The kobuki foundation alone doesn't drift, so it is sensible which the tilted inertia results in the drift. Needless to say I can hack my URDF by using a weightless superstructure, but I wanted to fix this in a more reasonable way. I tried all I'm able to think of, https://www.uk-exhibitionstands.co.uk/product/waveline-blimp-trio-tapered-2/