diff --git a/tesseract_kinematics/kdl/include/tesseract_kinematics/kdl/kdl_inv_kin_chain_lma.h b/tesseract_kinematics/kdl/include/tesseract_kinematics/kdl/kdl_inv_kin_chain_lma.h
index 01fa61d3c72..d5698c503e2 100644
--- a/tesseract_kinematics/kdl/include/tesseract_kinematics/kdl/kdl_inv_kin_chain_lma.h
+++ b/tesseract_kinematics/kdl/include/tesseract_kinematics/kdl/kdl_inv_kin_chain_lma.h
@@ -29,6 +29,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <kdl/chainiksolverpos_lma.hpp>
 #include <unordered_map>
+#include <array>
 #include <mutex>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
@@ -54,6 +55,22 @@ class KDLInvKinChainLMA : public InverseKinematics
   using UPtr = std::unique_ptr<KDLInvKinChainLMA>;
   using ConstUPtr = std::unique_ptr<const KDLInvKinChainLMA>;
 
+  /**
+   * @brief The Config struct
+   *
+   * This contains parameters that can be used to customize the KDL solver for your application.
+   * They are ultimately passed to the constuctor of the undelying ChainIkSolver.
+   *
+   * The defaults provided here are the same defaults imposed by the KDL library.
+   */
+  struct Config
+  {
+    std::array<double, 6> task_weights{ 1.0, 1.0, 1.0, 0.1, 0.1, 0.1 };
+    double eps{ 1E-5 };
+    int max_iterations{ 500 };
+    double eps_joints{ 1E-15 };
+  };
+
   ~KDLInvKinChainLMA() override = default;
   KDLInvKinChainLMA(const KDLInvKinChainLMA& other);
   KDLInvKinChainLMA& operator=(const KDLInvKinChainLMA& other);
@@ -71,6 +88,7 @@ class KDLInvKinChainLMA : public InverseKinematics
   KDLInvKinChainLMA(const tesseract_scene_graph::SceneGraph& scene_graph,
                     const std::string& base_link,
                     const std::string& tip_link,
+                    Config kdl_config,
                     std::string solver_name = KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME);
 
   /**
@@ -82,6 +100,7 @@ class KDLInvKinChainLMA : public InverseKinematics
    */
   KDLInvKinChainLMA(const tesseract_scene_graph::SceneGraph& scene_graph,
                     const std::vector<std::pair<std::string, std::string> >& chains,
+                    Config kdl_config,
                     std::string solver_name = KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME);
 
   IKSolutions calcInvKin(const tesseract_common::TransformMap& tip_link_poses,
@@ -97,6 +116,7 @@ class KDLInvKinChainLMA : public InverseKinematics
 
 private:
   KDLChainData kdl_data_;                                        /**< @brief KDL data parsed from Scene Graph */
+  Config kdl_config_;                                            /**< @brief KDL configuration data parsed from YAML */
   std::unique_ptr<KDL::ChainIkSolverPos_LMA> ik_solver_;         /**< @brief KDL Inverse kinematic solver */
   std::string solver_name_{ KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME }; /**< @brief Name of this solver */
   mutable std::mutex mutex_; /**< @brief KDL is not thread safe due to mutable variables in Joint Class */
diff --git a/tesseract_kinematics/kdl/include/tesseract_kinematics/kdl/kdl_inv_kin_chain_nr.h b/tesseract_kinematics/kdl/include/tesseract_kinematics/kdl/kdl_inv_kin_chain_nr.h
index 025e0b03435..8e1a1d61e00 100644
--- a/tesseract_kinematics/kdl/include/tesseract_kinematics/kdl/kdl_inv_kin_chain_nr.h
+++ b/tesseract_kinematics/kdl/include/tesseract_kinematics/kdl/kdl_inv_kin_chain_nr.h
@@ -56,6 +56,23 @@ class KDLInvKinChainNR : public InverseKinematics
   using UPtr = std::unique_ptr<KDLInvKinChainNR>;
   using ConstUPtr = std::unique_ptr<const KDLInvKinChainNR>;
 
