NAME: Rack_Force

(rack (/ arm_force M_max_force_at_rack))
(output rack)
(output (* output gain))

# Lock stops ----------------------------------------------
(custom_lock_stop 2.0)
(stops (bumpstop output 0.15 0.5 0.15 1.0))
(output (+ output (* stops custom_lock_stop)))

# Statistics output ---------------------------------------
(histogram output)