The kobuki foundation alone doesn't drift, so it is smart the tilted inertia will cause the drift. Certainly I can hack my URDF with a weightless superstructure, but I wished to deal with this in a more reasonable way. I tried all I am able to think of, and all https://www.uk-exhibitionstands.co.uk/product/air-inflatable-backlit-circular-tower-1-5m-1500mm-h/