diff --git a/hrpsys_gazebo_tutorials/CMakeLists.txt b/hrpsys_gazebo_tutorials/CMakeLists.txt
index 2d98d5fd..f3c7b7e8 100644
--- a/hrpsys_gazebo_tutorials/CMakeLists.txt
+++ b/hrpsys_gazebo_tutorials/CMakeLists.txt
@@ -14,37 +14,6 @@ catkin_package(CATKIN_DEPENDS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tut
 catkin_add_env_hooks(99.hrpsys_gazebo_tutorials SHELLS bash zsh
   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
 
-if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR AND hrpsys_ros_bridge_tutorials_SOURCE_PREFIX)
-  set(hrpsys_ros_bridge_tutorials_SOURCE_DIR ${hrpsys_ros_bridge_tutorials_SOURCE_PREFIX})
-endif(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR AND hrpsys_ros_bridge_tutorials_SOURCE_PREFIX)
-
-if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR)
-  execute_process(
-    COMMAND rospack find hrpsys_ros_bridge_tutorials
-    OUTPUT_VARIABLE hrpsys_ros_bridge_tutorials_SOURCE_DIR)
-  string(REGEX REPLACE "\n" "" hrpsys_ros_bridge_tutorials_SOURCE_DIR ${hrpsys_ros_bridge_tutorials_SOURCE_DIR})
-endif()
-
-## Convert robot models
-if(EXISTS ${hrpsys_gazebo_general_SOURCE_DIR})
-  set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_SOURCE_DIR})
-elseif(EXISTS ${hrpsys_gazebo_general_SOURCE_PREFIX})
-  set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_SOURCE_PREFIX})
-else()
-  set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_PREFIX}/share/hrpsys_gazebo_general)
-endif()
-include(${hrpsys_gazebo_general_PACKAGE_PATH}/cmake/compile_robot_model_for_gazebo.cmake)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/SampleRobot.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP3HAND_L.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP3HAND_R.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSK.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSKNT.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSKNTS.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/STARO.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/JAXON.dae JAXON)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP4C.dae)
-add_custom_target(all_robots_compile_tutorials ALL DEPENDS ${compile_urdf_robots})
-
 ## install
 install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN ".svn" EXCLUDE)
diff --git a/hrpsys_gazebo_tutorials/config/HRP2JSKNT.yaml b/hrpsys_gazebo_tutorials/config/HRP2JSKNT.yaml
index 398b50e4..8ac20e41 100644
--- a/hrpsys_gazebo_tutorials/config/HRP2JSKNT.yaml
+++ b/hrpsys_gazebo_tutorials/config/HRP2JSKNT.yaml
@@ -39,7 +39,6 @@ hrpsys_gazebo_configuration:
     - RARM_JOINT4
     - RARM_JOINT5
     - RARM_JOINT6
-    - RARM_JOINT7
     - LARM_JOINT0
     - LARM_JOINT1
     - LARM_JOINT2
@@ -47,7 +46,6 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT4
     - LARM_JOINT5
     - LARM_JOINT6
-    - LARM_JOINT7
 ## jointid:
   gains:
     CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
@@ -61,7 +59,6 @@ hrpsys_gazebo_configuration:
     LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
@@ -69,7 +66,6 @@ hrpsys_gazebo_configuration:
     RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # CRTOCH-Y
     LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-R
     LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} # CRTOCH-P
diff --git a/hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml b/hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml
index 495c5f04..deb315f0 100644
--- a/hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml
+++ b/hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml
@@ -39,7 +39,6 @@ hrpsys_gazebo_configuration:
     - RARM_JOINT4
     - RARM_JOINT5
     - RARM_JOINT6
-    - RARM_JOINT7
     - LARM_JOINT0
     - LARM_JOINT1
     - LARM_JOINT2
@@ -47,7 +46,6 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT4
     - LARM_JOINT5
     - LARM_JOINT6
-    - LARM_JOINT7
 ## jointid:
   gains:
     CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
@@ -61,7 +59,6 @@ hrpsys_gazebo_configuration:
     LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
@@ -69,7 +66,6 @@ hrpsys_gazebo_configuration:
     RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # CRTOCH-Y
     LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-R
     LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} # CRTOCH-P
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK.urdf.xacro
index 2b97017c..0ac8bf8d 100644
--- a/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK.urdf.xacro
+++ b/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK.urdf.xacro
@@ -1,5 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSK" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK_WH_SENSORS.urdf" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK_additional_urdf_setting.sh
deleted file mode 100755
index dce97977..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK_additional_urdf_setting.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-## change foot parameters
-sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-## change foot geometry mesh -> box
-sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://hrpsys_gazebo_tutorials/robot_models/HRP2JSK/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 -0.010 -0.08" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.240 0.138 0.07"/>@;}' ${OUTPUT_FILE}
-sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://hrpsys_gazebo_tutorials/robot_models/HRP2JSK/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 0.010 -0.08" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.240 0.138 0.07"/>@;}' ${OUTPUT_FILE}
-# continuous joint not working in GAZEBO
-sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-# overwrite velocity limit because collada2urdf doesn't reflect the velocity limit of collada model.
