====== HW2 - Gaze ======
The goal of this task is to implement gaze controller for the iCub robot that is able to follow a ball moving on a table.
The task is simplified to 2D case. The task will be run with GUI off.

|Code template | {{ :courses:hro:hws:hw2.zip |}} |
|Maximum score | 8 (+1) |
|Deadline | 19.3.2026 23:59:59 |

Submit to [[https://cw.felk.cvut.cz/brute/student/|BRUTE]]
===== Task =====
Implement gaze() function in hw2.py that will control the gaze of the robot to follow the ball.
  * the function takes one argument:
    * client - instance of pycub class that controls the simulation
  * the function should control the robot to follow the ball
    * **do not** move the eyes
    * the move **must** non-blocking, i.e., parameter wait=False 
  * you **must not** call `update_simulation()` in this function

===== Scoring =====
  * the ball will be moving for N seconds and each step the error in degrees will be calculated 
  * **The score is calculated based on head-view direction and head-to-ball direction**
  * maximum number of points is M and you will **lose** points based on the following:
    * if the mean absolute error is:
      * less than 0.55 degree - 0% of points
      * more than 0.55 and less than 1 degree - 50% of points
      * more than 1 and less than 5 degrees - 75% of points
      * more than 5 - 100% of points
    * if the max error is:
      * less than 1.25 degrees - 0% of points
      * more than 1.25 and less than 5 degrees - 25% of points
      * more than 5 and less than 10 degrees - 50% of points
      * more than 10 - 100% of points
  * the test will be done **10** times and the final score will be the average of **8** best results
  * If you have all 10 correct, you will get 1 bonus point
  * **the timeout in BRUTE is 15minutes**. But all tests should end under ~5 mins.
  * After deadline, the penalization will be -1 point after each 24 hours

===== Requirements =====
  * do not create new client instance, use the one that is passed as an argument
    * 0 points be will be given otherwise 
  * do not rename the function or file
    * 0 points be will be given otherwise 
  * do not call `update_simulation()` in the function
    * 0 points be will be given otherwise 
  * **must** use non-blocking move, i.e., parameter wait=False  
    * 0 points be will be given otherwise 
  * have "nice" coding style
    * use understandable variable names
    * use comments to explain more complicated things
    * -1 points otherwise
  * Have a general code, i.e., no if/else (switch) statements for every possible case that can happen
    * you can of course still use if/else when needed, but should not be used, for example, based on every possible position of the ball etc.
    * -1 points otherwise
  * **do not** move the eyes. The head must follow the ball
    * no point will be reduced for this, but the automatic evaluation will most probably give you almost no points as it requires the head to "look", not the eyes