How do you create a model with a programmatically generated mesh?

I would like to generate a gazebo model on the fly with a pro-grammatically created mesh. It is unclear to me how this should work. How do you specify the mesh URI for this generated mesh? For example, lets say my program creates a plane mesh: gazebo::common::Mesh* plane_mesh = new gazebo::common::Mesh; gazebo::common::SubMesh* submesh = new gazebo::common::SubMesh; submesh->AddVertex(-1,-1,0); submesh->AddVertex(1, -1,0); submesh->AddVertex(-1,1,0); submesh->AddVertex(1, 1,0); submesh->AddIndex(0); submesh->AddIndex(1); submesh->AddIndex(2); submesh->AddIndex(1); submesh->AddIndex(3); submesh->AddIndex(2); plane_mesh->AddSubMesh(submesh); plane_mesh->SetName("TEST_MODEL_PLANE_MESH"); gazebo::common::MeshManager::Instance()->AddMesh(plane_mesh); How do I refer to this mesh when I insert an SDF model? In a world plugin, what should the mesh URI for my registered plane mesh when I try to insert the model? public: void Load(gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf) { _world->InsertModelString(R"( 0 1 2 0 0 0falsetrueTEST_MODEL_PLANE_MESHTEST_MODEL_PLANE_MESH )");