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*				Homework 2						*
*					 						*
*In this homework you will explore grasping and dexterous manipulation.                 *
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This homework will be done in **2D**, not 3D.  
Directions for getting 2D working are included below.


Part A:
     This part takes place in a vertical plane above a slippery support surface.
     The scene contains an object and a hand.
     
     Your task is to control the hand to achieve form closure of the object and
     then place it back on the surface in its original position and orientation.

Part B:
     This part takes place in a vertical plane above a rough support surface. The
     scene contains a hand, three objects, and three pedestals; bronze, silver,
     and gold.
       
     Your task is to grasp each part and place it on a pedestal.  Take notice of
     the fact that the pedestals are *not* anchored to the ground.  To get full
     credit, one part must be at rest on top of each pedestal.

Part C:
      This part takes place in a vertical plane above a rough support surface.  The
      scene contains a hand, four objects, and a ball.

      Your task is to stack as many parts on top of the first part (located at (0,0))
      as you can.  To make this challenging, the ball will shoot at the stack of parts
      periodically.  If you want to make your stack higher, you can add parts to the
      scene by copying and pasting the geometry of the part in the xml scene.  Just
      make sure you change the name after pasting.


*******************
*Setting up DVC 2D*
*******************

1)  Get the code.

    You only need to do this if you ONLY checked out the experimental branch of dvc.  
You can check this by looking inside the directory where you placed the dvc source code.  
If along with the experimental folder there is a trunk folder, then you have dvc 2d and you can skip this step.  
Otherwise, check out (using TortoiseSVN on Windows or 'svn co' on Unix/Linux) the following repo:

    https://dvc.svn.sourceforge.net/svnroot/dvc/trunk

2)  Provide PATH to dvc

    
    Inside your dvc3 folder, from the libraries folder, copy the entire pathlib directory into

    ../trunk/dvc-2d/libraries/

3)  Configure
    
    Place the hw2 folder containing the files for the homework into the examples folder (../trunk/dvc-2d/examples/)

    Inside the examples folder, open up CMakeLists.txt and add the following line:

   	  add_subdirectory(hw2)    

    Open CMake and set the source folder to the dvc-2d folder (inside the trunk folder).  Set the build folder to be ../dvc-2d/build

4) Build
   
   Windows:   
      Open up the dvc.sln solution file inside the build folder and compile.

  Linux/Unix:
      execute make inside the build directory.

****************************************
*Some Notes on Completing the Homework:*
****************************************

Provided to you is the skeleton structure of the code and a small example of a force controller works.
If you take a look at the App class included you'll notice there is a function 'GoToPartCG.'  
This demonstrates how you can move the hand, but is not how you should solve the problem.  
You will need to implement an intelligent controller to coordinate the movement of the hand.  
The actual grip control code is located in the GripControl.h/cpp files.  
Feel free to adjust the GripControl class however you'd like.  
For example, you may wish to tune the K and C constants.  
The best place to write your solution is in the PostStep (although you can place code elsewhere if you wish) method of the App class.
You may also wish to write a new class to manage the controllers so that the code looks cleaner.  This is fine.

*********************
*Submitting the code*
*********************

Make sure any and ALL modifications are included in the submitted copy in the correct folders.
When you submit, bundle the entire hw2 folder into a zip/rar archive or tarball with your RCS ID somewhere in the file name 
(Note: This is the first part of your e-mail address, NOT your RIN.  For example, my RCS ID is farmab) and e-mail it to farmab@rpi.edu.
	
********************
*Modifying the hand*
********************

I have included a small python script which will allow you to easily generate vertex files for the fingers if it is
necessary to change the geometry of the hand.  The fingers are specified by the hw2-<part number>_finger.pdat files
in the Geometry folder for each part.  Imagining the fingers as a rectangle with two half-spheres on each end, you
can specify the radius of the spheres (dictating the size of the fingertips) and the length of the rectangle in the
python script.  You should all have access to the school's RCS servers (or perhaps the CS servers if you have an
account from labstaff).  There, python is installed and you can run this script to generate the vertex data files.
from a unix terminal, simply modify the tipRadius and fingerLength values accordingly, then execute

./finger.py > hw2-a_finger.pdat

This will create a vertex file for you using those values.  Also,  python.org/download provides 
a win32 implementation if you don't want to work on the RCS servers.