The Kobuki foundation alone doesn't drift, so it makes sense the tilted inertia leads to the drift. Certainly I'm able to hack my URDF with a weightless superstructure, but I needed to fix this in a more realistic way. I tried all I am able to take into consideration, and https://www.uk-exhibitionstands.co.uk/product/monolith-3m-display-wall-3x4-6/