franka_hw_sim_mujoco_plugin.xml

<library path="lib/libfranka_hw_sim_mujoco">

  <class
      name="franka_mujoco/FrankaHWSim"
      type="franka_mujoco::FrankaHWSim"
      base_class_type="mujoco_ros::control::RobotHWSim">
      <description>
          A custom implementation of a mujoco_ros_control plugin, which is able to simulate franka interfaces in MuJoCo.
      </description>
  </class>

</library>