At session start you rest the gripper tip on the table and FK registers that height as the floor. From there, every waypoint is checked before a single CAN frame goes out: The arm cannot be commanded below 10mm above the table. Within 3 inches of the table, speed caps at 5 deg/s (20 deg/s in free space) The LLM gets a small command set: tip command → move the tool tip to x y z (m) + pitch, solved by IK op nudge forward=0.02 → "a little forward" op gripper 45 → close; if it stops short, it's holding something op observe → look without moving