Developed a flexible safety configuration feature for the huggingface/lerobot repository, enhancing how robot models handle max_relative_target limits. The work introduced support for both float values and per-motor dictionaries, replacing the previous integer-only approach to allow greater precision and configurability in safety parameters. This update also removed the unused stretch3 parameter, streamlining the configuration process for users. All related documentation and type annotations were revised to reflect the new data types and behaviors. The implementation leveraged Python and focused on robotics configuration and type hinting, aligning the system with evolving safety standards and improving usability across diverse robot models.