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Allow max_relative_target to be a float (#1837)

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* Remove unused max_relative_target for stretch3

* Fix type annotation and allow integer max_relative_target values

* Configure max_relative_target to be floats instead of ints

* Update docs and types to reflect that max_relative_target can be a dict

* Remove unnecessary isinstance check for ints

* Fix typo in name

---------

Co-authored-by: Justin Huang <justin.huang@jpl.nasa.gov>
This commit is contained in:
Justin Huang
2025-09-05 00:58:47 -07:00
committed by GitHub
parent 882c80d446
commit d74494d92b
9 changed files with 21 additions and 26 deletions
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src/lerobot/robots/lekiwi/config_lekiwi.py
+3 -3
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@@ -39,9 +39,9 @@ class LeKiwiConfig(RobotConfig):
disable_torque_on_disconnect: bool = True
# `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
# Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
# the number of motors in your follower arms.
max_relative_target: int | None = None
# Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
# names to the max_relative_target value for that motor.
max_relative_target: float | dict[str, float] | None = None
cameras: dict[str, CameraConfig] = field(default_factory=lekiwi_cameras_config)