Using the Phoenix Code on the Hexapod Crawler Details Published: Friday, 14 February 2014 05:38 Written by Kyle G I love the PhantomX Hexapod and the stock NUKE IK engine. It's easy to use, elegant, and low on processing requirements. But if you want some life-like gaits and movements, the Phoenix Code is the way to go. Trossen DYNAMIXEL Phoenix Hexapod Prev Next