrg1.Pos[0]^2+LinMeasureOrg2.Pos[0]^2);

  AnyVar UserDefinedVelMeasure = vnorm(LinS.Vel-.UserDefinedGroundVel,2);

  AnyFloatVar LowerThanHighDistLimit = ltfun(UserDefinedDistMeasure,.UserDefinedDistLimitHigh);

  AnyFloatVar GreaterThanLowDistLimit = gtfun(UserDefinedDistMeasure,.UserDefinedDistLimitLow);

  AnyFloatVar LowerThanRadiusLimit = ltfun(RadiusMeasure,.UserDefinedRadiusLimit);

  AnyFloatVar LowerThanHighVelLimit = ltfun(UserDefinedVelMeasure,.UserDefinedVelLimitHigh);

  AnyVar UserDefinedStrengthFunction= .Strength;

  AnyVar VelSize = UserDefinedVelMeasure;//vnorm(LinS.Vel, 2);

  AnyVar VelRatio = VelSize /.UserDefinedVelLimitHigh ;  

  AnyFloatVar ContactDisCheck = andfun(andfun(LowerThanHighDistLimit,GreaterThanLowDistLimit),LowerThanRadiusLimit);

  AnyFloatVar HeightRatio = iffun(gteqfun(UserDefinedDistMeasure, 0.0), 

                                  UserDefinedDistMeasure/.UserDefinedDistLimitHigh,

                                  iffun(lteqfun(abs(UserDefinedDistMeasure/.UserDefinedDistLimitLow), 1.0), 0.0, 1.0));

  AnyFloatVar RadiusRatio = RadiusMeasure/.UserDefinedRadiusLimit;

  AnyFloatVar FirstControlVel = .UserDefinedVelLimitHigh * FirstControlVelRatio ;

  AnyFloatVar SecondControlVel = .UserDefinedVelLimitHigh * SecondControlVelRatio ;

  AnyIntVar FirstControlVelCheck = lteqfun(VelRatio, FirstControlVelRatio );

  AnyIntVar SecondControlVelCheck = lteqfun(VelRatio, SecondControlVelRatio );  

  AnyIntVar FirstControlHeightCheck = lteqfun(HeightRatio, FirstControlHeightRatio);

  AnyIntVar SecondControlHeightCheck = lteqfun(HeightRatio, SecondControlHeightRatio);

  AnyIntVar FirstControlRadiusCheck = lteqfun(RadiusRatio, FirstControlRadiusRatio);

  AnyIntVar SecondControlRadiusCheck = lteqfun(RadiusRatio, SecondControlRadiusRatio);  

  AnyFunPolynomial VelFactorFun_Lin = 

  {

    AnyVar v1 = .FirstControlVelRatio;

    AnyVar v2 = .SecondControlVelRatio ;

    PolyCoef = (1.0/(v2-v1))*{-v1, 1.0};

  };

  AnyFunPolynomial HeightFactorFun_Lin = 

  {

    AnyVar h1 = .FirstControlHeightRatio;

    AnyVar h2 = .SecondControlHeightRatio ;

    PolyCoef = (1.0/(h2-h1))*{-h1, 1.0};

  };

  AnyFunPolynomial RadiusFactorFun_Lin = 

  {

    AnyVar r1 = .FirstControlRadiusRatio;

    AnyVar r2 = .SecondControlRadiusRatio ;

    PolyCoef = (1.0/(r2-r1))*{-r1, 1.0};

  };  

  AnyFunSquareWave VelFactorFun_SW = 

  {

    AnyVar v1 = .FirstControlVelRatio;

    AnyVar v2 = .SecondControlVelRatio ;

    InitialValues = {1.0};

    Ts = {v1};

    Values = {{0.0}};

    dT = {abs(v1-v2)};    

  };

  AnyFunSquareWave HeightFactorFun_SW = 

  {

    AnyVar h1 = .FirstControlHeightRatio;

    AnyVar h2 = .SecondControlHeightRatio ;

