Operational Space Controller for fixed base quadruped for single leg control

[Rhyssmcm]

Joint Torques calculated are based on the operational space controller . The robot is converted from urdf to USD via command in windows terminal "(env_isaaclab) PS C:\Users\Rhyss\IsaacLab> .\isaaclab.bat -p scripts\tools\convert_urdf.py `

C:\Users\Rhyss\IsaacLab\paws\Paws\urdf\Paws_single.urdf `
source\isaaclab\data\Robots\Paws_single.usd `
--merge-joints `" . From my code the initial position and target position for the end effector seems reasonable "ee_pose_b tensor([[ 1.8916e-01, -1.3301e-01, -3.4614e-01,  1.0000e+00,  6.7961e-04, -7.4134e-04, -5.3660e-07]], device='cuda:0')

ee_target_pose tensor([[ 1.8870e-01, -1.3328e-01, -3.0000e-01, 1.0000e+00, 0.0000e+00,"

I am struggling to see why this is going wrong when I am essentially copying the tutorial with a few changes eg gain is fixed instead of variable and I do not update the target as I cant even get the first target. My aim is to press my quadruped foot into the ground and measure penetration based on the force exerted. I have attached the python code, URDF and USD.
Please help as I believe I must be making a crucial stupid mistake.

PawSingleOnSoft_OSC.zip

The URDF and USD are uploaded here :
Paws_single_leg_models.zip