intermediate state independently some together and then the fourth one looks at Z and the full trajectory as a whole and they all get fairly similar results actually so here's the third tapered Eisenbach a tall paper showing a range of behaviors that comes out of this when you apply this to the cheetah robot so for different disease you get different behaviors here I mean we see how our mission information people use different Z's and the trajectories look very different to us may not indeed a different Z results in a very different