Revolve is an open source software framework for robot evolution providing C++ and Python libraries to create, simulate and manage robots in the Gazebo general-purpose robot simulator. Given a specification, a robot body can be constructed by Revolve from a tree structure, starting with a root node extending to other body parts through its attachment slots. Revolve also ships with some simple generator classes, which can generate arbitrary robot bodies from scratch given a set of constraints.
Revolve was originally developed and is maintained by researchers and engineers working at the Computational Intelligence Group within Vrije Universiteit Amsterdam for the purposes of conducting robot body and brain evolutionary-related research. The system is general enough to be applicable in a wide variety of other domains, as well.