Deploying Policies in Isaac Sim (Go1)

[Marsak24]

Hi all,
I’m trying to deploy the flat terrain locomotion policy (velocity tracking) for the Go1 robot in Isaac Sim 4.5. I’ve exported the .pt policy file, set up the scripts, and everything loads without errors.
The robot does receive my keyboard commands, but it doesn’t walk or move properly — it either stays in place or twitches a bit, but doesn’t actually follow the commands.
Here’s what I’ve double-checked:
The joint order is correct
I’m using the same actuator model (unitree_go1.pt) used during training
Torque scale and other parameters match what was used in training
Torques are being applied, and control mode is set to “effort”
I’ve gone through the docs and other forum posts, but nothing has worked so far.
Would really appreciate any ideas or things I might be missing!
Thanks so much in advance.