I found this answer:
Japanese Dog Training Commands
For most dog training commands, but I didn't see anything for "stand" or "stay"
I think that "stay" would be まて but I couldn't quite figure that out.
I also learned something like "ikky mah sho" (english phonetics) for "Let's go" - but it was a long time ago (before the internet was born!) and I don't have any clue where it came from or if it is even remotely correct.
Any help?