    InitialValues = {1.0};

    Ts = {h1};

    Values = {{0.0}};

    dT = {abs(h1-h2)};        

  };

  AnyFunSquareWave RadiusFactorFun_SW = 

  {

    AnyVar r1 = .FirstControlRadiusRatio;

    AnyVar r2 = .SecondControlRadiusRatio ;

    InitialValues = {1.0};

    Ts = {r1};

    Values = {{0.0}};

    dT = {abs(r1-r2)};        

  };  

  AnyFunInterpol VelFactorFun_BSpline4 = 

  {

    AnyVar v1 = .FirstControlVelRatio;    

    AnyVar v2 = .SecondControlVelRatio;

    AnyVar delta = abs(v1-v2);

    AnyVar SlopeControl = 25/100;

    Type = Bspline;

    BsplineOrder = 4;

    T = { v2-delta*100/100, v2-delta*50/100, v2-delta*SlopeControl, 

      v2,  

      v2+delta*SlopeControl,

      (v2+v1)*50/100, 

      v1-delta*SlopeControl, 

      v1, 

      v1+delta*SlopeControl, v1+delta*50/100, v1+delta*100/100};

    Data = {{1.0, 1.0, 1.0, 

        1.0, //v2

        1.0,

        0.5, // average of v2 and v1

        0.0, 

        0.0, //v1

        0.0, 0.0, 0.0}};

  };

  AnyFunInterpol HeightFactorFun_BSpline4 = 

  {

    AnyVar h1 = .FirstControlHeightRatio;

    AnyVar h2 = .SecondControlHeightRatio ;

    AnyVar delta = abs(h1-h2);

    AnyVar SlopeControl = 25/100;

    Type = Bspline;

    BsplineOrder = 4;

    T = { h2-delta*100/100, h2-delta*50/100, h2-delta*SlopeControl, 

      h2,  

      h2+delta*SlopeControl,

      (h2+h1)*50/100, 

      h1-delta*SlopeControl, 

      h1, 

      h1+delta*SlopeControl, h1+delta*50/100, h1+delta*100/100};

    Data = {{1.0, 1.0, 1.0, 

        1.0, //h2

        1.0,

        0.5, // average of h2 and h1

        0.0, 

        0.0, //h1

        0.0, 0.0, 0.0}};

  };

  AnyFunInterpol RadiusFactorFun_BSpline4 = 

  {

    AnyVar r1 = .FirstControlRadiusRatio;

    AnyVar r2 = .SecondControlRadiusRatio ;

    AnyVar delta = abs(r1-r2);

    AnyVar SlopeControl = 25/100;

    Type = Bspline;

    BsplineOrder = 4;

    T = { r2-delta*100/100*10, r2-delta*50/100, r2-delta*SlopeControl, 

      r2,  

      r2+delta*SlopeControl,

      (r2+r1)*50/100, 

      r1-delta*SlopeControl, 

      r1, 

      r1+delta*SlopeControl, r1+delta*50/100, r1+delta*100/100*10};

    Data = {{1.0, 1.0, 1.0, 

        1.0, //r2

        1.0,

        0.5, // average of r2 and r1

        0.0, 

        0.0, //r1

        0.0, 0.0, 0.0}};

  };     

  #ifdef _SMOOTHING_FUNCTION_PROFILE_

  #undef _SMOOTHING_FUNCTION_PROFILE_

  #endif

  //#define _SMOOTHING_FUNCTION_PROFILE_ "FUNC_PROFILE_SW"

  //#define _SMOOTHING_FUNCTION_PROFILE_ "FUNC_PROFILE_BSPLINE"

  //#define _SMOOTHING_FUNCTION_PROFILE_ "FUNC_PROFILE_COSINE"

  #define _SMOOTHING_FUNCTION_PROFILE_ "FUNC_PROFILE_LINEAR"

  //#define _SMOOTHING_FUNCTION_PROFILE_ "FUNC_PROFILE_TEST"

