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I managed to solve it! My mistake was in the URDF file of the linear actuator, where the prismatic joint's axis was specified wrongly as
axis xyz="0.0 0.0 0.01"
instead of
axis xyz="0.0 1.0 0.0"
Therefore, MoveIt was scaling down the joint values by a factor of 100. For future reference, this matches the specifications in the URDF wiki, which states:
xyz (required): Represents the components of a vector. The vector should be normalized.
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