an optional array pointing to different low limit values for each specified joint. This can be useful when you wish to explore a sub-set of the joint's intervals. Can be NULL for the default joint's low limit values. If not NULL, then ranges should also not be NULL.ranges: an optional array pointing to different range values for each specified joint. This can be useful when you wish to explore a sub-set of the joint's intervals. Can be NULL for the default joint's range values. If not NULL, then lowLimits should also not be NULL.