The kobuki foundation by itself won't drift, so it makes sense the tilted inertia triggers the drift. Needless to say I can hack my URDF that has a weightless superstructure, but I planned to deal with this in a far more reasonable way. I attempted all I'm able to contemplate, https://www.uk-exhibitionstands.co.uk/product-category/fabric-display-stands/fabric-pop-up-stands/