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Your arg2 is bad. You should not use the end effector link. If should you use: move_group.set_joint_value_target(pose_goal, "link_3",True)

Your arg2 is bad. You should not use the end ~~effector link.~~ effector, but the link in the arm that connect to the end effector. If should you use: move_group.set_joint_value_target(pose_goal, "link_3",True)

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