  #if _SMOOTHING_FUNCTION_PROFILE_ == "FUNC_PROFILE_SW"

  AnyVar FirstControlHeightRatio = 1.0;

  AnyVar SecondControlHeightRatio = 0.1;    

  AnyVar FirstControlRadiusRatio = 1.0;

  AnyVar SecondControlRadiusRatio = 0.9;  

  AnyVar FirstControlVelRatio = 1.0;

  AnyVar SecondControlVelRatio = 0.1;

  AnyVar HeightFactorFun = iffun(FirstControlHeightCheck, HeightFactorFun_SW(HeightRatio)[0], 0.0);

  AnyVar RadiusFactorFun = iffun(FirstControlRadiusCheck, RadiusFactorFun_SW(RadiusRatio)[0], 0.0);

  AnyVar VelFactorFun    = iffun(FirstControlVelCheck, VelFactorFun_SW(VelRatio)[0], 0.0);

  #endif 

  #if _SMOOTHING_FUNCTION_PROFILE_ == "FUNC_PROFILE_BSPLINE"

  AnyVar FirstControlHeightRatio = 1.0;

  AnyVar SecondControlHeightRatio = 0.1;    

  AnyVar FirstControlRadiusRatio = 1.0;

  AnyVar SecondControlRadiusRatio = 0.9;  

  AnyVar FirstControlVelRatio = 1.0;

  AnyVar SecondControlVelRatio = 0.1;

  //Ensure the heightratio is not outside the interpol fun

  AnyVar  HeightRatioMaxInSplineFun =max(HeightFactorFun_BSpline4.T)-0.0001; //find max "T" in spline function subtract tol 

  AnyVar  HeightRatioMinInSplineFun =min(HeightFactorFun_BSpline4.T)+0.0001;//find min "T" in spline function add tol 

  AnyVar  HeightRatioCapped_max = iffun(gtfun(HeightRatio,HeightRatioMaxInSplineFun),HeightRatioMaxInSplineFun,HeightRatio) ;  //cap ratio 

  AnyVar  HeightRatioCapped = iffun(ltfun(HeightRatioCapped_max,HeightRatioMinInSplineFun),HeightRatioMinInSplineFun,HeightRatioCapped_max) ;

  //Ensure the radiusratio is not outside the interpol fun

  AnyVar  RadiusRatioMaxInSplineFun =max(RadiusFactorFun_BSpline4.T)-0.0001; //find max "T" in spline function subtract tol 

  AnyVar  RadiusRatioMinInSplineFun =min(RadiusFactorFun_BSpline4.T)+0.0001;//find min "T" in spline function add tol 

  AnyVar  RadiusRatioCapped_max = iffun(gtfun(RadiusRatio,RadiusRatioMaxInSplineFun),RadiusRatioMaxInSplineFun,RadiusRatio) ;  //cap ratio 

  AnyVar  RadiusRatioCapped = iffun(ltfun(RadiusRatioCapped_max,RadiusRatioMinInSplineFun),RadiusRatioMinInSplineFun,RadiusRatioCapped_max) ;

  //Ensure the Velatio is not outside the interpol fun

  AnyVar  VelRatioMaxInSplineFun =max(VelFactorFun_BSpline4.T)-0.0001; //find max "T" in spline function subtract tol 

  AnyVar  VelRatioMinInSplineFun =min(VelFactorFun_BSpline4.T)+0.0001;//find min "T" in spline function add tol 

  AnyVar  VelRatioCapped_max = iffun(gtfun(VelRatio,VelRatioMaxInSplineFun),VelRatioMaxInSplineFun,VelRatio) ;  //cap ratio 

  AnyVar  VelRatioCapped = iffun(ltfun(VelRatioCapped_max,VelRatioMinInSplineFun),VelRatioMinInSplineFun,VelRatioCapped_max) ;

