How to Incentivize Your Team to Do Things

I don't think, I mean, why hasn't this been solved yet? Because it's a hard problem. How do you make it easy? Can you make it easier? This is the question, right? I think it comes down to incentives and outcomes because it's like, it's incentives. And part of this is what are you measuring, right? Like even, like going back to the software analogy, right? You'd mentioned like commenting in your code, right? When people look at the velocity of a software development team, how often are you just looking at like, well, did you write the code?"