The kobuki base by yourself doesn't drift, so it is sensible the tilted inertia brings about the drift. Needless to say I'm able to hack my URDF by using a weightless superstructure, but I desired to resolve this in a far more real looking way. I tried all I can https://www.uk-exhibitionstands.co.uk/product-category/pop-ups-and-banner-stands/pop-up-stand/