I am wondering if anyone has a good way to do a linear insertion with compliance in the other axis. I have a long round part that I am inserting into a collet up to a stop. The problem I am having is the part is so long that if the part is not perfectly aligned with the collet the part can bind on the way in. What I would like is to have the robot move in one direction (in this case X+) until it reaches the stop but I want the other axis (Y, Z, Ry, Rz) to be able to float a bit to accommodate any misalignment. The Force Control feature looks like what I want but I can't use the insertion function within the Force Control. Any ideas?