A quick calculation of the amount of energy needed to lift a ball to the upper scoring goal.
The upper goal is 7'1" from the carpet and is 24 inches tall. The ball is 10 inches in diameter so if we're to aim for the middle of the vertical gap, we need to add another 7 inches ( (24-10)/2 = 7 ). So the total height to lift is 7'8" or 92 inches or 2.34 meters.
The ball is 0.3 kg.
The energy needed is 0.3kg x 9.8 N/kg x 2.34m = 6.88 Nm.