The kobuki foundation alone will not drift, so it is smart which the tilted inertia triggers the drift. Certainly I can hack my URDF with a weightless superstructure, but I wanted to take care of this in a more realistic way. I attempted all I can give thought to, and https://www.uk-exhibitionstands.co.uk/price-vs-performance-decoding-the-exhibition-stall-cost-conundrum/