-sed -i -e 's@velocity="0.5"@velocity="10.0"@g' ${OUTPUT_FILE}
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
index 5bdc094a..84541444 100644
--- a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
+++ b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro
@@ -1,7 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNT" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_WH_SENSORS.urdf" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin">
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT_additional_urdf_setting.sh
deleted file mode 100755
index 82874e25..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT_additional_urdf_setting.sh
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-# continuous joint not working in GAZEBO
-sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-# overwrite mass and inertia which have invalid settings.
-sed -i -e 's@<mass value="0" />@<mass value="1e-03" />@g' ${OUTPUT_FILE}
-sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1e-04" ixy="0" ixz="0" iyy="1e-04" iyz="0" izz="1e-04"/>@g' ${OUTPUT_FILE}
-## change foot parameters
-sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-# remove LARM_LINK6
-L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
-L_END=`expr ${L_START} + ${L_END} - 1`
-sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE}
-# remove RARM_LINK6
-L_START=`grep -n "<link name=\"RARM_LINK6\"" ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
-L_END=`expr ${L_START} + ${L_END} - 1`
-sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE}
-# overwrite velocity limit because collada2urdf doesn't reflect the velocity limit of collada model.
-sed -i -e 's@velocity="0.5"@velocity="1000.0"@g' ${OUTPUT_FILE}
-sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
index 7429f7fc..327cd1af 100644
--- a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
+++ b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro
@@ -1,7 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNTS" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_WH_SENSORS.urdf" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin">
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS_additional_urdf_setting.sh
deleted file mode 100755
index 82874e25..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS_additional_urdf_setting.sh
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-# continuous joint not working in GAZEBO
-sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-# overwrite mass and inertia which have invalid settings.
-sed -i -e 's@<mass value="0" />@<mass value="1e-03" />@g' ${OUTPUT_FILE}
-sed -i -e 's@<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>@<inertia ixx="1e-04" ixy="0" ixz="0" iyy="1e-04" iyz="0" izz="1e-04"/>@g' ${OUTPUT_FILE}
-## change foot parameters
-sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-# remove LARM_LINK6
-L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
-L_END=`expr ${L_START} + ${L_END} - 1`
-sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE}
-# remove RARM_LINK6
-L_START=`grep -n "<link name=\"RARM_LINK6\"" ${OUTPUT_FILE} -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
-L_END=`expr ${L_START} + ${L_END} - 1`
-sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE}
-# overwrite velocity limit because collada2urdf doesn't reflect the velocity limit of collada model.
