<ros2_control name="MujocoSystem" type="system">
    <hardware>
      <plugin>mujoco_ros2_control/MujocoSystemInterface</plugin>
      <param name="mujoco_model">$(find my_description)/description/scene.xml</param>

      <!--
       Optional parameter to load the PIDs that can be used with the actuators loaded with the MuJoCo model.
       The velocity actuator supports position mode with the PID gains, and the rest of the actuation models
       support both position and velocity mode provided the corresponding PID gains. The gains should be in ROS
       parameters format to be loaded by the control_toolbox::PidROS class.
        -->
      <param name="pids_config_file">$(find my_description)/config/pids.yaml</param>

      <!--
       Optional parameter to override the speed scaling parameters from the Simulate App window
       and just attempt to run at whatever the desired rate is here. This allows users to run the simulation
       faster than real time. For example, at 500% speed as set here. If this param is omitted or set to
       a value <0, then the simulation will run using the slowdown requested from the App.
      -->
      <param name="sim_speed_factor">5.0</param>

      <!--
        Optional parameter to use the keyframe from a provided file as the starting configuration. This is mutually exclusive with
        the initial_value that can be used for state interfaces. This is intended to provide an alternative method to load an entire
        mujoco model state from a configuration that was saved by clicking 'Copy state' in the simulate window, and pasted into a
        config file. Expected use cases are to work on a specific part of an application that involves the environment being in a
        very specific starting configuration. If this parameter is an empty string, it will be ignored.
      -->
      <param name="override_start_position_file">$(find my_description)/config/start_positions.xml</param>

      <!--
        Optional parameter to update the simulated camera's color and depth image publish rates. If no
        parameter is set then all cameras will publish at 5 hz. Note that all cameras in the sim currently
        publish at the same intervals.
      -->
      <param name="camera_publish_rate">6.0</param>

      <!--
        Optional parameter to update the simulated lidar sensor's scan message publish rates.
        All lidar sensors in the simulation will be configured to publish these scan messages at the same rate.
      -->
      <param name="lidar_publish_rate">10.0</param>

      <!--
        The parameter headless can be used to choose whether to launch the MuJoCo simulator in headless mode or not.
        By default, it is set to false
      -->
      <param name="headless">false</param>
    </hardware>
  ...