The kobuki foundation alone does not drift, so it is sensible the tilted inertia will cause the drift. Obviously I can hack my URDF with a weightless superstructure, but I planned to fix this in a more sensible way. I tried all I'm able to contemplate, and all failed: If https://www.uk-exhibitionstands.co.uk/product/desktop-roller-banners-premium-breeze-a3/