Access to an Actors Skeleton

I was looking into dynamically changing the skeleton pose of a human model through data from motion capture. I’m struggling with accessing the skeleton class of the model. Im looking for solutions for Gazebo-11 or gz-sim; either is fine.
For gz-sim I didn’t find a way to access a skeleton from the model, but I found the SceneManager, which has a function to get an entity’s skeleton. My problem is just getting an instance of the SceneManager in a plugin.
In gazebo-11, the actor has the skeleton as a protected variable, but there is no way to directly manipulate it.
I would be grateful for any help on the matter.