+  /**
+   * @brief The Config struct
+   *
+   * This contains parameters that can be used to customize the KDL solver for your application.
+   * They are ultimately passed to the constuctors of the undelying ChainIkSolver.
+   * The NR version creates both position and velocity solvers with different defaults for each.
+   *
+   * The defaults provided here are the same defaults imposed by the KDL library.
+   */
+  struct Config
+  {
+    double vel_eps{ 0.00001 };
+    int vel_iterations{ 150 };
+    double pos_eps{ 1e-6 };
+    int pos_iterations{ 100 };
+  };
+
   ~KDLInvKinChainNR() override = default;
   KDLInvKinChainNR(const KDLInvKinChainNR& other);
   KDLInvKinChainNR& operator=(const KDLInvKinChainNR& other);
@@ -73,6 +90,7 @@ class KDLInvKinChainNR : public InverseKinematics
   KDLInvKinChainNR(const tesseract_scene_graph::SceneGraph& scene_graph,
                    const std::string& base_link,
                    const std::string& tip_link,
+                   Config kdl_config,
                    std::string solver_name = KDL_INV_KIN_CHAIN_NR_SOLVER_NAME);
 
   /**
@@ -84,6 +102,7 @@ class KDLInvKinChainNR : public InverseKinematics
    */
   KDLInvKinChainNR(const tesseract_scene_graph::SceneGraph& scene_graph,
                    const std::vector<std::pair<std::string, std::string> >& chains,
+                   Config kdl_config,
                    std::string solver_name = KDL_INV_KIN_CHAIN_NR_SOLVER_NAME);
 
   IKSolutions calcInvKin(const tesseract_common::TransformMap& tip_link_poses,
@@ -99,6 +118,7 @@ class KDLInvKinChainNR : public InverseKinematics
 
 private:
   KDLChainData kdl_data_;                                       /**< @brief KDL data parsed from Scene Graph */
+  Config kdl_config_;                                           /**< @brief KDL configuration data parsed from YAML */
   std::unique_ptr<KDL::ChainFkSolverPos_recursive> fk_solver_;  /**< @brief KDL Forward Kinematic Solver */
   std::unique_ptr<KDL::ChainIkSolverVel_pinv> ik_vel_solver_;   /**< @brief KDL Inverse kinematic velocity solver */
   std::unique_ptr<KDL::ChainIkSolverPos_NR> ik_solver_;         /**< @brief KDL Inverse kinematic solver */
diff --git a/tesseract_kinematics/kdl/src/kdl_factories.cpp b/tesseract_kinematics/kdl/src/kdl_factories.cpp
index 020bb6ea744..913fbacf728 100644
--- a/tesseract_kinematics/kdl/src/kdl_factories.cpp
+++ b/tesseract_kinematics/kdl/src/kdl_factories.cpp
@@ -75,6 +75,7 @@ KDLInvKinChainLMAFactory::create(const std::string& solver_name,
 {
   std::string base_link;
   std::string tip_link;
+  KDLInvKinChainLMA::Config kdl_config;
 
   try
   {
@@ -87,6 +88,25 @@ KDLInvKinChainLMAFactory::create(const std::string& solver_name,
       tip_link = n.as<std::string>();
     else
       throw std::runtime_error("KDLInvKinChainLMAFactory, missing 'tip_link' entry");
+
+    // Optional configuration parameters
+    if (YAML::Node n = config["task_weights"])
+    {
+      // Make sure the length matches the constructor interface
+      if (n.size() != 6)
+        throw std::runtime_error("KDLInvKinChainLMAFactory, size of task_weights needs to be 6");
+
+      kdl_config.task_weights = n.as<std::array<double, 6>>();
+    }
+
+    if (YAML::Node n = config["eps"])
+      kdl_config.eps = n.as<double>();
+
+    if (YAML::Node n = config["max_iterations"])
+      kdl_config.max_iterations = n.as<int>();
+
+    if (YAML::Node n = config["eps_joints"])
+      kdl_config.eps_joints = n.as<double>();
   }
   catch (const std::exception& e)
   {
@@ -94,7 +114,7 @@ KDLInvKinChainLMAFactory::create(const std::string& solver_name,
     return nullptr;
   }
 
