The Kobuki foundation on your own would not drift, so it is sensible the tilted inertia causes the drift. Of course I'm able to hack my URDF having a weightless superstructure, but I planned to repair this in a far more realistic way. I attempted all I am able to https://www.uk-exhibitionstands.co.uk/product/standard-triangular-blimp-tower-with-tapered-tube-blimp/