The kobuki foundation on your own will not drift, so it is smart the tilted inertia brings about the drift. Naturally I am able to hack my URDF with a weightless superstructure, but I wished to deal with this in a more realistic way. I attempted all I can contemplate, https://www.uk-exhibitionstands.co.uk/product/monolith-6m-display-wall-6x2-4/