Hi,
initially, when you create the solver, you give one value for lbg and ubg which will be enforced on every shooting node.
However, the interfaces allow you to adapt those values between each solve() call.
you can do something like solver.set(i, "lbg", lbg_value).
to set the lbg_value at shooting node i.
The exact syntax is different in Matlab an Python, please look at the examples or documentation for that.
Cheers!