urdf_path:         "/home/lgv/cmvr/dual_arm.urdf"
base_frame_name:   "PELVIS_S"
flange_frame_name: "R_FLANGE"
tcp_frame_name:    "R_TCP"

max_iters: 100
pos_eps:   1e-6
rot_eps:   1e-6
damping:   1e-6