The kobuki base alone does not drift, so it is smart that the tilted inertia will cause the drift. Naturally I can hack my URDF which has a weightless superstructure, but I wanted to deal with this in a far more realistic way. I tried all I'm able to think https://www.uk-exhibitionstands.co.uk/product/casonara-blimp-cube-360o-hanging-light-box-display-240l/