Part 1 complete

Finds a pile of valid samples, and places them into a big Matrix to save
for later.
Nearest neighbors of part 2 done

Now to determine which of these neighbor links are actually valid
paths...
Valid Path Detection of part 2 done

...at least, I think it is.  I guess we'll find out when we start
animating things!
Reformatted code to use better structures

Rewrote parts 1 and 2 to be smarter about storing information, so that
the structures are more useful and coherent.  Also retain backward
links, in anticipation of path-finding coming up shortly.
Shortest path implemented for part 3

Dijkstra's algorithm implemented to get us from qinit to qgoal.  Woo!
Add some progress indicators...

Dump progress to the console, for easier "is stuff happening?"
intuition. :)
Animation for part 4 done

Yay!  Needed to use 10,000 interpolated steps between each segment,
instead of the spec's suggested 10, because otherwise it would have just
animated instantly.  Otherwise, straightforward!  Threw in some sleep
statements too, to pause at either side of the animation.
Small improvement to Dijkstra's algorithm

Don't need to keep path-finding if we've visited the goal.  Otherwise,
keep path-finding.
Update Homework 2 for static linkage
Update MuJoCo server executable
Sort toVisit nodes before reading from the queue

Need to make sure we grab the lowest cost node to visit each iteration,
instead of the order of when we encountered them, to ensure optimal
pathfinding.
Update MuJoCo mode, to speed up computation

Looks like the latest MuJoCo server update contained a breaking change
(thanks guys! :P).  This gets us our original speedy simulation back.

Old: 0=Sim, 1=Pose, 2=User
New: 0=Pose, 1=Sim, 2=User

Note: instead of changing from 1 to 0, I'm changing to 2, based on
course staff statements about this in the forum.
Homework 2 done!

Woot woot!
Homework 2 done!

One more to go!