jerky movement

[oko]

Hi,

I have a little problem with my cyton veta arm. What I do is, I set
the initial position manually, setting every single joint. Then I
extract the end effector (Frame) and save it as new one and save its
orientation. I take this orientation, together with current position,
and create new desiredPose. Then I go through a loop 25 times, every
time changing position by 5mm on axis Z, transforming it to
desiredPose, and forcing arm to move there.

What I get is jerky movement after lets say 7 turns. You can see it
here: http://www.youtube.com/watch?v=4zpCaPf5Y2M

It looks like it is moving back to previous location all the time. I
tried to give it more time (500ms) but it didnt help. I also have a
log with number of steps from previous location and these are
increasing with every other 5mm shift (I have 1 loop (for 25 shifts)
inside another (samplecode ,up to 50 steps) Log is here:
https://docs.google.com/leaf?id=0B2tVMvIzBqajZDNjMzZhNDctODE3OS00YmJlLWJkMGItYTY0ZjAyMDE2OTFm&hl=en_US

I am sure it is not caused because the arm cant reach the position
because it has quite big reserve: http://www.youtube.com/watch?v=Ftt7RWvlHpE

Can someone help me ?

And another problem I have, is with the calibration. I tried to follow
the instructions from here
http://groups.google.com/group/cyton-robots/browse_thread/thread/55abe675262ca33a/44c4276e0815bb09?lnk=gst&q=calibration#44c4276e0815bb09
but it says ".... In the Edit->Configure dialog press the calibrate
button and press OK......" and I simply dont have that option in my
viewer as you can see here:
https://docs.google.com/leaf?id=0B2tVMvIzBqajNDRjYmE5ZTAtNWExNC00YjI1LTkxYzgtMTYzYmI1NzdiYTkz&hl=en_US
So how can I calibrate the arm?