The kobuki foundation alone will not drift, so it makes sense the tilted inertia will cause the drift. Naturally I'm able to hack my URDF having a weightless superstructure, but I planned to correct this in a more practical way. I tried all I am able to think of, and https://www.uk-exhibitionstands.co.uk/product/infinity-led-light-box-display-stand-2000xs/