====== 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 1 second of simulation time after returning from the movement function. GUI will be off.

|Code template | {{ :courses:hro:hws:hw1.zip |}} |
|Maximum score | 5 |
|Deadline | 24.2.2026 23:59:59 |

Submit to [[https://cw.felk.cvut.cz/brute/student/|BRUTE]]
===== How to use the code template =====
  * 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
    * if you did not install the packge then ''hw1.py'' should be by default in ''icub_pybulet/HWs/hw1''. 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


===== Scoring =====
  * max 5 points
  * points for distance are computed as: min(5, distance*2)
    * i.e., you get max 5 points if you push the ball 2.5m away
  * the best three of you get 3/2/1 bonus points
  * The code will be evaluated by TA after the deadline. There is no requirement for code quality. However, you can loose points from the automatic evaluation if violate any of the requirements below.
    * TA will check the runs visually and assess the possible violations.

===== Requirements: =====
  * do not create new client instance, use the one that is passed as an argument
    * -5 points
  * do not rename the function or file
    * -5 points
  * Trajectories must be collision free with the table (self-collisions of the robot are allowed)
    * -1 point
  * Max allowed velocity is 10 (rad/s)
    * -3 points
  * **Do not** introduce artificial delays in the code, e.g., sleep() or using update_simulation() after the ball leave table
    * You can get as creative, e.g., throw or kick the ball. You have unlimited time  to do so, but only until the ball leaves the table. After that if you spend time doing unnecessary stuff you will lose points.
    * -5 points
  * **Do not** turn of gravity
    * -5 points