The Kobuki base by yourself would not drift, so it makes sense that the tilted inertia causes the drift. Obviously I'm able to hack my URDF using a weightless superstructure, but I wanted to correct this in a far more reasonable way. I attempted all I can contemplate, and all https://www.uk-exhibitionstands.co.uk/product-category/pop-ups-and-banner-stands/pop-up-stand/