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Is it possible to open a specific WMS layer in QGIS directly by entering the whole URL of this WMS? That is, without having to open a WMS connection first and selecting the layer in the tree.

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Yes, you may do it with a few lines of python, see:

How to load a WMS layer using PyQGIS?

WMS layer in a QGIS 2.4 stand alone Python script

I would recommend testing in the python console in Q, if that works then you could create a simple Q plugin and include that logic for whatever layer(s) you may want to add in.

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No

You have to give the endpoint URL to QGIS, then QGIS appends appropriate parameters to make the map appear.

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