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Differential drive stutters by driving a circle

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Hi, I have a problem with my simulation of a differential drive robot. I try to let him drive in a circle by setting the velocity to // Configure joint motor this->jointLeft->SetParam("fmax", 0, torque); this->jointRight->SetParam("fmax", 0,torque); // Set velocities this->jointRight->SetParam("vel", 0, 3.5); this->jointLeft->SetParam("vel", 0, 5.0); It starts to drive a circle, but not as tight as expected. Then it starts to stutter, turns heavier and then the whole procedure starts again. A video of this can be seen here: https://www.youtube.com/watch?v=m4xOmeKiKpw Hope someone has an idea. Best

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