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Musgraveia sulciventris
Large insect, flat body with dark brown/black colouring, mid length antennae coloured orange, legd tips orange, blue/green sheen on body and segments outlined in almost a luminous aqua colour. Emits a bad smell when disturbed. Feeds on a variety of plants and parts of.
Variety of species found throughout Australia, this one in dry woodland and then alighted on citrus tree.
Thanks Leuba. Hey - it does look like Darth Vader!
Thanks LaurenZ. There's been a lot of stink bug activity this season, and many varieties I have not seen before.