31 lines (24 with data), 623 Bytes

AnyFolder Pull={

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 = NonPositive;
  SET_DEFAULT_ACTUATOR_VOLUME;
};

};