root.ts2

prototype(Vendor.Name:FooPlugin) < prototype(TYPO3.Neos:Plugin)
prototype(Vendor.Name:FooPlugin) {
	package = 'Vendor.Name'
	controller = 'Standard'
	action = 'index'
}

routes.yaml

#
# Put this in your global Routes.yaml
# !!! This must be included before the TYPO3 Neos-Routes 
#
-
  name: 'Foo routes'
  uriPattern: '<VendorNameFooRoutes>'
  defaults:
    '@package': 'Vendor.Name'
    '@format' : 'html'
  subRoutes:
    VendorNameFooRoutes:
      package: Vendor.Name


#
# Put this in your packages Routes.yaml
#
-
  name: 'Basic Route'
  uriPattern: '{node}/custom-part/{--vendor_name-fooplugin.object}.{@format}'
  defaults:
    '@package': 'TYPO3.Neos'
    '@controller': 'Frontend\Node'
    '@format': 'html'
    '@action': 'show'
    '--vendor_name-fooplugin':
        '@package': 'Vendor.Name'
        '@controller': 'Standard'
        '@action': 'index'
        '@format': 'html'
  routeParts:
    node:
      handler:    TYPO3\Neos\Routing\FrontendNodeRoutePartHandler
    '--vendor_name-fooplugin.object':
      objectType: '\Vendor\Name\Domain\Model\Object'
      uriPattern: '{name}'
  appendExceedingArguments: TRUE

TYPO3 Neos plugin: route configuration

URL:
http://example.com/nodename.html?
--vendor_name-fooplugin[package]=vendor.name&
--vendor_name-fooplugin[controller]=standard&
--vendor_name-fooplugin[action]=index&
--vendor_name-fooplugin[object][__identity]=4de2cc9c-79c0-55e7-310e-91c5ae2fea19

should result in
http://example.com/nodename/custom-part/objectname.html

while objectname is dynamic