The kobuki base by itself isn't going to 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 wanted to fix this in a more practical way. I attempted all I'm able to take https://www.uk-exhibitionstands.co.uk/product/infinity-led-light-box-display-stand-2000xs/