Tool0 URDF Modifications Break Path Planning

I've been trying to properly define my tool frame in ROS so that it matches the tool frame of the physical robot. Doing this requires changing the following lines of code in the URDF: If I change the origin rpy in any way, it will no longer be able to find any valid states when I plan any orientation goal (even 1,0,0,0). Any help would be much appreciated. Thanks, Josh