moveit c++ interface- unexpected robot movement

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Hello,

I’m trying to implement pick and place with moveit and gazebo. i have gazebo simulated robot and i’m sending cartesian pose through moveit’s c++ interface.

at initial stage i want my robot to approach the block, i have fetched the pose of the robot from gazebo by calling the service get_model_state, and i have fed it to the moveit c++ interface program.

i expect robot to move to the object but robot moves in exact opposite direction. can anyone explain this behaviour and what i’m doing wrong?

Below you will find: Image of robot and object that i want to approach

Pose retrieved from gazebo

position_x=0.871467

position_y=-0.076430

position_z=0.295392

orientation_x=0.002768

orientation_y=-0.003604

orientation_z=0.003009

orientation_w=0.999985

below is the code i’m using

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

  static const std::string PLANNING_GROUP = "panda_arm";

  moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);

   //setting up movegroup class
   moveit::planning_interface::PlanningSceneInterface planning_scene_interface;

   const robot_state::JointModelGroup* joint_model_group =
   move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);

   move_group.setPlanningTime(15);



  // Planning to a Pose goal
  // We can plan a motion for this group to a desired pose for the
  // end-effector.
  geometry_msgs::Pose target_pose1;
  target_pose1.orientation.x = 0.002768;
  target_pose1.orientation.y = -0.003604;
  target_pose1.orientation.z = 0.003009 ;
  target_pose1.orientation.w = 0.999985;
  target_pose1.position.x = 0.871467;
  target_pose1.position.y = -0.076430;
  target_pose1.position.z = 0.295392;
  move_group.setApproximateJointValueTarget(target_pose1, "panda_link7");
   //move_group.setPoseTarget(target_pose1);


   //call the planer to plan the myplan
   moveit::planning_interface::MoveGroupInterface::Plan my_plan;

   //moving to pose goal
   move_group.move();

   ros::shutdown();
 return 0;
}

Update 1

Reference frames of object and robot

Update2

URDF File for robot can be found here.

Main file is panda_arm_hand.urdf.xacro, File related to arm is panda_arm.xacro, File related to gripper is hand.xacro

Update3

robot position after minimizing x distance