The kobuki foundation by yourself would not drift, so it is sensible the tilted inertia causes the drift. Obviously I'm able to hack my URDF by using a weightless superstructure, but I planned to resolve this in a more sensible way. I attempted all I'm able to take into consideration, https://www.uk-exhibitionstands.co.uk/product-category/pop-ups-and-banner-stands/pop-up-display/