The kobuki foundation alone would not drift, so it is smart the tilted inertia results in the drift. Naturally I can hack my URDF by using a weightless superstructure, but I desired to correct this in a far more realistic way. I tried all I am able to think about, https://www.uk-exhibitionstands.co.uk/3-trade-show-mistakes-to-avoid-and-how-to-fix-them/