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Since we don't really know if set_pose_target expects a rotation vector we figured it might be best to convert to a Pose message "by hand":

    quaternion = quaternion_from_euler(self.pose.a, self.pose.b, self.pose.c, axes='sxyz')  # static/fixed frame XYZ
    target = Pose(
        position=Point(
            x=self.pose.x,
            y=self.pose.y,
            z=self.pose.z,
        ),
        orientation=Quaternion(
            x=quaternion[0],
            y=quaternion[1],
            z=quaternion[2],
            w=quaternion[3],
        )
    )
    manipulator.set_pose_target(target, end_effector_link)
    manipulator.go()