stay to not crash into them versus like how often is it going to get stuck in a dense forest if we do that so we can like we tend to run logs against hundreds and thousands of with regressions against a ton of just recorded log data right so we record all of our flights all of the images and we can rerun all our vision algorithms and check like those types of things but for planning you can't change what the robot did right it's it's it's all kind of off policy and so simulation is really helpful there and so we can run an