--- a
+++ b/Tools/ModelUtilities/FrictionContactMuscles/ContactSurfaceLinPushTrigger.any
@@ -0,0 +1,314 @@
+
+AnyFolder Push ={
+  
+  AnyKinLinear LinS={
+    Ref=0;
+    AnyRefFrame &BaseObject=..BaseObject;
+    AnyRefFrame &StrengthObject=..StrengthObject;
+  };
+  
+  
+  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 UserDefinedMeasure=LinMeasureOrg0.Pos[0];
+  AnyVar RadiusMeasure=sqrt(LinMeasureOrg1.Pos[0]^2+LinMeasureOrg2.Pos[0]^2);
+  
+  
+  AnyIntVar LowerThanHighLimit = ltfun(UserDefinedMeasure,.UserDefinedLimitHigh);
+  AnyIntVar GreaterThanLowLimit = gtfun(UserDefinedMeasure,.UserDefinedLimitLow);
+  AnyIntVar LowerThanRadiusLimit = ltfun(RadiusMeasure,.UserDefinedRadiusLimit);
+
+  AnyVar UserDefinedStrengthFunction= .Trigger*iffun( andfun(andfun(LowerThanHighLimit,GreaterThanLowLimit),LowerThanRadiusLimit),.Strength,0.0);
+
+  
+  //create the directions vectors 
+  
+  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)};
+  
+  
+  
+  
+  AnyMuscleModelUsr1 ContactMuscleModel=   {
+    F0 = 0.000000;
+    S = .UserDefinedStrengthFunction;
+  };        
+  
+  AnyMuscleModelUsr1 ContactMuscleModel1=   {
+    F0 = 0.000000;
+    S = .UserDefinedStrengthFunction;
+  };        
+  
+  AnyMuscleModelUsr1 ContactMuscleModel2=   {
+    F0 = 0.000000;
+    S = .UserDefinedStrengthFunction;
+  };        
+  
+  
+  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 = ..UserDefinedStrengthFunction;
+      Type = NonNegative;
+      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}
+        };     
+      };
+      
+      AnyRecruitedActuator FrictionMuscle={
+        //       AnyKinMeasure& ref1=.FrictionDir;
+        AnyKinMeasureLinComb &ref1=.LinCombinationMeasure;
+        Strength = ...UserDefinedStrengthFunction;
+        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}
+        };     
+        
+      };
+      
+      AnyRecruitedActuator FrictionMuscle={
+        AnyKinMeasureLinComb &ref1=.LinCombinationMeasure;
+        //        AnyKinMeasure& ref1=.FrictionDir;
+        Strength = ...UserDefinedStrengthFunction;
+        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}
+        };     
+        
+      };
+      
+      AnyRecruitedActuator FrictionMuscle={
+        AnyKinMeasureLinComb &ref1=.LinCombinationMeasure;
+        //        AnyKinMeasure& ref1=.FrictionDir;
+        
+        Strength = ...UserDefinedStrengthFunction;
+        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}
+        };     
+        
+      };
+      
+      AnyRecruitedActuator FrictionMuscle={
+        AnyKinMeasureLinComb &ref1=.LinCombinationMeasure;
+        //        AnyKinMeasure& ref1=.FrictionDir;
+        Strength = ...UserDefinedStrengthFunction;
+        Type = NonPositive;
+        SET_DEFAULT_ACTUATOR_VOLUME;
+         
+      };
+      
+    };//Pull
+    
+  };
+  
+  
+  AnyDrawVector DrawNormalForce =     {
+    AnyRefFrame &ref=..TargetObject;
+    AnyVar Strength=   iffun(.ContactMuscleModel.S,.ContactMuscleModel.S,0.00001);
+    Vec =0*..ScaleFactor*..DrawRef.DrawSettingsSupport.Lin.ScaleFactor*(
+    .NormalVector*.Direction0Muscle.NormalDirectionMuscle.Fout[0]*..BaseObject.Axes'
+    +.NormalVector*.Direction01Muscle.Push.FrictionMuscle.Fout[0]*..BaseObject.Axes'
+    +.NormalVector*.Direction02Muscle.Push.FrictionMuscle.Fout[0]*..BaseObject.Axes'
+    +.NormalVector*.Direction01Muscle.Pull.FrictionMuscle.Fout[0]*..BaseObject.Axes'
+    +.NormalVector*.Direction02Muscle.Pull.FrictionMuscle.Fout[0]*..BaseObject.Axes');
+    AnyVar lenght=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;
+    
+  };
+  
+  
+  AnyDrawVector DrawFrictionForce =     {
+    
+    AnyRefFrame &ref=..TargetObject;
+    
+    Vec =0*..ScaleFactor*..DrawRef.DrawSettingsSupport.Lin.ScaleFactor*..StaticFrictionCoefficient*(
+    .FrictionVector1*.Direction01Muscle.Push.FrictionMuscle.Fout[0]
+    -.FrictionVector1*.Direction01Muscle.Pull.FrictionMuscle.Fout[0]
+    +.FrictionVector2*.Direction02Muscle.Push.FrictionMuscle.Fout[0]
+    -.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 = DrawNormalForce.Vec/(.ScaleFactor*.DrawRef.DrawSettingsSupport.Lin.ScaleFactor);
+    AnyVar NormalForceScalar = (NormalForceVec[0]^2+NormalForceVec[1]^2+NormalForceVec[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*(
+  .FrictionVector1*.Direction01Muscle.Push.FrictionMuscle.Fout[0]*..BaseObject.Axes'+
+  -.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*(
+  .FrictionVector2*.Direction02Muscle.Push.FrictionMuscle.Fout[0]*..BaseObject.Axes'+
+  -.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;
+  };
+  */
+  
+  
+};