I'm trying to align the visual stylus with the pivot point of the Phantom Desktop but I'm having trouble doing so with Candy. I can manage to align the stylus with the pivot point of the robot along a certain plane but as I move perpendicular to the plane the stylus diverges greatly away from the pivot point of the robot and does not represent where the robot is at that point.

I start with calibrating from the default viewpoint and deviceinfo calibration with unit matrix, and I choose a few points to calibrate with and then press 'c'. It seems that my calibration is highly dependent upon what points of the workspace I choose to initially calibrate with because sometimes the few points I choose end up giving me a stylus that goes out of the workspace and is represented as a gigantic ball and the movements are highly scaled with small movements of the robot.

Any ideas on how I should go about selecting points to calibrate with or maybe if I'm approaching this incorrectly?