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At first glance the code seems fine to me. However there's several things that might be going wrong.

1) Are you sure that the position you are requesting is reachable by the robot? 5 meters seems quite far for any reasonable robot arm...

2) Depending on your chain configuration, the initial joint position given to the iteration and the desired cartesian position, it may happen that you are having problems with getting stuck in a singular configuration. If the iterative method is trying to move _exactly_ in a singular direction then it will never leave the initial seed state (all joints equal to 0). Could you try to change the initial position and/or the desired position slightly (e.g. all joints to 0.1) and see if this changes anything?