A central question in neuroscience is understanding how sensory information is transformed into a motor output. To address this question, we need to know the neural circuits underlying these transformations from the sensory to the motor side, and the neuromuscular activity patterns involved. The compact nervous system of the Drosophila larva allows studying complete sensorimotor circuits. Our past research characterized neuronal circuits underlying the competition between defensive actions: startle actions e.g., Hunch and escape actions e.g. Bend, at the early stages of sensory processing (Jovanic et al, 2016, Lehman et al, BioRxiv 2023). However, how this information is conveyed to motor circuits to produce appropriate activation patterns is not understood. Using calcium imaging, we recorded motor patterns underlying different defensive actions. We observed synchronous and symmetric motor patterns that correspond to the Hunch. On the other hand, distinct combination of synchronous-asymmetric and synchronous-symmetric motor patterns correspond to escape behaviors. Secondly, we have identified putative pathways towards the motor side for the different defensive actions. In the future, correlating activity of individual neurons with motor patterns using dual color imaging will allow us to understand the neural circuits mechanism involved in each motor action. Additionally, the ongoing characterisation of muscle pattern activation underlying the defensive actions will provide entry points from the motor side to ultimately allow mapping entire sensorimotor circuits. Altogether, this will allow us to understand how sensory information is processed by these circuits to generate coordinated behaviors.