How to bridge the gap between isaac gym and Unity

I am trying to load isaac gym trained A1 robot into Unity with Unity’s URDF-importer , however, there is gap between isaac gym and unity even though I have set the same parameters like stiffness,damping,friction and same basic physics settings, I am unable to make AI walk continuously in Unity.

Is there any suggestions about this problem?
Thank you very much.

I suggest you start from a simple model rather than a complicated one, I did the same thing for comparing between Matlab Simscape and Isaac gym and understanding the discrepancies, I have several posts which clarify parameters like stiffness and… you can find them here: