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Hm. Your message looks like it ought to be correctly specifying an upward lift. Is 'base_link' the robot_frame specified in your hand description file? If not, it won't let you use it as the frame (although it ought to throw an exception in that case).

If you set the min_distance and desired_distance to 0, it should disable the lift entirely, and you can just execute a Cartesian move upwards yourself. I often do an open-loop Cartesian move upwards if the grasp succeeded but the lift claims to have failed anyway, which happens fairly often with the PR2. (Also, setting min_distance and desired_distance to 0 is useful for grasping things like handles, where you really just wanted to close your gripper around the handle.)