How to replace Gazebo physics with Mujoco

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I have a ros application that uses ros_control and controller_manager while being simulated in Gazebo in an additional pacakge.

I am interested to use the controllers inside this application with Mujoco instead of Gazebo for which I am writing a new package.

If I have understood correctly one typically writes a new script first using hardware_interface::RobotHW class. Is there a way to avoid this? For example if I can still use most of the current implementations within Gazebo to do this.

In the end also I am hoping in general to have the python api of Mujoco also instead of its C++.

Are there also implementation examples other than gazebo that I can look at?