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c661d81409
The hand-rolled action-norm safety clip duplicated what every ``RobotConfig`` already exposes — ``max_relative_target`` — and at the wrong layer (after postprocess but before send_action, instead of inside the robot driver where every other lerobot entry point puts it). The norm clip also rejected entire actions instead of clipping per-motor relative motion, so a single rogue joint would kill the whole tick. Replace with ``--robot.max_relative_target``: a string parsed as either a bare float (uniform per-motor cap) or a JSON object mapping motor name → cap. Passed through to ``RobotConfig(max_relative_target=...)`` at robot construction; the driver's ``send_action`` clips each commanded joint position relative to the current measured one before issuing it on the bus — same behaviour ``lerobot-record`` ships. Also bump ``--chunk_hz`` default from ``4.0`` to ``1.0``. One new chunk per second is what the trained checkpoint can comfortably keep up with on common hardware and gives smoother motion than sub-second chunk regenerations (no RTC interpolation between chunks yet). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>