The Kobuki foundation on your own would not drift, so it makes sense the tilted inertia will cause the drift. Needless to say I can hack my URDF using a weightless superstructure, but I needed to correct this in a far more practical way. I tried all I can take https://www.uk-exhibitionstands.co.uk/product-category/fabric-display-stands/fabric-pop-up-stands/