Orientantion in End-Effector

I’m currently using SOFA with python. Using the “QPInverseProblemSolver” I’m trying to command a robot by giving the end-effector a desired position and orientation. The end-effector is defined by an EffectorNode, and the desired position and orientation is defined using a GoalNode as shown below:

   goalNode = rootNode.createChild('GoalNode')
    goalNode.createObject('EulerImplicit', rayleighStiffness=0.02, printLog=False, rayleighMass=0.01, firstOrder='1')
    goalNode.createObject('SparseLDLSolver', name='ldl')
    mo = goalNode.createObject('MechanicalObject', name='mo_goal', template='Vec3d', position='0 0 0', rotation='0 0 0') 
    goalNode.createObject('UniformMass')
    goalNode.createObject('GenericConstraintCorrection', name='GCC', solverName='ldl')

...

    EffectorNode = MecaModelNode.createChild('EffectorNode')
    EffectorNode.createObject('MechanicalObject', template='Vec3d', position='0 0 0', rotation='0 0 0' )
    EffectorNode.createObject('RigidMapping',  rigidIndexPerPoint='0')
    EffectorNode.createObject('PositionEffector', template='Vec3d', useDirections='1 1 1', use_orientation=True, indices='0', effectorGoal='@../../GoalNode/mo_goal.position')
    MecaModelNode.createObject('AdaptiveBeamForceFieldAndMass', massDensity=0.000155, name='LinkForceField', interpolation='@interpolation')

For a pure translation the end-effector reaches the desired position. However, a pure rotation seems not to work correctly for the end-effector. So I would like to know how to give a specific orientation to the end-effector?

Kind regards,
Oscar