UR Kinematics failing at pick and place

[atyshka]

I'm use MoveIt's pick and place pipeline for some tasks and I'm running into some issues with UR Kinematics. For a simple forward approach, grasp, and lift, KDL works perfectly (albeit with awkward solutions). However, for some reason UR Kinematics has a lot more trouble in limited scenarios. I have a use case where the robot is reaching down from a platform to grasp floor objects. KDL will pick objects low off the floor, but UR Kinematics always says IK Failed unless I'm higher up with more range of motion. Please see attached GIFs.
Here's KDL working with the limited range:

Whereas UR kinematics only works for objects a foot off the ground:

Is this a known issue with UR Kinematics? Can I tune the default parameters in kinematics.yaml for better results?