Suppose I have a custom URDF robot and that I'm trying to find an optimal value for a certain parameter.

For example, suppose this robot is a car and I want to test 100 different wheel sizes to see which one allows the robot to move the fastest (just an example).

Is there a way to automate this testing within gazebo so that I wouldn't have to edit and create 100 different URDF files? I just don't even know where to begin on something like this so any help would be appreciated.