The kobuki foundation alone will not drift, so it is smart that the tilted inertia leads to the drift. Obviously I can hack my URDF having a weightless superstructure, but I needed to correct this in a far more reasonable way. I attempted all I'm able to give thought to, https://www.uk-exhibitionstands.co.uk/product-category/pop-ups-and-banner-stands/banner-stands/double-stand/