diff --git a/README.md b/README.md
index 0f5d3be..3814fb3 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,7 @@
 
 This Python package is a wrapper around the [Boston Dynamics Spot SDK](https://dev.bostondynamics.com), intended as a united point of entry to the SDK for use with the [spot_ros](https://github.com/heuristicus/spot_ros) and [spot_ros2](https://github.com/bdaiinstitute/spot_ros2) packages.
 
-This package currently corresponds to `spot-sdk` release 5.0.1. The minimum supported version of Python this package supports is 3.10.
+This package currently corresponds to `spot-sdk` release 5.1.0. The minimum supported version of Python this package supports is 3.10.
 
 # Installation
 
diff --git a/requirements.txt b/requirements.txt
index 5ba9745..ab84071 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,9 +1,9 @@
 aiortc>=1.9.0
-bosdyn-api==5.0.1
-bosdyn-choreography-client==5.0.1
-bosdyn-client==5.0.1
-bosdyn-core==5.0.1
-bosdyn-mission==5.0.1
+bosdyn-api==5.1.0
+bosdyn-choreography-client==5.1.0
+bosdyn-client==5.1.0
+bosdyn-core==5.1.0
+bosdyn-mission==5.1.0
 grpcio==1.59.3
 image==1.5.33
 inflection==0.5.1
diff --git a/spot_wrapper/tests/test_wrapper.py b/spot_wrapper/tests/test_wrapper.py
index 48c5c91..82ab0c0 100644
--- a/spot_wrapper/tests/test_wrapper.py
+++ b/spot_wrapper/tests/test_wrapper.py
@@ -198,9 +198,10 @@ def assert_non_processing_sit_status(should_sit: bool) -> None:
     assert simple_spot_wrapper.last_stand_command is None
     assert simple_spot_wrapper.is_standing
     assert not simple_spot_wrapper.is_sitting
+    logging.info(f"is standing? {simple_spot_wrapper.is_standing}")
 
     # stand command with non-processing status - should reset the command and leave state unchanged
-    assert_non_processing_stand_status(simple_spot_wrapper.is_standing)
+    assert_non_processing_stand_status(simple_spot_wrapper.is_standing)  # BUG HERE
 
     # initial sitting state
     assert simple_spot_wrapper.last_sit_command is None
diff --git a/spot_wrapper/wrapper.py b/spot_wrapper/wrapper.py
index 92d62cc..9cc0590 100644
--- a/spot_wrapper/wrapper.py
+++ b/spot_wrapper/wrapper.py
@@ -192,6 +192,7 @@ def _start_query(self) -> None:
                 if command_feedback.status == basic_command_pb2.RobotCommandFeedbackStatus.STATUS_PROCESSING:
                     self._spot_wrapper.is_sitting = False
                     stand_status = command_feedback.stand_feedback.status
+                    logging.info(f"Stand command status: {stand_status}")
                     if stand_status == basic_command_pb2.StandCommand.Feedback.STATUS_IS_STANDING:
                         self._spot_wrapper.is_standing = True
                         self._spot_wrapper.last_stand_command = None
@@ -200,6 +201,7 @@ def _start_query(self) -> None:
                     else:
                         self._logger.warning("Stand command in unknown state")
                         self._spot_wrapper.is_standing = False
+                        self._spot_wrapper.last_stand_command = None
                 else:
                     self._logger.warning(
                         f"Stand command is not being processed anymore, current status: {command_feedback.status}"
@@ -224,6 +226,7 @@ def _start_query(self) -> None:
                     else:
                         self._logger.warning("Sit command in unknown state")
                         self._spot_wrapper.is_sitting = False
+                        self._spot_wrapper.last_sit_command = None
                 else:
                     self._logger.warning(
                         f"Sit command is not being processed anymore, current status: {command_feedback.status}"