Avoid certain robot poses

I’m creating a pick and place example based on the UR10 robot and the Cortex framwork. Occasionallythe robot can get into certain unwanted poses, like the one in the image.


Is there a way to avoid such poses by in the motion planner? I know you can bias the motion in the null space by specifying a posture_config in the MotionCommand, which is passed to set_cspace_attractor in the Lula library. I wonder is there anything like a set_cspace_repeller?