layers that have their own boundaries the more you can get out of the robot I think that's kind of universally true the trick is that you have to it's you have to be a lot more careful it's a more dangerous game to play and again we we also use sampling techniques and they have they have a good role to play within the system then I'll just add a note about simulation because it's it's awesome and super useful especially for motion planning there's like for computer vision you want is like really photorealistic images that you've