Reinforcement Learning for Human Model Pipeline / Scripts

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Has anyone worked on training human models, like the skeleton or muscle models from Mujoco and Myosuite in Genesis? I'm trying to work on the LocoMujoco humanoid torque model, starting with basic tasks like walking at fixed speed in flat ground. I'm having trouble getting a simple model trained as the pipeline and training approach is a little different than what is offered in LocoMujoco.

Has anyone done anything similar and have some tips in terms of setting up the humanoid joint configurations, environment and reward? Would love to collaborate on training some locomotion or manipulation tasks with Human models.