weights of the encoder larger but doesn't really help you so to prevent this from happening you're going to attach every every single one of those spheres with a spring it to the center okay so you tell us years you can't go too far you know you pay price for going too far and so the system is going to try to find a trade-off between you know pushing the balls far away from each other but not being able to do this is going to merge or or let some of the spheres interpenetrate as long as the reconstruction error that this causes is