question for straight line walk

[samyusk]

Hi, we observe that MiP may not be able to walk in straight line with using the API mipDriveDistanceByCm, mipDriveForwardForMilliseconds, mipDriveBackwardForMilliseconds and mipDrive with dx set to 0. It always tends to curve to left or right a bit. Different MiPs have different tendencies even on the same floor or surface. Is it possible that we can have deeper control to make sure the MiPs can walk in straight line?

Thanks
Sam