CLEAR\n if compliant:\n if in_chamfer and at_rim:\n lat -= np.sign(lat)*min(abs(lat), 120*dt) # lateral compliance centers it\n depth += 55*0.5*dt\n else:\n depth += 55*dt\n force = 16.0\n else: # rigid position control\n if in_chamfer and at_rim:\n force += 150*dt # jam force builds, no give\n if force > 75: return 'JAM', depth, force\n else:\n depth += 62*dt\n if depth >= DEPTH-0.5 and abs(lat) <= CLEAR+0.5:\n return 'SEATED', depth, force\n return 'TIMEOUT', depth, force\n\nprint(f\"{'misalign mm':>11} {'rigid':>8} {'compliant':>11}\")\nfor mis in (2, 8, 14, 20, 26):\n r = insert(mis, False)[0]\n c = insert(mis, True)[0]\n print(f\"{mis:11d} {r:>8} {c:>11}\")\nprint('\\ncompliance seats the part where rigid position control jams on the rim.')\n","label":"Compliant vs rigid insertion"}],"intro":"Simulate rigid vs compliant insertion and find the misalignment where they diverge.","key":"space-logistics/seat-it-by-force","kind":"python","title":"Seat it by force: compliant servicing"}">