The kobuki base by itself does not drift, so it is smart which the tilted inertia results in the drift. Certainly I can hack my URDF by using a weightless superstructure, but I wanted to repair this in a far more realistic way. I tried all I'm able to contemplate, https://www.uk-exhibitionstands.co.uk/product/casonara-blimp-rectangle-360o-hanging-light-box-display-300m/