The kobuki base by yourself does not drift, so it is smart the tilted inertia causes the drift. Naturally I am able to hack my URDF with a weightless superstructure, but I wanted to resolve this in a more real looking way. I attempted all I'm able to contemplate, and https://www.uk-exhibitionstands.co.uk/product/casonara-seg-light-box-counter-300m/