The kobuki foundation on your own would not drift, so it is smart the tilted inertia will cause the drift. Of course I am able to hack my URDF that has a weightless superstructure, but I needed to correct this in a more sensible way. I tried all I can https://www.uk-exhibitionstands.co.uk/product/monolith-6m-display-wall-6x2-4-2/