The kobuki foundation by itself won't drift, so it is smart that the tilted inertia causes the drift. Of course I'm able to hack my URDF by using a weightless superstructure, but I desired to fix this in a more reasonable way. I tried all I'm able to contemplate, and https://www.uk-exhibitionstands.co.uk/product/casonara-blimp-rectangle-360o-hanging-light-box-display-200m/