rid of the perimeter guards because they're so expensive and bulky and and bad for performance while still having visibility but the cool thing was it could bump into things and not have the propellers touch it and in this case like we go we fly into this glass intentionally and we actually detect that collision and we add that obstacle into our map there so we won't do it again which is a pretty neat thing to do and then yeah we look a lot at sort of recovery from dynamic new verse so we call this inverted pizza toss where you