  AnyVar HeightFactorFun = iffun(lteqfun(HeightRatio, FirstControlHeightRatio),

 // iffun(ltfun(HeightRatio, SecondControlHeightRatio), 1.0, HeightFactorFun_BSpline4(HeightRatio)[0]),

  iffun(ltfun(HeightRatio, SecondControlHeightRatio), 1.0, HeightFactorFun_BSpline4(HeightRatioCapped)[0]),

  0.0);

  AnyVar RadiusFactorFun = iffun(lteqfun(RadiusRatio, FirstControlRadiusRatio),

  //iffun(ltfun(RadiusRatio, SecondControlRadiusRatio), 1.0, RadiusFactorFun_BSpline4(RadiusRatio)[0]),

  iffun(ltfun(RadiusRatio, SecondControlRadiusRatio), 1.0, RadiusFactorFun_BSpline4(RadiusRatioCapped)[0]),

  0.0);

  AnyVar VelFactorFun    = iffun(lteqfun(VelRatio, FirstControlVelRatio),

//  iffun(ltfun(VelRatio, SecondControlVelRatio), 1.0, VelFactorFun_BSpline4(VelRatio)[0]),

  iffun(ltfun(VelRatio, SecondControlVelRatio), 1.0, VelFactorFun_BSpline4(VelRatioCapped)[0]),

  0.0);

  #endif  

  #if _SMOOTHING_FUNCTION_PROFILE_ == "FUNC_PROFILE_COSINE"

  AnyVar FirstControlHeightRatio = 1.0;

  AnyVar SecondControlHeightRatio = 0.8;    

  AnyVar FirstControlRadiusRatio = 1.0;

  AnyVar SecondControlRadiusRatio = 0.9;  

  AnyVar FirstControlVelRatio = 1.0;

  AnyVar SecondControlVelRatio = 0.15;

  AnyVar HeightFactorFun = iffun(lteqfun(HeightRatio, FirstControlHeightRatio),

                                 iffun(ltfun(HeightRatio, SecondControlHeightRatio), 1.0,

                                 (cos((HeightRatio-SecondControlHeightRatio)/(FirstControlHeightRatio-SecondControlHeightRatio)*pi)+1)*0.5),

                                 0.0);  

  AnyVar RadiusFactorFun = iffun(lteqfun(RadiusRatio, FirstControlRadiusRatio),

                                 iffun(ltfun(RadiusRatio, SecondControlRadiusRatio), 1.0,

                                 (cos((RadiusRatio-SecondControlRadiusRatio)/(FirstControlRadiusRatio-SecondControlRadiusRatio)*pi)+1)*0.5),

                                 0.0);

  AnyVar VelFactorFun    = iffun(lteqfun(VelRatio, FirstControlVelRatio),

                                 iffun(ltfun(VelRatio, SecondControlVelRatio), 1.0,

                                 (cos((VelRatio-SecondControlVelRatio)/(FirstControlVelRatio-SecondControlVelRatio)*pi)+1)*0.5),

                                 0.0);

  #endif   

  #if _SMOOTHING_FUNCTION_PROFILE_ == "FUNC_PROFILE_LINEAR"

  AnyVar FirstControlHeightRatio = 1.0;

  AnyVar SecondControlHeightRatio = 0.8;    

  AnyVar FirstControlRadiusRatio = 1.0;

  AnyVar SecondControlRadiusRatio = 0.9;  

  AnyVar FirstControlVelRatio = 1.0;

  AnyVar SecondControlVelRatio = 0.15;

  AnyVar HeightFactorFun = iffun(lteqfun(HeightRatio, FirstControlHeightRatio),

                                 iffun(ltfun(HeightRatio, SecondControlHeightRatio), 1.0, HeightFactorFun_Lin(HeightRatio)),

                                 0.0);

  AnyVar RadiusFactorFun = iffun(lteqfun(RadiusRatio, FirstControlRadiusRatio),

                                 iffun(ltfun(RadiusRatio, SecondControlRadiusRatio), 1.0, RadiusFactorFun_Lin(RadiusRatio)),

                                 0.0);

