How about something like:
paste("(",df$X1,",",df$X2,")",sep="")
In your example, it looks like you can round your numbers, but rounding is wrong. Do you want a certain number of digits after the decimal point?
In addition, "1" and "2" frowned like names in data.frame - see ?make.names
EDIT:
To round in such cases, I like to use formatC():
paste("(", formatC(df$X1, digits = 2, format = "f"), ",",
formatC(df$X2, digits = 2, format = "f"), ")", sep = "")
.005, , 0.00.