The kobuki base alone does not drift, so it is smart which the tilted inertia results in the drift. Not surprisingly I am able to hack my URDF which has a weightless superstructure, but I needed to take care of this in a far more real looking way. I tried https://www.uk-exhibitionstands.co.uk/3-trade-show-mistakes-to-avoid-and-how-to-fix-them/