If you are right up on a singer or guitar cabinet, it should not sound soft or ambient if there is not some technical problem.
Most vocals and guitars you hear on commercial albums are compressed to hell, producing that in-your-face sound. Try adding some to your tracks.
If you said U87 I would say turn the mic around, but with these stick style mics you are probably not performing into their backsides.
You don't have your monitors turned up to the point that they could bleed back into the mic, do you?
The Rode will need phantom power. Is in turned on on the 003?
Try a different input channel/mic pre on the 003.
Tried different mic cables? Maybe yours has the pins swapped.
Try a Reflexion filter?
http://www.sweetwater.com/store/detail/Reflexion/
What is the recording environment? Typical 10x10 bedroom? Tiled bathroom? Your baffle attempts should have cleared this up, though...