--- a
+++ b/Tools/ModelUtilities/FrictionContactMuscles/ContactRotPush.any
@@ -0,0 +1,30 @@
+AnyFolder Push={
+
+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;
+};
+
+};