Control of cassie robot

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I am currently working on the control of cassie robot, which is bipedal robot developed by oregon state university.

I did not see any valuable resources for control of cassie robot in ROS, https://github.com/agilityrobotics/ca... , the UDP control is not good.

However I saw some in mujoco, especially for reinforcement learning control, I wonder if anyone know coding resources for controlling of cassie robot in ROS, for example, zero moment point method, hybrid zero dynamics control, feedback linearization or reinforcement learning control method and I could simulate it in the ROS and related real world simulation software, such as gazebo.

I appreciate your help :)