% We perform ten trajectory optimizations to the same target, and record
% the varibility from run-to-run here:

task_cost  = [0.000471874; 9.93938e-05;  0.00021606; 0.000291473;  0.0021494; 0.000906142; 0.000631215;  0.000437178; 0.000226504;   0.000220305];
act_cost   = [0.0182577;   0.0191459;    0.020125;   0.0153004;    0.016475;  0.0191889;   0.0177432;    0.0167409;   0.0198013;     0.0158841];
total_cost = [0.0346219;   0.0353378;    0.0357727;  0.031016;     0.0339422; 0.0347215;   0.0331149;    0.0337079;   0.0379525;     0.0331537];

display(' variability in the total cost percentage relative to the mean');
std(total_cost)/mean(total_cost) * 100

task_weight = 5;
display('Variability from run-to-run in the final hand position in cm')
std(sqrt(task_cost/task_weight) * 100)

display('Variability in the percentage of effort relative to the mean')
std(act_cost/(mean(act_cost))) * 100

%{
1.
min result: 0.0346219
actual position: 0.12144 - -0.146672 - 0.343874
rand effect position: 0.117644 - -0.15 - 0.352174
task_term: 0.000471874
activation cost: 0.0182577
joint limits costs: 0.000842249
velocity term: 0.000868267
velocity: ~[-0.000768134,0.000862947,0.00567198]
pro sup: 0.0141819
wrist term: 1.23522e-24
hold term: 0
jerk cost: 0
sum pro sup diff: 0
f: 0.0346219

2.
actual position: 0.115301 - -0.147631 - 0.355137
rand effect position: 0.117644 - -0.15 - 0.352174
task_term: 9.93938e-05
activation cost: 0.0191459
joint limits costs: 0.000799011
velocity term: 0.00299083
velocity: ~[0.0094547,-0.0050546,0.0168113]
pro sup: 0.0123026
wrist term: 7.69669e-25
hold term: 0
jerk cost: 0
sum pro sup diff: 0
f: 0.0353378 by rank 12

3.
actual position: 0.11645 - -0.153444 - 0.346704
rand effect position: 0.117644 - -0.15 - 0.352174
task_term: 0.00021606
activation cost: 0.020125
joint limits costs: 0.000542811
velocity term: 0.00103455
velocity: ~[-0.000220499,8.30712e-05,-0.00689294]
pro sup: 0.0138543
wrist term: 5.53067e-27
hold term: 0
jerk cost: 0
sum pro sup diff: 0
f: 0.0357727 by rank 0

4.
actual position: 0.124858 - -0.149562 - 0.354635
rand effect position: 0.117644 - -0.15 - 0.352174
task_term: 0.000291473
activation cost: 0.0153004
joint limits costs: 0.000476504
velocity term: 0.000833114
velocity: ~[0.00476606,0.000223626,0.002843]
pro sup: 0.0141144
wrist term: 2.49783e-25
hold term: 0
jerk cost: 0
sum pro sup diff: 0
f: 0.031016 by rank 0

5.
actual position: 0.13652 - -0.147408 - 0.36035
rand effect position: 0.117644 - -0.15 - 0.352174
task_term: 0.0021494
activation cost: 0.016475
joint limits costs: 0.000560444
velocity term: 0.000440801
velocity: ~[-0.00153384,-0.00135333,-0.00210989]
pro sup: 0.0143165
wrist term: 8.53138e-27
hold term: 0
jerk cost: 0
sum pro sup diff: 0
f: 0.0339422 by rank 2

6.
actual position: 0.124692 - -0.142232 - 0.360612
rand effect position: 0.117644 - -0.15 - 0.352174
task_term: 0.000906142
activation cost: 0.0191889
joint limits costs: 0.000394978
velocity term: 0.0006548
velocity: ~[0.00424671,0.000647898,0.000775801]
pro sup: 0.0135766
wrist term: 2.36905e-26
hold term: 0
jerk cost: 0
sum pro sup diff: 0
f: 0.0347215 by rank 4

7.
min result: 0.0331149
actual position: 0.120981 - -0.139307 - 0.353045
rand effect position: 0.117644 - -0.15 - 0.352174
task_term: 0.000631215
activation cost: 0.0177432
joint limits costs: 0.000728183
velocity term: 0.00303064
velocity: ~[-0.0201066,-0.00192261,-0.000489273]
pro sup: 0.0109817
wrist term: 2.38677e-26
hold term: 0
jerk cost: 0
sum pro sup diff: 0
f: 0.0331149 by rank 0

8.
actual position: 0.118321 - -0.152548 - 0.343203
rand effect position: 0.117644 - -0.15 - 0.352174
task_term: 0.000437178
activation cost: 0.0167409
joint limits costs: 0.000723519
velocity term: 0.000245675
velocity: ~[0.00132942,0.00045555,0.000841198]
pro sup: 0.0155606
wrist term: 3.39842e-25
hold term: 0
jerk cost: 0
sum pro sup diff: 0
f: 0.0337079 by rank 0

9.
actual position: 0.122246 - -0.154577 - 0.353955
rand effect position: 0.117644 - -0.15 - 0.352174
task_term: 0.000226504
activation cost: 0.0198013
joint limits costs: 0.000582413
velocity term: 0.000901806
velocity: ~[-0.00241949,0.0053814,-0.00115378]
pro sup: 0.0164405
wrist term: 9.29697e-26
hold term: 0
jerk cost: 0
sum pro sup diff: 0
f: 0.0379525 by rank 6

10.
actual position: 0.117776 - -0.151299 - 0.345666
rand effect position: 0.117644 - -0.15 - 0.352174
task_term: 0.000220305
activation cost: 0.0158841
joint limits costs: 0.00069569
velocity term: 0.00149888
velocity: ~[-0.0030961,0.00628761,-0.00712257]
pro sup: 0.0148547
wrist term: 2.90771e-25
hold term: 0
jerk cost: 0
sum pro sup diff: 0
f: 0.0331537 by rank 0
%}