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I'd confirm that your arm is at the expected joint pose, you can do this in one of two ways:
a - Add a "RobotModel" display in rviz and it should show the robot a the real current position
or
b - Listen to the joint_states topics and verify that the joint position match the commanded values, in a sourced terminal run the following command:
rostopic echo -n 1 /joint_states
If you have namespaced your setup then you have to prepend that namespace to /joint_states