The Kobuki foundation by yourself will not drift, so it is smart that the tilted inertia will cause the drift. Obviously I'm able to hack my URDF that has a weightless superstructure, but I needed to fix this in a far more real looking way. I attempted all I can https://www.uk-exhibitionstands.co.uk/product/exhibition-kit-1-1-x-table-cloth-2-x-roller-banners/