-sed -i -e 's@velocity="0.5"@velocity="1000.0"@g' ${OUTPUT_FILE}
-sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro
deleted file mode 100644
index ae3af8b4..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro
+++ /dev/null
@@ -1,10 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP3HAND_L" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf" />
-  <!-- add IOB plugin -->
-  <gazebo>
-    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
-      <robotname>HRP3HAND_L</robotname>
-      <controller>hrpsys_gazebo_configuration</controller>
-    </plugin>
-  </gazebo>
-</robot>
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L_additional_urdf_setting.sh
deleted file mode 100755
index 1458e45f..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_L/HRP3HAND_L_additional_urdf_setting.sh
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-# continuous joint not working in GAZEBO
-sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-# overwrite inertia because original value is too small
-for l in `grep -n "inertia " ${OUTPUT_FILE} | cut -f1 -d:`
-do
-  sed -i "${l}c\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
-done
-sed -i -e '/<gazebo reference="L_INDEXMP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="L_INDEXMP_P_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="L_INDEXMPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXMPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="L_MIDDLEPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_MIDDLEPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_MIDDLEPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="L_THUMBCM_Y_LINK">/{N;N;N;N;s@  <gazebo reference="L_THUMBCM_Y_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_THUMBCM_Y_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="L_THUMBCM_P_LINK">/{N;N;N;N;s@  <gazebo reference="L_THUMBCM_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_THUMBCM_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="L_INDEXMP_R">/{N;N;N;N;s@  <gazebo reference="L_INDEXMP_R">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXMP_R">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="L_INDEXPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="L_INDEXPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="L_INDEXPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro
deleted file mode 100644
index 43e6be28..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro
+++ /dev/null
@@ -1,10 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP3HAND_R" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf" />
-  <!-- add IOB plugin -->
-  <gazebo>
-    <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
-      <robotname>HRP3HAND_R</robotname>
-      <controller>hrpsys_gazebo_configuration</controller>
-    </plugin>
-  </gazebo>
-</robot>
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R_additional_urdf_setting.sh
deleted file mode 100755
index f01f1843..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/HRP3HAND_R/HRP3HAND_R_additional_urdf_setting.sh
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-# continuous joint not working in GAZEBO
-sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-# overwrite inertia because original value is too small
-for l in `grep -n "inertia " ${OUTPUT_FILE} | cut -f1 -d:`
-do
-  sed -i "${l}c\      <inertia ixx=\"1e-02\" ixy=\"0\" ixz=\"0\" iyy=\"1e-02\" iyz=\"0\" izz=\"1e-02\"/>" ${OUTPUT_FILE}
-done
-sed -i -e '/<gazebo reference="R_INDEXMP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXMP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_INDEXMP_P_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXMP_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_INDEXMPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXMPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_MIDDLEPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_MIDDLEPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_MIDDLEPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_THUMBCM_Y_LINK">/{N;N;N;N;s@  <gazebo reference="R_THUMBCM_Y_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_THUMBCM_Y_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_THUMBCM_P_LINK">/{N;N;N;N;s@  <gazebo reference="R_THUMBCM_P_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_THUMBCM_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_INDEXMP_R">/{N;N;N;N;s@  <gazebo reference="R_INDEXMP_R">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXMP_R">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="R_INDEXPIP_R_LINK">/{N;N;N;N;s@  <gazebo reference="R_INDEXPIP_R_LINK">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="R_INDEXPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C.urdf.xacro
