32 lines (22 with data), 607 Bytes

AnyKinMeasureOrg Dist={
  AnyKinLinear  Lin={
  AnyRefNode &Box =..BaseObject;
  AnySeg &Hand = ..TargetObject;
};
MeasureOrganizer ={.AxisNormalToSurfaceOfBaseObject};

};
    

AnyKinRotational Rot={
  AnyRefNode &Box =.BaseObject;
  AnySeg &Hand = .TargetObject;
  Type=RotVector;
};

AnyRecruitedActuator ContactMuscle={
  AnyKinMeasureOrg RotX={
    AnyKinLinear &ref=..Rot;
    MeasureOrganizer={..Direction};
  };
  AnyVar limit=0;
  Strength = 1e-5*(1/(sqrt((.Dist.Pos[0]-limit)^2)+.Epsilon))^2;        
  Type = NonNegative;
  SET_DEFAULT_ACTUATOR_VOLUME;
   
};