% These are the results when holding a light object

syn_8_task_term = [0.00349796;  0.0335256; 0.00242745; 0.0142305; 0.0264201; 0.00859825;  0.00655091; 0.00678687; 0.00257377; 0.00528942];
syn_8_act_term =  [0.0170007; 0.0212361; 0.0217356; 0.0209074; 0.0216187; 0.020432;  0.0249237; 0.0193682; 0.0219095; 0.0243148];
syn_8_cost  =     [0.038237; 0.05975; 0.0289224; 0.0867242; 0.0519104; 0.0330007;  0.0389955; 0.0290043; 0.0303923; 0.0364379]; 

full_task_term = [0.000965265; 0.034086; 0.000169875; 0.00200759;  0.0312411; 0.00688188;  0.0127095;  0.00833458; 0.000412234; 0.0163344];
full_act_term  = [0.0399796; 0.0343997; 0.0276781;    0.0325449; 0.0405732; 0.0328267; 0.0359592; 0.0247797; 0.025066; 0.0351098];
full_cost      = [0.0623687; 0.0726955; 0.0354254;    0.0555011; 0.0775079; 0.0517119;  0.0622611;  0.0389298; 0.0307913; 0.0591405];

task_weight = 5;
task_diff = sqrt(syn_8_task_term/task_weight) - sqrt(full_task_term/task_weight);
act_ratio = syn_8_act_term ./ full_act_term;