The kobuki foundation alone does not drift, so it makes sense that the tilted inertia causes the drift. Certainly I'm able to hack my URDF using a weightless superstructure, but I wanted to repair this in a far more reasonable way. I attempted all I'm able to think about, and https://www.uk-exhibitionstands.co.uk/product-category/fabric-display-stands/fabric-pop-up-stands/