The kobuki base on your own won't drift, so it is sensible the tilted inertia brings about the drift. Obviously I can hack my URDF having a weightless superstructure, but I wished to correct this in a more realistic way. I tried all I'm able to contemplate, and all unsuccessful: https://www.uk-exhibitionstands.co.uk/enhance-your-brand-presence-with-custom-exhibition-stands-from-uk-exhibition-stands/