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Not sure it is what you need, but building gazebo from source, you get access to GTest regression tools and can run different tests related to rendering, physics engine, etc. You could load your models in a test and run it. Take a look at the test section in this link :

http://gazebosim.org/tutorials?tut=contrib_code&cat=development#WriteTests

The advantage there would be to automate testing and then just change your SDF parameters and restart testing.