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Are you sure you want the end effector to move to orientation (x,y,z,w)=(0,0,0,1) (quaternion)?
Seeing your examples in front and behind the robot makes me wonder about that.
If you want position-only goals, you might want to use setPositionTarget instead.
Apart from this, it is a well-known issue that targets fail because of unreachable inverse kinematics requests. If this makes you feel any better: things are going to improve here quite a bit in the near future.
Until then: did you configure your setup to use TracIK for kinematics?
And are you really sure your robot can reach the position & orientation you request?
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