  AnyVar VelFactorFun    = iffun(lteqfun(VelRatio, FirstControlVelRatio),

                                 iffun(ltfun(VelRatio, SecondControlVelRatio), 1.0, VelFactorFun_Lin(VelRatio)),

                                 0.0);

  #endif     

  #if _SMOOTHING_FUNCTION_PROFILE_ == "FUNC_PROFILE_TEST"

  AnyVar FirstControlHeightRatio = 1.0;

  AnyVar SecondControlHeightRatio = 0.8;    

  AnyVar FirstControlRadiusRatio = 1.0;

  AnyVar SecondControlRadiusRatio = 0.9;  

  AnyVar FirstControlVelRatio = 1.0;

  AnyVar SecondControlVelRatio = 0.15;

  AnyVar HeightFactorFun = iffun(FirstControlHeightCheck,

                                 iffun(SecondControlHeightCheck, 1.0, HeightFactorFun_Lin(HeightRatio)),

                                 0.0);

  AnyVar RadiusFactorFun = iffun(FirstControlRadiusCheck,

                                 iffun(SecondControlRadiusCheck, 1.0, RadiusFactorFun_Lin(RadiusRatio)),

                                 0.0);

//  AnyVar VelFactorFun    = iffun(FirstControlVelCheck,

//                                 iffun(SecondControlVelCheck, 1.0, VelFactorFun_BSpline4(VelRatio)[0]),

//                                 0.0);

//  AnyVar VelFactorFun    = iffun(FirstControlVelCheck, 

//                                 VelFactorFun_SW(VelRatio)[0], 

//                                 0.0);

  AnyVar VelFactorFun    = iffun(FirstControlVelCheck,

                                 iffun(SecondControlVelCheck , 1.0,

                                 (cos((VelRatio-SecondControlVelRatio)/(FirstControlVelRatio-SecondControlVelRatio)*pi)+1)*0.5),

                                 0.0);

  #endif    

  #undef _SMOOTHING_FUNCTION_PROFILE_

  AnyVar DisFactorFun    = HeightFactorFun * RadiusFactorFun;  

  AnyVar SmoothingFunction = DisFactorFun * VelFactorFun;

  AnyVar ContactStrengthSmoothed = SmoothingFunction * .Strength;

  AnyVar ContactStrengthDisAndVel = iffun(andfun(andfun(andfun(LowerThanHighDistLimit,GreaterThanLowDistLimit),LowerThanRadiusLimit),LowerThanHighVelLimit), .Strength, 0.0);

  AnyVar ContactStrengthOriginal = iffun( andfun(andfun(LowerThanHighDistLimit,GreaterThanLowDistLimit),LowerThanRadiusLimit),.Strength,0.0);

  //<--Test

  AnyVec3 NormalVector={ 

    iffun(.Direction[0]-0,0,1),

    iffun(.Direction[0]-1,0,1),

    iffun(.Direction[0]-2,0,1)};

  AnyVec3 FrictionVector1={ 

    iffun(.Direction[1]-0,0,1),

    iffun(.Direction[1]-1,0,1),

    iffun(.Direction[1]-2,0,1)};

  AnyVec3 FrictionVector2={ 

    iffun(.Direction[2]-0,0,1),

    iffun(.Direction[2]-1,0,1),

    iffun(.Direction[2]-2,0,1)};

  AnyKinLinear Lin={

    AnyRefFrame &Box =..BaseObject;

    AnyRefFrame &Hand = ..TargetObject;

    Ref=0;

  };

  AnyFolder Direction0Muscle ={

    AnyRecruitedActuator NormalDirectionMuscle={

      AnyKinMeasureOrg NormalDir={

        AnyKinLinear &ref=...Lin;

        MeasureOrganizer={....Direction[0]}; //always pick first element

      };

      Strength = ..ContactStrengthSmoothed;

      Type = NonNegative;

      //AnyVar StrengthTestVal =

      SET_DEFAULT_ACTUATOR_VOLUME;

    };

  };

  AnyFolder Direction01Muscle={

    AnyFolder Push={

      AnyKinMeasureOrg NormalDir={

        AnyKinLinear &ref=...Lin;

