A PHX is a file that you can edit in Marilou. It contains the definition of a robot or autonomous physical entity. A PHX may later be imported into other PHXs or into worlds. This concept makes it possible to reuse a robot built for a previous simulation project in a new project. 

PHXs can also be used to isolate the various components in a robot. This makes it possible to import them into higher-level entities according to the following "ascending" concept: 

	"Spider" example: A PHX contains the definition for a "leg," including the collision modem, assembly in a rigid body, and the type of connection between the rigid bodies. This autonomous PHX entity can be reused in other models where a "leg" is required.
	The Spider PHX is an assembly of 4 references to pattes.phx with a "box". The legs are connected to the box using "universal" connectors.
	The world (which is actually composed of higher-level PHX's, may contain multiple references to the spider robot. Creating the world consists of importing references to already-assembled PHX's. The spider.mworld world contains: 2 references to spider.phx 1 landscape a textured area

PHX Properties

Before you begin