-  return std::make_unique<KDLInvKinChainLMA>(scene_graph, base_link, tip_link, solver_name);
+  return std::make_unique<KDLInvKinChainLMA>(scene_graph, base_link, tip_link, kdl_config, solver_name);
 }
 
 std::unique_ptr<InverseKinematics>
@@ -106,6 +126,7 @@ KDLInvKinChainNRFactory::create(const std::string& solver_name,
 {
   std::string base_link;
   std::string tip_link;
+  KDLInvKinChainNR::Config kdl_config;
 
   try
   {
@@ -118,6 +139,19 @@ KDLInvKinChainNRFactory::create(const std::string& solver_name,
       tip_link = n.as<std::string>();
     else
       throw std::runtime_error("KDLInvKinChainNRFactory, missing 'tip_link' entry");
+
+    // Optional configuration parameters
+    if (YAML::Node n = config["velocity_eps"])
+      kdl_config.vel_eps = n.as<double>();
+
+    if (YAML::Node n = config["velocity_iterations"])
+      kdl_config.vel_iterations = n.as<int>();
+
+    if (YAML::Node n = config["position_eps"])
+      kdl_config.pos_eps = n.as<double>();
+
+    if (YAML::Node n = config["position_iterations"])
+      kdl_config.pos_iterations = n.as<int>();
   }
   catch (const std::exception& e)
   {
@@ -125,7 +159,7 @@ KDLInvKinChainNRFactory::create(const std::string& solver_name,
     return nullptr;
   }
 
-  return std::make_unique<KDLInvKinChainNR>(scene_graph, base_link, tip_link, solver_name);
+  return std::make_unique<KDLInvKinChainNR>(scene_graph, base_link, tip_link, kdl_config, solver_name);
 }
 
 std::unique_ptr<InverseKinematics>
diff --git a/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_lma.cpp b/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_lma.cpp
index 23c73e5076e..1779ec615d7 100644
--- a/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_lma.cpp
+++ b/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_lma.cpp
@@ -40,8 +40,9 @@ using Eigen::VectorXd;
 
 KDLInvKinChainLMA::KDLInvKinChainLMA(const tesseract_scene_graph::SceneGraph& scene_graph,
                                      const std::vector<std::pair<std::string, std::string>>& chains,
+                                     Config kdl_config,
                                      std::string solver_name)
-  : solver_name_(std::move(solver_name))
+  : kdl_config_(std::move(kdl_config)), solver_name_(std::move(solver_name))
 {
   if (!scene_graph.getLink(scene_graph.getRoot()))
     throw std::runtime_error("The scene graph has an invalid root.");
@@ -50,14 +51,23 @@ KDLInvKinChainLMA::KDLInvKinChainLMA(const tesseract_scene_graph::SceneGraph& sc
     throw std::runtime_error("Failed to parse KDL data from Scene Graph");
 
   // Create KDL IK Solver
-  ik_solver_ = std::make_unique<KDL::ChainIkSolverPos_LMA>(kdl_data_.robot_chain);
+  ik_solver_ =
+      std::make_unique<KDL::ChainIkSolverPos_LMA>(kdl_data_.robot_chain,
+                                                  Eigen::Matrix<double, 6, 1>{ kdl_config_.task_weights.data() },
+                                                  kdl_config_.eps,
+                                                  kdl_config_.max_iterations,
+                                                  kdl_config_.eps_joints);
 }
 
 KDLInvKinChainLMA::KDLInvKinChainLMA(const tesseract_scene_graph::SceneGraph& scene_graph,
                                      const std::string& base_link,
                                      const std::string& tip_link,
+                                     Config kdl_config,
                                      std::string solver_name)
-  : KDLInvKinChainLMA(scene_graph, { std::make_pair(base_link, tip_link) }, std::move(solver_name))
+  : KDLInvKinChainLMA(scene_graph,
+                      { std::make_pair(base_link, tip_link) },
+                      std::move(kdl_config),
+                      std::move(solver_name))
 {
 }
 
