RMP flow not convering on moving end effector of robotic arm to target

[twalewski]

Hi, I am trying to load in my custom robot in omniverse and use RMPflow to manipulate it and move it to a target. I got the robot from a CAD model and rigged its joints myself. They all work properly, and the robot does move, but not to the target. The cspace rmp seems to be the only one affecting the movements (when I set the cspace metric scalar to zero isaac sim hangs). The robot does not move to my target despite RMPflow getting the location of it properly. Since my robot arm is imported, I used the URDF exporter to create the URDF, and the franka robotic_description.ymal file to get some basic config (I messed around with this a lot though). Since the issue is likely my URDF, how can I validate or fix this?