The kobuki foundation by yourself won't drift, so it makes sense the tilted inertia results in the drift. Naturally I'm able to hack my URDF with a weightless superstructure, but I planned to resolve this in a far more practical way. I tried all I can consider, and all unsuccessful: https://www.uk-exhibitionstands.co.uk/product/infinity-led-light-box-display-stand-2000xs/