The kobuki base alone doesn't drift, so it is smart which the tilted inertia leads to the drift. Not surprisingly I can hack my URDF having a weightless superstructure, but I wished to repair this in a more sensible way. I tried all I'm able to give thought to, and https://www.uk-exhibitionstands.co.uk/product/pop-up-stand-3-x-4-quick-plus/