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

lambda:        0.0001
w_posrot:      0.5
max_iters:     80
tol:           1e-6
qp_time_limit: 0.005