OmniSim portability pilot for one Unitree G1 or Go2 policy

[omnilink-tech]

Disclosure: I maintain OmniSim, an Apache-2.0 robotics simulator derived from Webots and using Newton physics.

I would like to do a small, measurable portability pilot rather than ask this project to support another simulator: take one canonical unitree_rl_lab task/checkpoint, reproduce its observation and action contract in OmniSim, and publish the adapter, launch commands, and measured trajectory differences.

OmniSim already ships G1, H1, and Go2 assets plus an in-engine policy workflow. It has no verified physical-robot transfer, and its current G1 walking result is weight-bearing rather than free-standing, so this would be a compatibility experiment—not a sim-to-real or performance claim.

Which task would be the most useful first test: a Go2 flat-ground velocity policy or a bounded G1 task?

Repository: https://github.com/omnilink-tech/omnisim