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The vehicle is completely symmetrical. If there is no noise in the system, if the vehicle is sent a forward linear velocity then the vehicle should exactly drive forwards.

I know that I can control the vehicle (I've been doing that for many years with real vehicles) but before I start on that I want to understand the simulator. Unless told otherwise a simulation should be perfect. An object with only forward force on it should move exactly forward.

Why would a simple vehicle with 2 wheels and a caster (which is what I have) have this behaviour?