The Kobuki base by itself does not drift, so it makes sense the tilted inertia causes the drift. Not surprisingly I am able to hack my URDF that has a weightless superstructure, but I wished to resolve this in a more realistic way. I tried all I am able to https://www.uk-exhibitionstands.co.uk/product/casonara-blimp-rectangle-360o-hanging-light-box-display-200m/