        MeasureOrganizer={....Direction[0]}; //always pick first element

      };

      AnyKinMeasureOrg FrictionDir={

        AnyKinLinear &ref=...Lin;

        MeasureOrganizer={....Direction[1]}; // pick second element

      };

      AnyKinMeasureLinComb LinCombinationMeasure ={

        AnyKinMeasure& u1=.NormalDir;

        AnyKinMeasure& u2=.FrictionDir;    

        Coef={

          {1,....StaticFrictionCoefficient}

        };     

        OutDim = 1;

      };

      AnyRecruitedActuator FrictionMuscle={

        //       AnyKinMeasure& ref1=.FrictionDir;

        AnyKinMeasureLinComb &ref1=.LinCombinationMeasure;

        Strength = ...ContactStrengthSmoothed;

        Type = NonNegative;

        SET_DEFAULT_ACTUATOR_VOLUME;

      };

    };//Push

    AnyFolder Pull={

      AnyKinMeasureOrg NormalDir={

        AnyKinLinear &ref=...Lin;

        MeasureOrganizer={....Direction[0]}; //always pick first element

      };

      AnyKinMeasureOrg FrictionDir={

        AnyKinLinear &ref=...Lin;

        MeasureOrganizer={....Direction[1]}; // pick second element

      };

      AnyKinMeasureLinComb LinCombinationMeasure ={

        AnyKinMeasure& u1=.NormalDir;

        AnyKinMeasure& u2=.FrictionDir;    

        Coef={

          {-1,....StaticFrictionCoefficient}

        };     

        OutDim = 1;

      };

      AnyRecruitedActuator FrictionMuscle={

        AnyKinMeasureLinComb &ref1=.LinCombinationMeasure;

        //        AnyKinMeasure& ref1=.FrictionDir;

        Strength = ...ContactStrengthSmoothed;

        Type = NonPositive;

        SET_DEFAULT_ACTUATOR_VOLUME;

      };

    };//Pull

  };

  AnyFolder Direction02Muscle={

    AnyFolder Push={

      AnyKinMeasureOrg NormalDir={

        AnyKinLinear &ref=...Lin;

        MeasureOrganizer={....Direction[0]}; //always pick first element

      };

      AnyKinMeasureOrg FrictionDir={

        AnyKinLinear &ref=...Lin;

        MeasureOrganizer={....Direction[2]}; // pick last element

      };

      AnyKinMeasureLinComb LinCombinationMeasure ={

        AnyKinMeasure& u1=.NormalDir;

        AnyKinMeasure& u2=.FrictionDir;    

        Coef={

          {1,....StaticFrictionCoefficient}

        };     

        OutDim = 1;

      };

      AnyRecruitedActuator FrictionMuscle={

        AnyKinMeasureLinComb &ref1=.LinCombinationMeasure;

        //        AnyKinMeasure& ref1=.FrictionDir;

        Strength = ...ContactStrengthSmoothed;

        Type = NonNegative;

        SET_DEFAULT_ACTUATOR_VOLUME;

      };

    };//Push

    AnyFolder Pull={

      AnyKinMeasureOrg NormalDir={

        AnyKinLinear &ref=...Lin;

        MeasureOrganizer={....Direction[0]}; //always pick first element

      };

      AnyKinMeasureOrg FrictionDir={

        AnyKinLinear &ref=...Lin;

        MeasureOrganizer={....Direction[2]}; // pick last element

      };

      AnyKinMeasureLinComb LinCombinationMeasure ={

        AnyKinMeasure& u1=.NormalDir;

        AnyKinMeasure& u2=.FrictionDir;    

        Coef={

          {-1,....StaticFrictionCoefficient}

        };     

        OutDim = 1;

      };

      AnyRecruitedActuator FrictionMuscle={

        AnyKinMeasureLinComb &ref1=.LinCombinationMeasure;

        //        AnyKinMeasure& ref1=.FrictionDir;

