Troubleshoot Lag in Follower Arms

docs/operation/lerobot_guide.rst

@@ -324,6 +324,41 @@ Troubleshooting
 .. warning::
    If you encounter issues, follow these troubleshooting steps:
 
+
+Lag Observed in Follower Arms
+-----------------------------
+
+If you notice lag in the follower arms, it's due to the safety settings, which are in place to prevent overshooting that could harm the robot.
+These are designed to ensure safety for new users or when using untested policies.
+
+Once you are comfortable with the kit and the trained policy, you can adjust or disable these safety settings by modifying the configuration.
+
+Follow these steps:
+
+1. Open the configuration file located at:
+
+   ``lerobot/configs/robots/aloha.yaml``
+
+2. Locate the following line in the configuration file:
+
+   .. code-block:: yaml
+
+      max_relative_target: 5  # Original value
+
+3. Change the value of `max_relative_target` from `5` to `null` to disable the safety limit:
+
+   .. code-block:: yaml
+      :emphasize-lines: 5
+
+      # /!\ FOR SAFETY, READ THIS /!\
+      # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+      # The default setting is 5 degrees for Aloha robot motors.
+      # Modify this value to null to remove the limit once you feel confident with the robot.
+      max_relative_target: null  # Updated value
+
+.. important:: We recommend starting by teleoperating the grippers (commenting out the rest of the motors in the YAML file). Gradually enable additional motors until you can control both arms safely.
+
+
 OpenCV Installation Issues (Linux)
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