I ran the SekulerExperiment here and found that if I left the sensors on the ground in the same position the hand/arm position did not change with each run of the script.
This suggests that something is wrong with the shoulder calibration (though there could be other sources of this behavior I am not thinking of). Try printing out the raw sensor data from the shoulder calibration sensor when the calibration occurs and see if this significantly different between script runs.
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Paul Elliott
WorldViz LLC
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