I've got my 3D printed Marty up and walking using the python interface. The accelerometer works some of the time but several times it has frozen with incorrect values: x 1.047g, y 1.047g, z -0.505g. Rebooting Marty seems to fix the problem but I haven't worked out what's causing the failure. It may happen when a joint is commanded but doesn't move. Has anyone else experienced this or know how to fix it in a more satisfactory way?