        Strength = ...ContactStrengthSmoothed;

        Type = NonPositive;

        SET_DEFAULT_ACTUATOR_VOLUME;

      };

    };//Pull

  };

  AnyFolder RefMuscles = 

  {

    AnyRecruitedForce& ref0 = .Direction0Muscle.NormalDirectionMuscle;

    AnyRecruitedForce& ref1 = .Direction01Muscle.Push.FrictionMuscle;

    AnyRecruitedForce& ref2 = .Direction01Muscle.Pull.FrictionMuscle;

    AnyRecruitedForce& ref3 = .Direction02Muscle.Push.FrictionMuscle;

    AnyRecruitedForce& ref4 = .Direction02Muscle.Pull.FrictionMuscle;

  };

//  AnyForceMomentMeasure ForceMomentMeasure = 

//  {

//    AnyForceBase& ref0 = .Direction0Muscle.NormalDirectionMuscle;

//    AnyForceBase& ref1 = .Direction01Muscle.Push.FrictionMuscle;

//    AnyForceBase& ref2 = .Direction01Muscle.Pull.FrictionMuscle;

//    AnyForceBase& ref3 = .Direction02Muscle.Push.FrictionMuscle;

//    AnyForceBase& ref4 = .Direction02Muscle.Pull.FrictionMuscle;

//    

//    AnyRefFrame& base = ..BaseObject;

//    

//    AnyVec3 Flocal = F * base.Axes;

//    AnyVec3 Mlocal = M * base.Axes;

//  };

  AnyDrawVector DrawNormalForce =     

  {

    AnyRefFrame &ref=..TargetObject;

    AnyVar Strength= max({.ContactStrengthSmoothed, 0.00001});

    Vec =..ScaleFactor*..DrawRef.DrawSettingsSupport.Lin.ScaleFactor*(

     abs(.NormalVector*.Direction0Muscle.NormalDirectionMuscle.Fout[0])*..BaseObject.Axes'

    + abs(.NormalVector*.Direction01Muscle.Push.FrictionMuscle.Fout[0])*..BaseObject.Axes'

    + abs(.NormalVector*.Direction02Muscle.Push.FrictionMuscle.Fout[0])*..BaseObject.Axes'

    + abs(.NormalVector*.Direction01Muscle.Pull.FrictionMuscle.Fout[0])*..BaseObject.Axes'

    + abs(.NormalVector*.Direction02Muscle.Pull.FrictionMuscle.Fout[0])*..BaseObject.Axes');

    AnyVar length=Strength*(2-(1-Strength/sqrt(Strength^2)));

    PointAway = Off;

    DrawCoord = Off;

    Line.RGB = ..DrawRef.DrawSettingsSupport.Lin.RGB;

    Line.Thickness = ..DrawRef.DrawSettingsSupport.Lin.Thickness;

    Line.End.Thickness = 2*..DrawRef.DrawSettingsSupport.Lin.Thickness;  

    Line.End.Length = 4*..DrawRef.DrawSettingsSupport.Lin.Thickness;

  };  

  AnyFolder NormalForceValue =     

  {

    AnyRefFrame &ref=..TargetObject;

    AnyVar Strength= max({.ContactStrengthSmoothed,0.00001});

    AnyVec3 NormalForceVector =..ScaleFactor*..DrawRef.DrawSettingsSupport.Lin.ScaleFactor*(

     abs(.NormalVector*.Direction0Muscle.NormalDirectionMuscle.Fout[0])*..BaseObject.Axes'

    +abs(.NormalVector*.Direction01Muscle.Push.FrictionMuscle.Fout[0])*..BaseObject.Axes'

    +abs(.NormalVector*.Direction02Muscle.Push.FrictionMuscle.Fout[0])*..BaseObject.Axes'

    +abs(.NormalVector*.Direction01Muscle.Pull.FrictionMuscle.Fout[0])*..BaseObject.Axes'

    +abs(.NormalVector*.Direction02Muscle.Pull.FrictionMuscle.Fout[0])*..BaseObject.Axes');

