Steps for Kinematic Validation Plug in device USB to QTPy USB to U2D2 Board Power to U2D2 Board Start the VRPN Service roslaunch vrpn_client_ros sample.launch Run the main service mode rosrun hashi dual_chopstick_validation_ros.py Calculate the initial platform position rosrun hashi zero_platform_and_record_origin_tf.py Broadcast the zero position rosrun hashi broadcast_platform_zero_transform.py Run one of the test scripts