This reminded me of a physics toy I saw ~10 years ago where you would draw simple two-dimensional robots with legs and muscles, optimize their gait, and race them.
I am reminded of what i believe is the same thing constantly and can never find it. I always thought it was called something like Sodaracer but searches have been unsuccessful. I remember evolution algorithms to make the fastest amoeba wheels.
If only I could remember the name of it...