respects the physical dynamics of of the vehicle like being able to push the limits of aggressiveness but with if you need it but without sort of commanding something that is not possible by the physical vehicle okay and then here is the same 360 view with with a depth estimate at the bottom so this is one way of visualizing the like full output of our of our depth estimation system where the close pixels are more yellow and so you can imagine how that is really useful for obstacle avoidance because you can directly kind of feed