The Kobuki base by yourself isn't going to drift, so it is sensible the tilted inertia will cause the drift. Naturally I am able to hack my URDF that has a weightless superstructure, but I wanted to deal with this in a more practical way. I tried all I am https://www.uk-exhibitionstands.co.uk/enhance-your-brand-presence-with-custom-exhibition-stands-from-uk-exhibition-stands/