The Kobuki base on your own won't drift, so it is smart the tilted inertia results in the drift. Obviously I can hack my URDF having a weightless superstructure, but I desired to repair this in a more practical way. I tried all I can consider, and all unsuccessful: On-demand https://www.uk-exhibitionstands.co.uk/product/monolith-3m-display-wall-3x2-4/