The Kobuki foundation on your own isn't going to drift, so it is sensible which the tilted inertia triggers the drift. Of course I'm able to hack my URDF having a weightless superstructure, but I planned to fix this in a more sensible way. I tried all I can consider, https://www.uk-exhibitionstands.co.uk/product/monolith-3m-display-wall-3x3/