The kobuki base by yourself would not drift, so it is smart which the tilted inertia results in the drift. Of course I am able to hack my URDF with a weightless superstructure, but I wanted to deal with this in a far more real looking way. I attempted all https://www.uk-exhibitionstands.co.uk/price-vs-performance-decoding-the-exhibition-stall-cost-conundrum/