The kobuki base by itself isn't going to drift, so it makes sense the tilted inertia triggers the drift. Certainly I'm able to hack my URDF with a weightless superstructure, but I wanted to take care of this in a more reasonable way. I tried all I am able to https://www.uk-exhibitionstands.co.uk/2024-exhibition-stand-trends-whats-hot-and-whats-not/