index 64ec4d94..2a8a3c87 100644
--- a/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C.urdf.xacro
+++ b/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C.urdf.xacro
@@ -1,5 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP4C" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP4C/HRP4C.urdf" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP4C.urdf" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
diff --git a/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C_additional_urdf_setting.sh
deleted file mode 100755
index 23e67261..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/HRP4C/HRP4C_additional_urdf_setting.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
diff --git a/hrpsys_gazebo_tutorials/robot_models/JAXON/JAXON.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/JAXON/JAXON.urdf.xacro
index 3e8a379d..fd9eba25 100644
--- a/hrpsys_gazebo_tutorials/robot_models/JAXON/JAXON.urdf.xacro
+++ b/hrpsys_gazebo_tutorials/robot_models/JAXON/JAXON.urdf.xacro
@@ -1,20 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="JAXON" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/JAXON/JAXON.urdf" />
-  <!-- HEAD -->
-  <xacro:include filename="$(find multisense_sl_description)/urdf/multisense_sl_v4.urdf" />
-  <joint name="jaxon_to_multisense" type="fixed">
-    <parent link="HEAD_LINK1" />
-    <child  link="head" />
-    <origin xyz="0.1005 0 0.05625" rpy="0 0 0"/>
-  </joint>
-  <!-- HAND -->
-  <xacro:include filename="$(find jaxon_description)/urdf/thk_hand003.urdf.xacro" />
-  <xacro:thk_hand prefix="L_" parent="LARM_LINK7" type="revolute">
-    <origin xyz="0 0 -0.085" rpy="-1.5707963268 1.5707963268 0" />
-  </xacro:thk_hand>
-  <xacro:thk_hand prefix="R_" parent="RARM_LINK7" type="revolute">
-    <origin xyz="0 0 -0.085" rpy="1.5707963268 1.5707963268 0" />
-  </xacro:thk_hand>
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/JAXON_WH_SENSORS.urdf" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
@@ -59,67 +44,6 @@
   <gazebo reference="RARM_JOINT7">
     <provideFeedback>1</provideFeedback>
   </gazebo>
-  <!-- end-effectors -->
-  <joint name="rfsensor_joint" type="fixed">
-    <origin rpy="3.141593 0.000000 3.141593" xyz="0 0 -0.069"/>
-    <parent link="RLEG_LINK5"/>
-    <child link="rfsensor"/>
-  </joint>
-  <link name="rfsensor"/>
-  <joint name="lfsensor_joint" type="fixed">
-    <origin rpy="3.141593 0.000000 3.141593" xyz="0 0 -0.069"/>
-    <parent link="LLEG_LINK5"/>
-    <child link="lfsensor"/>
-  </joint>
-  <link name="lfsensor"/>
-  <joint name="rhsensor_joint" type="fixed">
-    <origin rpy="-3.141593 -0.000000 2.356196" xyz="0 0 -0.069"/>
-    <parent link="RARM_LINK7"/>
-    <child link="rhsensor"/>
-  </joint>
-  <link name="rhsensor"/>
-  <joint name="lhsensor_joint" type="fixed">
-    <origin rpy="3.141593 -0.000000 -2.356196" xyz="0 0 -0.069"/>
-    <parent link="LARM_LINK7"/>
-    <child link="lhsensor"/>
-  </joint>
-  <link name="lhsensor"/>
-  <joint name="fisheye_joint" type="fixed">
-    <origin rpy="-2.617989 0.000005 -1.570795" xyz="0.147 0 -0.022"/>
-    <parent link="CHEST_LINK2"/>
-    <child link="fisheye"/>
-  </joint>
-  <link name="fisheye"/>
-  <joint name="rleg_end_coords_joint" type="fixed">
-    <origin rpy="0.000000 -0.000000 0.000000" xyz="0 0 -0.1055"/>
-    <parent link="RLEG_LINK5"/>
-    <child link="rleg_end_coords"/>
-  </joint>
-  <link name="rleg_end_coords"/>
-  <joint name="lleg_end_coords_joint" type="fixed">
-    <origin rpy="0.000000 -0.000000 0.000000" xyz="0 0 -0.1055"/>
-    <parent link="LLEG_LINK5"/>
-    <child link="lleg_end_coords"/>
-  </joint>
-  <link name="lleg_end_coords"/>
-  <joint name="rarm_end_coords_joint" type="fixed">
-    <origin rpy="-0.000000 1.570796 0.000000" xyz="0 0 -0.217"/>
-    <parent link="RARM_LINK7"/>
-    <child link="rarm_end_coords"/>
-  </joint>
-  <link name="rarm_end_coords"/>
-  <joint name="larm_end_coords_joint" type="fixed">
-    <origin rpy="-0.000000 1.570796 0.000000" xyz="0 0 -0.217"/>
-    <parent link="LARM_LINK7"/>
-    <child link="larm_end_coords"/>
-  </joint>
-  <link name="larm_end_coords"/>
-  <joint name="head_end_coords_joint" type="fixed">
-    <origin rpy="-0.000000 1.570796 0.000000" xyz="0.1 0.0 0.1"/>
-    <parent link="HEAD_LINK1"/>
-    <child link="head_end_coords"/>
-  </joint>
-  <link name="head_end_coords"/>
   <!-- add SetVelPlugin -->
   <gazebo>
     <plugin filename="libSetVelPlugin.so" name="set_vel_plugin" >
diff --git a/hrpsys_gazebo_tutorials/robot_models/JAXON/JAXON_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/JAXON/JAXON_additional_urdf_setting.sh
