try to carefully design your problem there constraints in the setup of what you have to to have you know stability and convergence and and there's there's a lot of there's a ton of work that could be put into that that is that is tricky but there's no fallback that's a good fallback because let's say a fallback is like you know go constant velocity well you might just run into something or like yeah but you can but you could for example say oh I'm gonna stop carrying about any of my other high-level stuff and I just want to like