The Kobuki base on your own won't drift, so it is sensible the tilted inertia will cause the drift. Naturally I can hack my URDF with a weightless superstructure, but I wanted to repair this in a far more sensible way. I attempted all I can think of, and all https://www.uk-exhibitionstands.co.uk/product-category/pop-ups-and-banner-stands/pop-up-display/