The Kobuki base by itself won't drift, so it makes sense the tilted inertia leads to the drift. Naturally I'm able to hack my URDF with a weightless superstructure, but I wanted to deal with this in a far more reasonable way. I attempted all I can consider, and all https://www.uk-exhibitionstands.co.uk/product/standard-triangular-blimp-tower-with-tapered-tube-blimp/