down here like obstacle avoidance dynamic limits smoothness effective tracking and cinematic quality of the video and these are all you know that there are hard trade-offs with each other it's it's not easy to achieve these things in all but the simplest of cases so I think it breaks down a way that I think you you've you've all kind of seen before so we won't go into this one but basically like we have the the biggest the most interesting part of the problem is figuring out what the cost function should be based on everything