diff --git a/lerobot/common/robots/utils.py b/lerobot/common/robots/utils.py
index 12b9dac5..7e538376 100644
--- a/lerobot/common/robots/utils.py
+++ b/lerobot/common/robots/utils.py
@@ -1,8 +1,7 @@
 import logging
+from pprint import pformat
 from typing import Protocol
 
-import numpy as np
-
 from lerobot.common.robots import RobotConfig
 
 
@@ -81,20 +80,38 @@ def make_robot(robot_type: str, **kwargs) -> Robot:
 
 
 def ensure_safe_goal_position(
-    goal_pos: np.ndarray, present_pos: np.ndarray, max_relative_target: float | list[float]
-):
-    # Cap relative action target magnitude for safety.
-    diff = goal_pos - present_pos
-    max_relative_target = np.array(max_relative_target)
-    safe_diff = np.min(diff, max_relative_target)
-    safe_diff = np.max(safe_diff, -max_relative_target)
-    safe_goal_pos = present_pos + safe_diff
+    goal_present_pos: dict[str, tuple[float, float]], max_relative_target: float | dict[float]
+) -> dict[str, float]:
+    """Caps relative action target magnitude for safety."""
 
-    if not np.allclose(goal_pos, safe_goal_pos):
+    if isinstance(max_relative_target, float):
+        diff_cap = {key: max_relative_target for key in goal_present_pos}
+    elif isinstance(max_relative_target, dict):
+        if not set(goal_present_pos) == set(max_relative_target):
+            raise ValueError("max_relative_target keys must match those of goal_present_pos.")
+        diff_cap = max_relative_target
+    else:
+        raise TypeError(max_relative_target)
+
+    warnings_dict = {}
+    safe_goal_positions = {}
+    for key, (goal_pos, present_pos) in goal_present_pos.items():
+        diff = goal_pos - present_pos
+        max_diff = diff_cap[key]
+        safe_diff = min(diff, max_diff)
+        safe_diff = max(safe_diff, -max_diff)
+        safe_goal_pos = present_pos + safe_diff
+        safe_goal_positions[key] = safe_goal_pos
+        if abs(safe_goal_pos - goal_pos) > 1e-4:
+            warnings_dict[key] = {
+                "original goal_pos": goal_pos,
+                "safe goal_pos": safe_goal_pos,
+            }
+
+    if warnings_dict:
         logging.warning(
             "Relative goal position magnitude had to be clamped to be safe.\n"
-            f"  requested relative goal position target: {diff}\n"
-            f"    clamped relative goal position target: {safe_diff}"
+            f"{pformat(warnings_dict, indent=4)}"
         )
 
-    return safe_goal_pos
+    return safe_goal_positions