The kobuki foundation by itself does not drift, so it makes sense that the tilted inertia triggers the drift. Not surprisingly I am able to hack my URDF which has a weightless superstructure, but I wanted to resolve this in a more sensible way. I attempted all I'm able to https://www.uk-exhibitionstands.co.uk/product/air-inflatable-backlit-square-tower-3m-3200mm-h/