The way that we make all of this work, ubiquitously across all of the different tractors, whether you have a 1975 Peter build or a 2024 E-Cascadia, it's going to work. The kingpin is this mechanical connection kind of like a trailer ball on a bumper pull trailer. And what we're doing is we're measuring the forces in real time at that kingpin. We send that information back to our vehicle controller and we say that you are in drive mode. This is your environment and now there's tension on this kingpin. Do everything you can to hold that tension at some nominal load,. Whether it's zero or a hundred newtons or a thousand