@@ -68,7 +78,13 @@ KDLInvKinChainLMA::KDLInvKinChainLMA(const KDLInvKinChainLMA& other) { *this = o
 KDLInvKinChainLMA& KDLInvKinChainLMA::operator=(const KDLInvKinChainLMA& other)
 {
   kdl_data_ = other.kdl_data_;
-  ik_solver_ = std::make_unique<KDL::ChainIkSolverPos_LMA>(kdl_data_.robot_chain);
+  kdl_config_ = other.kdl_config_;
+  ik_solver_ =
+      std::make_unique<KDL::ChainIkSolverPos_LMA>(kdl_data_.robot_chain,
+                                                  Eigen::Matrix<double, 6, 1>{ kdl_config_.task_weights.data() },
+                                                  kdl_config_.eps,
+                                                  kdl_config_.max_iterations,
+                                                  kdl_config_.eps_joints);
   solver_name_ = other.solver_name_;
 
   return *this;
diff --git a/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_nr.cpp b/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_nr.cpp
index 223186ab720..ecf98caecb5 100644
--- a/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_nr.cpp
+++ b/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_nr.cpp
@@ -40,8 +40,9 @@ using Eigen::VectorXd;
 
 KDLInvKinChainNR::KDLInvKinChainNR(const tesseract_scene_graph::SceneGraph& scene_graph,
                                    const std::vector<std::pair<std::string, std::string>>& chains,
+                                   Config kdl_config,
                                    std::string solver_name)
-  : solver_name_(std::move(solver_name))
+  : kdl_config_(std::move(kdl_config)), solver_name_(std::move(solver_name))
 {
   if (!scene_graph.getLink(scene_graph.getRoot()))
     throw std::runtime_error("The scene graph has an invalid root.");
@@ -51,15 +52,21 @@ KDLInvKinChainNR::KDLInvKinChainNR(const tesseract_scene_graph::SceneGraph& scen
 
   // Create KDL FK and IK Solver
   fk_solver_ = std::make_unique<KDL::ChainFkSolverPos_recursive>(kdl_data_.robot_chain);
-  ik_vel_solver_ = std::make_unique<KDL::ChainIkSolverVel_pinv>(kdl_data_.robot_chain);
-  ik_solver_ = std::make_unique<KDL::ChainIkSolverPos_NR>(kdl_data_.robot_chain, *fk_solver_, *ik_vel_solver_);
+  ik_vel_solver_ = std::make_unique<KDL::ChainIkSolverVel_pinv>(
+      kdl_data_.robot_chain, kdl_config_.vel_eps, kdl_config_.vel_iterations);
+  ik_solver_ = std::make_unique<KDL::ChainIkSolverPos_NR>(
+      kdl_data_.robot_chain, *fk_solver_, *ik_vel_solver_, kdl_config_.pos_iterations, kdl_config_.pos_eps);
 }
 
 KDLInvKinChainNR::KDLInvKinChainNR(const tesseract_scene_graph::SceneGraph& scene_graph,
                                    const std::string& base_link,
                                    const std::string& tip_link,
+                                   Config kdl_config,
                                    std::string solver_name)
-  : KDLInvKinChainNR(scene_graph, { std::make_pair(base_link, tip_link) }, std::move(solver_name))
+  : KDLInvKinChainNR(scene_graph,
+                     { std::make_pair(base_link, tip_link) },
+                     std::move(kdl_config),
+                     std::move(solver_name))
 {
 }
 
