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For me setPositionTarget() works.

  1. with move_group->getEndEffectorLink() check if your end-effector is correct. (or you can just pass your end-effector name as string as a 4th argument)
  2. make sure the position you pass into getEndEffectoLink() is reachable with this end-effector. The values you used would not be reachable for my robot (Neuronics katana), but it depends on your robot.