The kobuki base alone won't drift, so it makes sense that the tilted inertia triggers the drift. Naturally I'm able to hack my URDF using a weightless superstructure, but I planned to deal with this in a more practical way. I attempted all I can give thought to, and all https://www.uk-exhibitionstands.co.uk/product/standard-square-blimp-tower-with-tapered-tube-blimp/