Fig. A1.

Solutions with the varied manipulations of the optimization algorithm. A: examples of patterns optimized without the range cost (M, k₂ = 0 in Eq. 4). B: simulation without the cost of bilateral flexor activation (O, k₃ = 0 in Eq. 4). C and D: simulations with uncoupled asymmetric G_u parameters selected on the different sides of the heading direction transition (points c and d in G). E and F: simulations with uncoupled asymmetric G_u in points e and f of G. G repeats Fig. 6A with regions marked with letters corresponding to plots of this figure.