<mujoco model="NeuroMechFly morphology - assisted educational adaptation">
  <!--MODIFIED v4: two illustrative proboscis hinges added. Scripted feeding is an educational animation, NOT a biological motor-controller validation. Original anatomical mesh bytes unchanged.-->
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  <option timestep="0.005" gravity="0 0 0" integrator="implicitfast" />
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  <actuator>
    <position name="servo_joint_LFCoxa_yaw" joint="joint_LFCoxa_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_LFCoxa" joint="joint_LFCoxa" kp="8" kv="0.22" />
    <position name="servo_joint_LFCoxa_roll" joint="joint_LFCoxa_roll" kp="8" kv="0.22" />
    <position name="servo_joint_LFFemur" joint="joint_LFFemur" kp="8" kv="0.22" />
    <position name="servo_joint_LFFemur_roll" joint="joint_LFFemur_roll" kp="8" kv="0.22" />
    <position name="servo_joint_LFTibia" joint="joint_LFTibia" kp="8" kv="0.22" />
    <position name="servo_joint_LFTarsus1" joint="joint_LFTarsus1" kp="8" kv="0.22" />
    <position name="servo_joint_LFTarsus2" joint="joint_LFTarsus2" kp="8" kv="0.22" />
    <position name="servo_joint_LFTarsus3" joint="joint_LFTarsus3" kp="8" kv="0.22" />
    <position name="servo_joint_LFTarsus4" joint="joint_LFTarsus4" kp="8" kv="0.22" />
    <position name="servo_joint_LFTarsus5" joint="joint_LFTarsus5" kp="8" kv="0.22" />
    <position name="servo_joint_LHCoxa_yaw" joint="joint_LHCoxa_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_LHCoxa" joint="joint_LHCoxa" kp="8" kv="0.22" />
    <position name="servo_joint_LHCoxa_roll" joint="joint_LHCoxa_roll" kp="8" kv="0.22" />
    <position name="servo_joint_LHFemur" joint="joint_LHFemur" kp="8" kv="0.22" />
    <position name="servo_joint_LHFemur_roll" joint="joint_LHFemur_roll" kp="8" kv="0.22" />
    <position name="servo_joint_LHTibia" joint="joint_LHTibia" kp="8" kv="0.22" />
    <position name="servo_joint_LHTarsus1" joint="joint_LHTarsus1" kp="8" kv="0.22" />
    <position name="servo_joint_LHTarsus2" joint="joint_LHTarsus2" kp="8" kv="0.22" />
    <position name="servo_joint_LHTarsus3" joint="joint_LHTarsus3" kp="8" kv="0.22" />
    <position name="servo_joint_LHTarsus4" joint="joint_LHTarsus4" kp="8" kv="0.22" />
    <position name="servo_joint_LHTarsus5" joint="joint_LHTarsus5" kp="8" kv="0.22" />
    <position name="servo_joint_LMCoxa_yaw" joint="joint_LMCoxa_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_LMCoxa" joint="joint_LMCoxa" kp="8" kv="0.22" />
    <position name="servo_joint_LMCoxa_roll" joint="joint_LMCoxa_roll" kp="8" kv="0.22" />
    <position name="servo_joint_LMFemur" joint="joint_LMFemur" kp="8" kv="0.22" />
    <position name="servo_joint_LMFemur_roll" joint="joint_LMFemur_roll" kp="8" kv="0.22" />
    <position name="servo_joint_LMTibia" joint="joint_LMTibia" kp="8" kv="0.22" />
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    <position name="servo_joint_LMTarsus2" joint="joint_LMTarsus2" kp="8" kv="0.22" />
    <position name="servo_joint_LMTarsus3" joint="joint_LMTarsus3" kp="8" kv="0.22" />
    <position name="servo_joint_LMTarsus4" joint="joint_LMTarsus4" kp="8" kv="0.22" />
    <position name="servo_joint_LMTarsus5" joint="joint_LMTarsus5" kp="8" kv="0.22" />
    <position name="servo_joint_RHCoxa_yaw" joint="joint_RHCoxa_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_RHCoxa" joint="joint_RHCoxa" kp="8" kv="0.22" />
    <position name="servo_joint_RHCoxa_roll" joint="joint_RHCoxa_roll" kp="8" kv="0.22" />
    <position name="servo_joint_RHFemur" joint="joint_RHFemur" kp="8" kv="0.22" />
    <position name="servo_joint_RHFemur_roll" joint="joint_RHFemur_roll" kp="8" kv="0.22" />
    <position name="servo_joint_RHTibia" joint="joint_RHTibia" kp="8" kv="0.22" />
