How to Make a Hyperim Robot Work?

You really have to look at the kinematics of the vehicle and figure out, you know, in our case, this vehicle, the Hyperim robot was four-wheel drive. And it had this cool design, where the front axle was just, there was no active actuation on it. But so like these kinematic models are basically they're sort of a model of the physics of the system. So you do have to understand mechanics in order to write the software.