Javascript/NodeJS Scripting of Gazebo (python also?)

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This might be good for a FAQ: (at least for beginners here like me):

The tutorials list a number of ways JS/NodeJS programs can pub/sub to Gazebo. But it also hints at more API functions that can be reached: e.g Reading SDF model information:

http://gazebosim.org/tutorials?tut=ga...

What things that can normally only be done via C++ plugins can be also be done with JS?

• Events subscription?
• Implement a plugin (e.g. sensor) [probably not, since it needs to be an .so)
• System, World, Object API?
• Grabbing Sensor Rays (multiRays) and exploring intersections with world objects?

Same question for Python.

[I certainly realize the performance will not be the same as a in-process library written in C++, but for some use cases, this functionality will be fine and lead to faster prototyping]