HW1 - Push the Ball

The goal is to hit the ball to push it as far as possible from any part of the table. The ball will always spawn at the same place. The robot can be moved with position or cartesian control. The trajectories should be collision free and max allowed velocity is 10 (rad/s).

The resulting distance is checked after 2 seconds after you return from push_the_ball. BRUTE will use its config file, where the GUI is disabled.

• insert config hw1.yaml to your icub_pybullet/configs directory
  • BRUTE will use exactly this config. However, for local testing it is worth to enable GUI
• insert your code in push_the_ball function in hw1.py
  • do not rename the function
  • do not change parameters of the function
  • you can use other functions inside, but push_the_ball(client) will be called by the evaluation system
    • the variable client of icub_pybullet/pycub.py will be created by the evaluation system. Do not create a new instance of the client inside the function
  • hw1.py should be by default in icub_pybulet/folder/another_folder. You can always change the addition to path in the header of the file or add icub_pybullet to your python path and then it can be anywhere

• max 4 points
• points for distance are computed as: min(3, distance*2)
  • i.e., you get max 3 points if you push the ball 1.5m away
• the best three of you get 3/2/1 bonus points
• 1 point will be assigned after manual check of the requirements and the code quality
  • if you artificialy pause/delay the simulation after the last movement, less point will be awarded

• Trajectories must be collision-free with the table (self-collisions of the robot are allowed)
• Max allowed velocity is 10 (rad/s)
• Submit only the file with the name hw1.py that must include function push_the_ball function that takes client as a parameter