Feature request

We would like a zone that clamps the command if there is an obstacle inside.
In our use case, we prefer to have a slowdown field that limits the speed to a fixed value. Now it is multiplying it with a coef.

Now, if there is an obstacle in the field and I send a small command the output will be even slower.

Feature description

We would like a field that limits the command to a fixed value.

That's the behavior of a real low-level safety field.

Implementation considerations

What about robots with different min(-) and max(+) velocities? Use a single value with a *-1 or add a parameter for min_vel?

It can be another model Limit model or a parameter to change the behavior of the slowdown model.