Hi, Caelan,

I hope you are doing well.

I imported the PANDA_ARM_URDF instead of DRAKE_IIWA_URDF in test_kuka_pick.py, and I modified the TOOL_FRAMES in the kuka_primitives.py by adding the term 'panda': "panda_leftfinger", while there is no plan for the Franka robot to pick the block.
I further investigated the code and found that the function inverse_kinematics(), the kinematic_conf is not in the between of [lower_limits, upper_limits].
Could you try to use the Franka robot to pick up the block?
Btw, I'm working on a research project about LLM&TAMP, which is highly close to your fantastic work. If you are interested, we could talk for the potential collaboration :)

Bests,
Shu