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Found the problem: apparently the public name has to be ModelPlugin (in this case, at least). I'm assuming that the first word changes depending on plugin type?

Correct, the name coming after public there is the name of the class which your plugin is inheriting from. In your case, since you're using GZ_REGISTER_MODEL_PLUGIN, you need to inherit from gazebo::ModelPlugin. There are also other types available, like WorldPlugin and VisualPlugin.

See this tutorial for more info.