The kobuki base alone will not drift, so it makes sense the tilted inertia results in the drift. Not surprisingly I'm able to hack my URDF with a weightless superstructure, but I needed to deal with this in a more practical way. I attempted all I can consider, and all https://www.uk-exhibitionstands.co.uk/future-of-exhibitions-key-trends-for-the-next-5-years/