    <position name="servo_joint_RHTarsus1" joint="joint_RHTarsus1" kp="8" kv="0.22" />
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    <position name="servo_joint_RHTarsus4" joint="joint_RHTarsus4" kp="8" kv="0.22" />
    <position name="servo_joint_RHTarsus5" joint="joint_RHTarsus5" kp="8" kv="0.22" />
    <position name="servo_joint_RMCoxa_yaw" joint="joint_RMCoxa_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_RMCoxa" joint="joint_RMCoxa" kp="8" kv="0.22" />
    <position name="servo_joint_RMCoxa_roll" joint="joint_RMCoxa_roll" kp="8" kv="0.22" />
    <position name="servo_joint_RMFemur" joint="joint_RMFemur" kp="8" kv="0.22" />
    <position name="servo_joint_RMFemur_roll" joint="joint_RMFemur_roll" kp="8" kv="0.22" />
    <position name="servo_joint_RMTibia" joint="joint_RMTibia" kp="8" kv="0.22" />
    <position name="servo_joint_RMTarsus1" joint="joint_RMTarsus1" kp="8" kv="0.22" />
    <position name="servo_joint_RMTarsus2" joint="joint_RMTarsus2" kp="8" kv="0.22" />
    <position name="servo_joint_RMTarsus3" joint="joint_RMTarsus3" kp="8" kv="0.22" />
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    <position name="servo_joint_RMTarsus5" joint="joint_RMTarsus5" kp="8" kv="0.22" />
    <position name="servo_joint_RFCoxa_yaw" joint="joint_RFCoxa_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_RFCoxa" joint="joint_RFCoxa" kp="8" kv="0.22" />
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    <position name="servo_joint_RFTarsus2" joint="joint_RFTarsus2" kp="8" kv="0.22" />
    <position name="servo_joint_RFTarsus3" joint="joint_RFTarsus3" kp="8" kv="0.22" />
    <position name="servo_joint_RFTarsus4" joint="joint_RFTarsus4" kp="8" kv="0.22" />
    <position name="servo_joint_RFTarsus5" joint="joint_RFTarsus5" kp="8" kv="0.22" />
    <position name="servo_joint_Head_yaw" joint="joint_Head_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_Head" joint="joint_Head" kp="8" kv="0.22" />
    <position name="servo_joint_Head_roll" joint="joint_Head_roll" kp="8" kv="0.22" />
    <position name="servo_exhibit_rostrum" joint="exhibit_rostrum" kp="8" kv="0.22" />
    <position name="servo_exhibit_haustellum" joint="exhibit_haustellum" kp="8" kv="0.22" />
    <position name="servo_joint_LPedicel_yaw" joint="joint_LPedicel_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_LPedicel" joint="joint_LPedicel" kp="8" kv="0.22" />
    <position name="servo_joint_LPedicel_roll" joint="joint_LPedicel_roll" kp="8" kv="0.22" />
    <position name="servo_joint_LFuniculus_yaw" joint="joint_LFuniculus_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_LFuniculus" joint="joint_LFuniculus" kp="8" kv="0.22" />
    <position name="servo_joint_LFuniculus_roll" joint="joint_LFuniculus_roll" kp="8" kv="0.22" />
    <position name="servo_joint_LArista_yaw" joint="joint_LArista_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_LArista" joint="joint_LArista" kp="8" kv="0.22" />
    <position name="servo_joint_LArista_roll" joint="joint_LArista_roll" kp="8" kv="0.22" />
    <position name="servo_joint_RPedicel_yaw" joint="joint_RPedicel_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_RPedicel" joint="joint_RPedicel" kp="8" kv="0.22" />
    <position name="servo_joint_RPedicel_roll" joint="joint_RPedicel_roll" kp="8" kv="0.22" />
    <position name="servo_joint_RFuniculus_yaw" joint="joint_RFuniculus_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_RFuniculus" joint="joint_RFuniculus" kp="8" kv="0.22" />
    <position name="servo_joint_RFuniculus_roll" joint="joint_RFuniculus_roll" kp="8" kv="0.22" />
    <position name="servo_joint_RArista_yaw" joint="joint_RArista_yaw" kp="8" kv="0.22" />
    <position name="servo_joint_RArista" joint="joint_RArista" kp="8" kv="0.22" />
    <position name="servo_joint_RArista_roll" joint="joint_RArista_roll" kp="8" kv="0.22" />
  </actuator>
</mujoco>