The kobuki base by yourself won't drift, so it makes sense the tilted inertia brings about the drift. Obviously I am able to hack my URDF with a weightless superstructure, but I desired to fix this in a more reasonable way. I attempted all I can take into consideration, and https://www.uk-exhibitionstands.co.uk/product/backlit-display-kit-08-wlt-kg-k08/