Fix: Sudden base motion

We’ve had a Stretch user uncover a corner-case bug where the base motion may move without respecting its acceleration limits. This can happen if commanding a base velocity followed by commanding a base position after a power cycle.

This bug affects robots with firmware version Stepper.v0.0.1p0. We’ve posted additional information and a firmware fix here:

Please contact us before applying the fix, we’d be happy to help.