The kobuki foundation by yourself won't drift, so it is smart the tilted inertia brings about the drift. Certainly I can hack my URDF which has a weightless superstructure, but I planned to correct this in a far more reasonable way. I tried all I can think of, and all https://www.uk-exhibitionstands.co.uk/product/monolith-2m-display-wall-2-4x2-2/