Help with sim2sim from IsaacLab to Mujoco

I’m currently training a policy for the Unitree G1 and have it working in IsaacLab. I’ve been trying to transfer the policy to test in Mujoco for days now and cant figure it out. The best I’ve gotten is to have the robot spawn in Mujoco but it either falls limp or freaks out and then locks up. Does anyone have an important info or tips for sim2sim between these two simulators? Or even any good resources that directly relate?