    AnyVar length=Strength*(2-(1-Strength/sqrt(Strength^2)));

  };

  AnyDrawVector DrawFrictionForce =     

  {

    AnyRefFrame &ref=..TargetObject;

    Vec =..ScaleFactor*..DrawRef.DrawSettingsSupport.Lin.ScaleFactor*..StaticFrictionCoefficient*(

     abs(.FrictionVector1*.Direction01Muscle.Push.FrictionMuscle.Fout[0])

    -abs(.FrictionVector1*.Direction01Muscle.Pull.FrictionMuscle.Fout[0])

    +abs(.FrictionVector2*.Direction02Muscle.Push.FrictionMuscle.Fout[0])

    -abs(.FrictionVector2*.Direction02Muscle.Pull.FrictionMuscle.Fout[0]))*..BaseObject.Axes';

    PointAway = Off;

    DrawCoord = Off;

    Line.RGB = ..DrawRef.DrawSettingsSupport.Lin.RGB;

    Line.Thickness = ..DrawRef.DrawSettingsSupport.Lin.Thickness;

    Line.End.Thickness = 2*..DrawRef.DrawSettingsSupport.Lin.Thickness;  

    Line.End.Length = 4*..DrawRef.DrawSettingsSupport.Lin.Thickness;

  };

  //resultann force given in global ref system

  AnyVec3 NormalForceVec = NormalForceValue.NormalForceVector/(.ScaleFactor*.DrawRef.DrawSettingsSupport.Lin.ScaleFactor);

  AnyVar NormalForceScalar = (NormalForceVec[0]^2+NormalForceVec[1]^2+NormalForceVec[2]^2)^0.5;

  AnyVec3 NormalForceVec2 = NormalForceValue.NormalForceVector/(.ScaleFactor*.DrawRef.DrawSettingsSupport.Lin.ScaleFactor);

  AnyVar NormalForceScalar2 = (NormalForceVec2[0]^2+NormalForceVec2[1]^2+NormalForceVec2[2]^2)^0.5;

  AnyVec3 FrictionForceVec = DrawFrictionForce.Vec/(.ScaleFactor*.DrawRef.DrawSettingsSupport.Lin.ScaleFactor);

  AnyVar FrictionForceScalar = (FrictionForceVec[0]^2+FrictionForceVec[1]^2+FrictionForceVec[2]^2)^0.5;

  //AnyVar TotalForceScalar = (TotalForceVec[0]^2+TotalForceVec[1]^2+TotalForceVec[2]^2)^0.5;

  /*

  AnyDrawVector DrawFrictionForce1 =     {

  AnyRefFrame &ref=..TargetObject;

  Vec =0.001*..StaticFrictionCoefficient*(

   abs(.FrictionVector1*.Direction01Muscle.Push.FrictionMuscle.Fout[0])*..BaseObject.Axes')+

  -abs(.FrictionVector1*.Direction01Muscle.Pull.FrictionMuscle.Fout[0])*..BaseObject.Axes');

  PointAway = Off;

  DrawCoord = Off;

  Line.RGB = {0,1,0};

  Line.Thickness = 0.015;

  Line.End.Thickness = 2*0.015; 

  Line.End.Length = 4*0.015;

  };

  AnyDrawVector DrawFrictionForce2 =     {

  AnyRefFrame &ref=..TargetObject;

  Vec =0.001*..StaticFrictionCoefficient*(

   abs(.FrictionVector2*.Direction02Muscle.Push.FrictionMuscle.Fout[0])*..BaseObject.Axes')+

  -abs(.FrictionVector2*.Direction02Muscle.Pull.FrictionMuscle.Fout[0])*..BaseObject.Axes');

  PointAway = Off;

  DrawCoord = Off;

  Line.RGB = {1,0,0};

  Line.Thickness = 0.015;

  Line.End.Thickness = 2*0.015; 

  Line.End.Length = 4*0.015;

  };

  */

};