ChainIkSolverPos_LMA has no joint limits?

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Hi everyone,

I notice the ChainIkSolverPos_RN_JL does have joint limits. I would prefer to use LMA of course, but I don't see how I can prevent certain joint configurations (i.e. limb inside body). Occasionally I have an inversion of joint angles where KDL will find another base-to-tip solution but that solution is now inside the robot body.

I'm using Orocos KDL v1.4 packaged with ros2 foxy.

Thanks!