@@ -70,9 +77,12 @@ KDLInvKinChainNR::KDLInvKinChainNR(const KDLInvKinChainNR& other) { *this = othe
 KDLInvKinChainNR& KDLInvKinChainNR::operator=(const KDLInvKinChainNR& other)
 {
   kdl_data_ = other.kdl_data_;
+  kdl_config_ = other.kdl_config_;
   fk_solver_ = std::make_unique<KDL::ChainFkSolverPos_recursive>(kdl_data_.robot_chain);
-  ik_vel_solver_ = std::make_unique<KDL::ChainIkSolverVel_pinv>(kdl_data_.robot_chain);
-  ik_solver_ = std::make_unique<KDL::ChainIkSolverPos_NR>(kdl_data_.robot_chain, *fk_solver_, *ik_vel_solver_);
+  ik_vel_solver_ = std::make_unique<KDL::ChainIkSolverVel_pinv>(
+      kdl_data_.robot_chain, kdl_config_.vel_eps, kdl_config_.vel_iterations);
+  ik_solver_ = std::make_unique<KDL::ChainIkSolverPos_NR>(
+      kdl_data_.robot_chain, *fk_solver_, *ik_vel_solver_, kdl_config_.pos_iterations, kdl_config_.pos_eps);
   solver_name_ = other.solver_name_;
 
   return *this;
diff --git a/tesseract_kinematics/test/kdl_kinematics_unit.cpp b/tesseract_kinematics/test/kdl_kinematics_unit.cpp
index 0e43e7c2b9f..c47a942eec0 100644
--- a/tesseract_kinematics/test/kdl_kinematics_unit.cpp
+++ b/tesseract_kinematics/test/kdl_kinematics_unit.cpp
@@ -17,7 +17,8 @@ TEST(TesseractKinematicsUnit, KDLKinChainLMAInverseKinematicUnit)  // NOLINT
 {
   auto scene_graph = getSceneGraphIIWA();
 
-  tesseract_kinematics::KDLInvKinChainLMA derived_kin(*scene_graph, "base_link", "tool0");
+  tesseract_kinematics::KDLInvKinChainLMA::Config config;
+  tesseract_kinematics::KDLInvKinChainLMA derived_kin(*scene_graph, "base_link", "tool0", config);
 
   tesseract_kinematics::KinematicsPluginFactory factory;
   runInvKinIIWATest(factory, "KDLInvKinChainLMAFactory", "KDLFwdKinChainFactory");
@@ -27,7 +28,8 @@ TEST(TesseractKinematicsUnit, KDLKinChainNRInverseKinematicUnit)  // NOLINT
 {
   auto scene_graph = getSceneGraphIIWA();
 
-  tesseract_kinematics::KDLInvKinChainNR derived_kin(*scene_graph, "base_link", "tool0");
+  tesseract_kinematics::KDLInvKinChainNR::Config config;
+  tesseract_kinematics::KDLInvKinChainNR derived_kin(*scene_graph, "base_link", "tool0", config);
 
   tesseract_kinematics::KinematicsPluginFactory factory;
   runInvKinIIWATest(factory, "KDLInvKinChainNRFactory", "KDLFwdKinChainFactory");
diff --git a/tesseract_kinematics/test/kinematics_factory_unit.cpp b/tesseract_kinematics/test/kinematics_factory_unit.cpp
index 98ae2f56d67..6b1f0ddf0ca 100644
--- a/tesseract_kinematics/test/kinematics_factory_unit.cpp
+++ b/tesseract_kinematics/test/kinematics_factory_unit.cpp
@@ -1138,7 +1138,25 @@ TEST(TesseractKinematicsFactoryUnit, LoadKDLKinematicsUnit)  // NOLINT
                    class: KDLInvKinChainNR_JLFactory
                    config:
                      base_link: base_link
-                     tip_link: tool0)";
+                     tip_link: tool0
+                 KDLInvKinChainLMA_AllParams:
+                   class: KDLInvKinChainLMAFactory
+                   config:
+                     base_link: base_link
+                     tip_link: tool0
+                     task_weights: [1, 1, 1, 0.1, 0.1, 0.1]
+                     eps: 1e-5
+                     max_iterations: 500
+                     eps_joints: 1e-15
+                 KDLInvKinChainNR_AllParams:
+                   class: KDLInvKinChainNRFactory
+                   config:
+                     base_link: base_link
+                     tip_link: tool0
+                     velocity_eps: 0.00001
+                     velocity_iterations: 150
+                     position_eps: 1e-6
+                     position_iterations: 100)";
 
   {
     KinematicsPluginFactory factory(YAML::Load(yaml_string));