Attaching plugin to a model programmatically

edit

Is it possible to attach plugin to a model directly from the code (not in the sdf files or xml files). So I want to add the model programmatically inside the simulation and then attach a model plugin to that model by specifying the path to the plugin library.

Something like:

//load model

worldPtr_->InsertModelFile(modelName);

//get model pointer

modelPtr = getModelPtr();

//attach a plugin to that model

attachPlugin(modelPtr, pluginName)

The code above should be executed inside the world plugin. Is something like that even possible?