The kobuki foundation by itself isn't going to drift, so it is sensible that the tilted inertia leads to the drift. Of course I am able to hack my URDF using a weightless superstructure, but I planned to deal with this in a more sensible way. I tried all I https://www.uk-exhibitionstands.co.uk/10-creative-ideas-for-customizable-banners-that-grab-attention/