Roll implementation in Task space for OpenManipulator-X

[AdityaPrakash23]

Hello there! I am working on a project where I need to implement roll angle for the gripper for an inspection operation using ROS Noetic. My team has already made the URDF model, made the changes in Gazebo yaml files, and other changes such as adding the extra joint in the openmanipulator.cpp file and other changes mentioned in the Issue 84. I am using the keyboard teleop, which also has been modified, to control the robot in simulation.
When moving the roll joint in joint space, it works perfectly and the roll angle movement shows up even in Gazebo. But when I try to move the new roll joint in the Task space, the joint shows no motion at all. When I try to check the ROS topic that is supposed to have the current joint angle, that remains frozen as well, despite it working for movement in joint space commands. I also tried implementing pitch movement in task space since its not originally implemented, but that work perfectly fine.
I have tried unsuccessfully to debug this error and my only suspect is the Kinematics. Could anyone give an expert opinion on this matter?
Thanks!