We've had the S7 for 2 days. Both days the robot has thrown errors for "Robot stuck, main wheel(s) jammed. Unstick the jammed wheel(s), then move the robot and restart." This error only happens when on our medium pile carpet in our bedroom. The robot is on the latest firmware. There is never anything jammed in either wheel. A press of the power button on top of the robot or the clean button in the app and the robot starts back up and continues to clean until the error happens again.