The Kobuki foundation alone won't drift, so it is smart that the tilted inertia triggers the drift. Certainly I am able to hack my URDF by using a weightless superstructure, but I needed to fix this in a far more realistic way. I tried all I am able to consider, https://www.uk-exhibitionstands.co.uk/10-creative-ideas-for-customizable-banners-that-grab-attention/