The Kobuki foundation by yourself would not drift, so it is sensible that the tilted inertia brings about the drift. Of course I am able to hack my URDF with a weightless superstructure, but I needed to correct this in a far more realistic way. I attempted all I am https://www.uk-exhibitionstands.co.uk/product/air-inflatable-backlit-circular-tower-1-5m-1500mm-h/
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