Moveit All supplied grasps failed

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I'm working to get moveit setup on a UR10 and I'm trying to work on pick and place. I'm following the pr2 pick and place tutorial here and I'm running into an issue. Pick functionality works, but I get a warn message about the grasps failing

[ INFO] [1530625344.776785768]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1530625344.777060921]: Planning attempt 1 of at most 1
[ INFO] [1530625344.778425236]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1530625344.779079174]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1530625344.779107022]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1530625344.779145149]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1530625344.779181016]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1530625344.791244874]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1530625344.791313155]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1530625344.792481685]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1530625344.792657659]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1530625344.792799171]: ParallelPlan::solve(): Solution found by one or more threads in 0.013949 seconds
[ INFO] [1530625344.793057560]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1530625344.793114487]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1530625344.793148962]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1530625344.793234726]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1530625344.796124866]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1530625344.796161945]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1530625344.796253756]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1530625344.796473144]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1530625344.796578141]: ParallelPlan::solve(): Solution found by one or more threads in 0.003578 seconds
[ INFO] [1530625344.796718168]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1530625344.796763959]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1530625344.798829562]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1530625344.798859756]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1530625344.798965625]: ParallelPlan::solve(): Solution found by one or more threads in 0.002279 seconds
[ INFO] [1530625344.810021116]: SimpleSetup: Path simplification took 0.010913 seconds and changed from 3 to 2 states
[ INFO] [1530625344.817039423]: on_goal
[ INFO] [1530625349.873396896]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1530625365.026701757]: Planning attempt 1 of at most 1
[ INFO] [1530625365.034736334]: Added plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1530625365.053365691]: Manipulation plan 0 failed at stage 'reachable & valid pose filter' on thread 2
[ WARN] [1530625365.053636379]: All supplied grasps failed. Retrying last grasp in verbose mode.

Since the pick is successfully executing, clearly moveit thinks there's an issue with the grasp but it works in verbose mode. What could be causing this error?