The kobuki base by yourself isn't going to drift, so it is smart the tilted inertia leads to the drift. Obviously I'm able to hack my URDF with a weightless superstructure, but I planned to take care of this in a far more reasonable way. I attempted all I'm able https://www.uk-exhibitionstands.co.uk/product-category/light-box-displays/casonara-light-box-walls/