deleted file mode 100755
index 2fb49316..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/JAXON/JAXON_additional_urdf_setting.sh
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-## change foot parameters
-sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-## change foot geometry to BOX
-sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 -0.04" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://hrpsys_gazebo_tutorials/robot_models/JAXON/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 -0.010 -0.071" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.23 0.13 0.05" />@;}' ${OUTPUT_FILE}
-sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 -0.04" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://hrpsys_gazebo_tutorials/robot_models/JAXON/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 0.010 -0.071" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.23 0.13 0.05" />@;}' ${OUTPUT_FILE}
-# continuous joint not working in GAZEBO
-sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-# sed -i -e 's@<joint name="HEAD_JOINT0" type="fixed">@<joint name="HEAD_JOINT0" type="revolute">@g' ${OUTPUT_FILE}
diff --git a/hrpsys_gazebo_tutorials/robot_models/STARO/STARO.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/STARO/STARO.urdf.xacro
index f53f5ed1..3e4c08e8 100644
--- a/hrpsys_gazebo_tutorials/robot_models/STARO/STARO.urdf.xacro
+++ b/hrpsys_gazebo_tutorials/robot_models/STARO/STARO.urdf.xacro
@@ -1,5 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="STARO" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/STARO.urdf" />
   <xacro:include filename="$(find multisense_sl_description)/urdf/multisense_sl_v4.urdf" />
   <!-- add IOB plugin -->
   <gazebo>
diff --git a/hrpsys_gazebo_tutorials/robot_models/STARO/STARO_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/STARO/STARO_additional_urdf_setting.sh
deleted file mode 100755
index 645d9f1b..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/STARO/STARO_additional_urdf_setting.sh
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-## change foot parameters
-sed -i -e '/<gazebo reference="LLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK5">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK5">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-## change foot geometry to BOX
-sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 -0.04" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://hrpsys_gazebo_tutorials/robot_models/STARO/meshes/RLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 -0.010 -0.0709961" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.23 0.13 0.05" />@;}' ${OUTPUT_FILE}
-sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 -0.04" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://hrpsys_gazebo_tutorials/robot_models/STARO/meshes/LLEG_LINK5_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0.015 0.010 -0.0709961" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.23 0.13 0.05" />@;}' ${OUTPUT_FILE}
-## change BODY CHEST_LINK1 geometry to small BOX
-sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 1" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://hrpsys_gazebo_tutorials/robot_models/STARO/meshes/BODY_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="0 0 0.145" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.235 0.5 0.29" />@;}' ${OUTPUT_FILE}
-sed -i -e '/<collision>/{N;N;N;s@<collision>\n      <origin xyz="0 0 0.11075" rpy="0 -0 0"/>\n      <geometry>\n        <mesh filename="package://hrpsys_gazebo_tutorials/robot_models/STARO/meshes/CHEST_LINK1_mesh.dae" scale="1 1 1" />@<collision>\n      <origin xyz="-0.05 0 -0.01" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.18 0.55 0.16" />@;}' ${OUTPUT_FILE}
-# continuous joint not working in GAZEBO
-sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-sed -i -e 's@<joint name="HEAD_JOINT0" type="fixed">@<joint name="HEAD_JOINT0" type="revolute">@g' ${OUTPUT_FILE}
diff --git a/hrpsys_gazebo_tutorials/robot_models/STARO/STARO_with_hand.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/STARO/STARO_with_hand.urdf.xacro
index 11484a45..b8f1fe0b 100644
--- a/hrpsys_gazebo_tutorials/robot_models/STARO/STARO_with_hand.urdf.xacro
+++ b/hrpsys_gazebo_tutorials/robot_models/STARO/STARO_with_hand.urdf.xacro
@@ -1,5 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="STARO" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/STARO.urdf" />
   <xacro:include filename="$(find multisense_sl_description)/urdf/multisense_sl_v4.urdf" />
   <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/ROBOTIQ/ROBOTIQ.urdf.xacro" />
 
