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you can just load an urdf as normal model. You just have to load an URDF instead of SDF. But loading URDFs can be tricky from time to time so you should use an SDF when you can.

Here is an example model.config:

<?xml version="1.0"?>

    <name>Your Name</name>

    Small description of the model 

Have a look at this tutorial series if you do not know how to set up a robot

for your first question a model plugin is the right way to go...