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 46b1abcdb7f..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
 
@@ -64,13 +65,10 @@ class KDLInvKinChainLMA : public InverseKinematics
    */
   struct Config
   {
-    Eigen::Matrix<double, 6, 1> task_weights{ std::vector<double>{ 1.0, 1.0, 1.0, 0.1, 0.1, 0.1 }.data() };
+    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 };
-
-  public:
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 
   ~KDLInvKinChainLMA() override = default;
@@ -90,7 +88,7 @@ class KDLInvKinChainLMA : public InverseKinematics
   KDLInvKinChainLMA(const tesseract_scene_graph::SceneGraph& scene_graph,
                     const std::string& base_link,
                     const std::string& tip_link,
-                    const Config& kdl_config,
+                    Config kdl_config,
                     std::string solver_name = KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME);
 
   /**
@@ -102,7 +100,7 @@ class KDLInvKinChainLMA : public InverseKinematics
    */
   KDLInvKinChainLMA(const tesseract_scene_graph::SceneGraph& scene_graph,
                     const std::vector<std::pair<std::string, std::string> >& chains,
-                    const Config& kdl_config,
+                    Config kdl_config,
                     std::string solver_name = KDL_INV_KIN_CHAIN_LMA_SOLVER_NAME);
 
   IKSolutions calcInvKin(const tesseract_common::TransformMap& tip_link_poses,
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 80cacf8a8f8..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
@@ -90,7 +90,7 @@ class KDLInvKinChainNR : public InverseKinematics
   KDLInvKinChainNR(const tesseract_scene_graph::SceneGraph& scene_graph,
                    const std::string& base_link,
                    const std::string& tip_link,
-                   const Config& kdl_config,
+                   Config kdl_config,
                    std::string solver_name = KDL_INV_KIN_CHAIN_NR_SOLVER_NAME);
 
   /**
@@ -102,7 +102,7 @@ class KDLInvKinChainNR : public InverseKinematics
    */
   KDLInvKinChainNR(const tesseract_scene_graph::SceneGraph& scene_graph,
                    const std::vector<std::pair<std::string, std::string> >& chains,
-                   const Config& kdl_config,
+                   Config kdl_config,
                    std::string solver_name = KDL_INV_KIN_CHAIN_NR_SOLVER_NAME);
 
   IKSolutions calcInvKin(const tesseract_common::TransformMap& tip_link_poses,
diff --git a/tesseract_kinematics/kdl/src/kdl_factories.cpp b/tesseract_kinematics/kdl/src/kdl_factories.cpp
index c08d77d0b96..913fbacf728 100644
--- a/tesseract_kinematics/kdl/src/kdl_factories.cpp
+++ b/tesseract_kinematics/kdl/src/kdl_factories.cpp
@@ -93,16 +93,10 @@ KDLInvKinChainLMAFactory::create(const std::string& solver_name,
     if (YAML::Node n = config["task_weights"])
     {
       // Make sure the length matches the constructor interface
-      if (n.size() != kdl_config.task_weights.size())
-      {
-        std::ostringstream what;
-        what << "KDLInvKinChainLMAFactory, size of task_weights needs to be " << kdl_config.task_weights.size();
-        throw std::runtime_error(what.str());
-      }
-
-      auto w = 0;
-      for (auto const& v : n)
-        kdl_config.task_weights(w++) = v.as<double>();
+      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"])
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 c1f41d5cc69..1779ec615d7 100644
--- a/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_lma.cpp
+++ b/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_lma.cpp
@@ -40,9 +40,9 @@ using Eigen::VectorXd;
 
 KDLInvKinChainLMA::KDLInvKinChainLMA(const tesseract_scene_graph::SceneGraph& scene_graph,
                                      const std::vector<std::pair<std::string, std::string>>& chains,
-                                     const Config& kdl_config,
+                                     Config kdl_config,
                                      std::string solver_name)
-  : kdl_config_(kdl_config), 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.");
@@ -51,16 +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, kdl_config_.task_weights, kdl_config_.eps, kdl_config_.max_iterations, kdl_config_.eps_joints);
+  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,
-                                     const Config& kdl_config,
+                                     Config kdl_config,
                                      std::string solver_name)
-  : KDLInvKinChainLMA(scene_graph, { std::make_pair(base_link, tip_link) }, kdl_config, std::move(solver_name))
+  : KDLInvKinChainLMA(scene_graph,
+                      { std::make_pair(base_link, tip_link) },
+                      std::move(kdl_config),
+                      std::move(solver_name))
 {
 }
 
@@ -72,7 +79,12 @@ KDLInvKinChainLMA& KDLInvKinChainLMA::operator=(const KDLInvKinChainLMA& other)
 {
   kdl_data_ = other.kdl_data_;
   kdl_config_ = other.kdl_config_;
-  ik_solver_ = std::make_unique<KDL::ChainIkSolverPos_LMA>(kdl_data_.robot_chain, kdl_config_.task_weights, kdl_config_.eps, kdl_config_.max_iterations, kdl_config_.eps_joints);
+  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 23f60d9b434..ecf98caecb5 100644
--- a/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_nr.cpp
+++ b/tesseract_kinematics/kdl/src/kdl_inv_kin_chain_nr.cpp
@@ -40,9 +40,9 @@ using Eigen::VectorXd;
 
 KDLInvKinChainNR::KDLInvKinChainNR(const tesseract_scene_graph::SceneGraph& scene_graph,
                                    const std::vector<std::pair<std::string, std::string>>& chains,
-                                   const Config& kdl_config,
+                                   Config kdl_config,
                                    std::string solver_name)
-  : kdl_config_(kdl_config), 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.");
@@ -61,9 +61,12 @@ KDLInvKinChainNR::KDLInvKinChainNR(const tesseract_scene_graph::SceneGraph& scen
 KDLInvKinChainNR::KDLInvKinChainNR(const tesseract_scene_graph::SceneGraph& scene_graph,
                                    const std::string& base_link,
                                    const std::string& tip_link,
-                                   const Config& kdl_config,
+                                   Config kdl_config,
                                    std::string solver_name)
-  : KDLInvKinChainNR(scene_graph, { std::make_pair(base_link, tip_link) }, kdl_config, std::move(solver_name))
+  : KDLInvKinChainNR(scene_graph,
+                     { std::make_pair(base_link, tip_link) },
+                     std::move(kdl_config),
+                     std::move(solver_name))
 {
 }
 
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));