The Kobuki base by itself would not drift, so it is smart the tilted inertia results in the drift. Obviously I'm able to hack my URDF which has a weightless superstructure, but I planned to repair this in a far more realistic way. I attempted all I'm able to contemplate, https://www.uk-exhibitionstands.co.uk/product/infinity-dna-pro-lightbox-3000l/