Additional information for DVC Homework 2:
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Part 2, A) and B): 

The instructions say: "transport the object to a desired position and orientation."
The desired position is anywhere between [2.0, 2.0] and [2.5, 2.5].
You may end with any orientation.


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You might find this code helpful in generating trajectories:

// Add this code to App.h as a public method.
//
// Print (to stdout) the world frame coordinates of a mouse click.
void MouseDown(int x, int y, int button)
{
  DVC_AppGL::MouseDown(x, y, button);
  printf("%f %f\n",mouseControl_.worldX_, mouseControl_.worldY_);
}


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You may run into a problem when attempting a force closure grasp-
the robots tend to roll as seen in this movie:

http://www.rpi.edu/~marioj/robotics2/hw2/media/roll2.avi 

You might want to extend the GripControl class to add torque forces.