How to Get Correct Orientation for moveit! pose_target

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Hello everyone, as the title suggests, I'm trying to reliably find a pose_target to send my end effector to. I had a hard time with quaternions so I'm using the euler_to_quaternion_conversion tf function. I also tried to look up the transform between my end effector and located object and find the corresponding pose message but the results where inaccurate. Is this the standard way of doing this? Am I looking up the correct frames? Thank you for your time!