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Cisco VPN Client not connected error

Q: I setup Cisco PIX 515 in my lab to test IPSec VPN. The PIX is behind a Linksys WRTP54G router and UDP port 500 is open. I can establish the VPN in the LAN, but I get not connected error if I test it from a remote office that is behind another PIX 515E. I am not sure the problem is the Linksys router or PIX in the office. Any suggestions?

The lab PIX configuration can be found here, http://www.howtonetworking.com/cisco/pixvpnsample.htm

Here are errors in the log.

09:58:40.947  05/26/06  Sev=Info/5      IKE/0x63000082

Received IOS Vendor ID with unknown capabilities flag 0x000000A5

09:58:40.947  05/26/06  Sev=Info/5      IKE/0x63000001

Peer supports NAT-T

 09:58:40.997  05/26/06  Sev=Info/5      IKE/0x63000072

Automatic NAT Detection Status:

   Remote end IS behind a NAT device

   This  end IS behind a NAT device

09:58:41.566  05/26/06  Sev=Info/5      IKE/0x6300005E

Client sending a firewall request to concentrator

 09:59:06.787  05/26/06  Sev=Info/4      IKE/0x6300004B

Discarding IKE SA negotiation (I_Cookie=672CDA295511818F R_Cookie=9ADE594A69BA0090) reason = DEL_REASON_IKE_NEG_FAILED

 09:59:06.787  05/26/06  Sev=Info/4      CM/0x6310000F

Phase 1 SA deleted before Mode Config is completed cause by "DEL_REASON_IKE_NEG_FAILED".  0 Crypto Active IKE SA, 0 User Authenticated IKE SA in the system

A: Two things:
 On BOTH PIX's, be sure the following command is entered:
   isakmp nat-traversal 20

 And on the Linksys WRTP54G router open UDP 4500

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