The Kobuki foundation on your own will not drift, so it makes sense the tilted inertia brings about the drift. Of course I can hack my URDF having a weightless superstructure, but I wished to repair this in a more realistic way. I tried all I can give thought to, https://www.uk-exhibitionstands.co.uk/price-vs-performance-decoding-the-exhibition-stall-cost-conundrum/