Use this link to setup the Jackdaw firmware on a RZUSBSTICK.
Watch out, the directions use $1 and misspell the name of the various files, so you can't cut and paste directly. Also, you can use the latest version of contiki from github. This set of instructions worked great. I installed Oracle's Java 8 instead of the version recommended.
I had a problem accessing USB devices in virtualbox. It was a permissions problem. Added my user to the vboxuser group. Add user to dialout, too, so it can access the /dev/ttyACM0 device from virtual box. After the avr-objcopy commands were executed, I had to reselect the USB device in virtualbox so it was visible in the guest operating system again.