The kobuki foundation alone isn't going to drift, so it is sensible the tilted inertia will cause the drift. Obviously I can hack my URDF that has a weightless superstructure, but I planned to resolve this in a more sensible way. I attempted all I can contemplate, and all unsuccessful: https://www.uk-exhibitionstands.co.uk/product-category/pop-ups-and-banner-stands/golf-banners/