The kobuki foundation alone would not drift, so it is smart which the tilted inertia brings about the drift. Naturally I can hack my URDF by using a weightless superstructure, but I needed to correct this in a more practical way. I tried all I'm able to contemplate, and all https://www.uk-exhibitionstands.co.uk/product/air-inflatable-backlit-circular-tower-2m-2280mm-h/