Using setJointValueTarget and setPoseTarget have different results

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The following code works, if the target is defined by Joint Value. But if I define the same point by Pose (as in the comment section), the planning path is different every time I run the code. And some times the robot is not able to find the path...

I am using hydro on UR10, moveit version is 0.5.20. ubuntu 12.04. I get the position and orientation value of 'goal' by using command: rosrun tf tf_echo base_link ee_link, when the end effector reach 'joints'.

So basically, 'goal' and 'joints' are the same position. Why setJointValueTarge is working while setPoseTarget is not?

int main(int argc, char **argv)
{
  ros::init(argc, argv, "move_group_test");
  ros::AsyncSpinner spinner(1);
  spinner.start();

  moveit::planning_interface::MoveGroup group("manipulator");
  group.setPlannerId("ESTkConfigDefault");

  std::map<std::string, double> joints;
  joints["shoulder_pan_joint"] = 0;
  joints["shoulder_lift_joint"] = -0.5648;
  joints["elbow_joint"] = -1.06;
  joints["wrist_1_joint"] = -1.69;
  joints["wrist_2_joint"] = -1.76;
  joints["wrist_3_joint"] = 8.572;  
  group.setJointValueTarget(joints);
  group.move();

/*
  geometry_msgs::Pose goal;
  goal.position.x = 0.555;
  goal.position.y = 0.146;
  goal.position.z = 1.156;
  goal.orientation.w = 0.991428;
  goal.orientation.x = 0.0085588;
  goal.orientation.y = -0.087665;
  goal.orientation.z = -0.0964952;
  group.setPoseTarget(goal);
  group.move();
  */

}