The Kobuki base alone isn't going to drift, so it makes sense that the tilted inertia triggers the drift. Certainly I can hack my URDF using a weightless superstructure, but I wanted to take care of this in a more practical way. I attempted all I'm able to think about, https://www.uk-exhibitionstands.co.uk/product/casonara-seg-light-box-display-20ft/