diff --git a/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro b/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro
index 7139b4e7..e414a1cb 100644
--- a/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro
+++ b/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot.urdf.xacro
@@ -1,5 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="SampleRobot" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models//SampleRobot.urdf" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
diff --git a/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh b/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh
deleted file mode 100755
index 6c358561..00000000
--- a/hrpsys_gazebo_tutorials/robot_models/SampleRobot/SampleRobot_additional_urdf_setting.sh
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/bin/bash
-
-function error {
-    exit 1
-}
-trap error ERR
-
-OUTPUT_FILE=$1
-## change foot parameters
-sed -i -e '/<gazebo reference="LLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="LLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="LLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-sed -i -e '/<gazebo reference="RLEG_LINK6">/{N;N;N;N;s@  <gazebo reference="RLEG_LINK6">\n    <mu1>0.9</mu1>\n    <mu2>0.9</mu2>\n  </gazebo>@  <gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>@;}' ${OUTPUT_FILE}
-# continuous joint not working in GAZEBO
-sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-## change max effort
-sed -i -e 's@effort="100"@effort="200"@g' ${OUTPUT_FILE}
-## change max velocity
-sed -i -e 's@velocity="0.5"@velocity="6.0"@g' ${OUTPUT_FILE}
diff --git a/hrpsys_ros_bridge_tutorials/models/hrp2jsk.yaml b/hrpsys_ros_bridge_tutorials/models/hrp2jsk.yaml
index eb397eda..5fa5c72e 100644
--- a/hrpsys_ros_bridge_tutorials/models/hrp2jsk.yaml
+++ b/hrpsys_ros_bridge_tutorials/models/hrp2jsk.yaml
@@ -98,3 +98,32 @@ angle-vector:
                       0.0,  40.0,
                      50.0, -30.0, -10.0, -120.0, -25.0, -5.0, -20.0,  60.0,
                      50.0,  30.0,  10.0, -120.0,  25.0,  5.0, -20.0, -60.0]
+
+# for gazebo simulation
+replace_xmls:
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: LLEG_LINK5
+    replaced_xml: '<gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: RLEG_LINK5
+    replaced_xml: '<gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: collision
+      sub_tag: mesh
+      sub_attribute_name: filename
+      sub_attribute_value: package://hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes/RLEG_LINK5_mesh.dae
+    replaced_xml: '<collision>\n      <origin xyz="0.015 -0.010 -0.08" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.240 0.138 0.07"/></geometry></collision>'
+  - match_rule:
+      tag: collision
+      sub_tag: mesh
+      sub_attribute_name: filename
+      sub_attribute_value: package://hrpsys_ros_bridge_tutorials/models/HRP2JSK_meshes/LLEG_LINK5_mesh.dae
+    replaced_xml: '<collision>\n      <origin xyz="0.015 0.010 -0.08" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.240 0.138 0.07"/></geometry></collision>'
+  - match_rule:
+      attribute_name: velocity
+      attribute_value: 0.5
+    replaced_attribute_value: 10.0
diff --git a/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.yaml b/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.yaml
index 3c341cfc..3840dc3c 100644
--- a/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.yaml
+++ b/hrpsys_ros_bridge_tutorials/models/hrp2jsknt.yaml
@@ -147,3 +147,176 @@ angle-vector:
                       0.0,  40.0,
                      50.0, -30.0, -10.0, -120.0, -25.0, -5.0, -20.0,  60.0,
                      50.0,  30.0,  10.0, -120.0,  25.0,  5.0, -20.0, -60.0]
+# for gazebo simulation
+replace_xmls:
+  - match_rule:
+      tag: mass
+      attribute_name: value
+      attribute_value: '0'
+    replaced_xml: '<mass value="1e-03" />'
+  - match_rule:
+      tag: inertia
+      attribute_name: ixx
+      attribute_value: '0'
+    replaced_xml: '<inertia ixx="1e-04" ixy="0" ixz="0" iyy="1e-04" iyz="0" izz="1e-04"/>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: LLEG_LINK5
+    replaced_xml: '<gazebo reference="LLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: RLEG_LINK5
+    replaced_xml: '<gazebo reference="RLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: LLEG_LINK6
+    replaced_xml: '<gazebo reference="LLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: RLEG_LINK6
+    replaced_xml: '<gazebo reference="RLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      attribute_name: velocity
+      attribute_value: 0.5
+    replaced_attribute_value: 10.0
+  - match_rule:
+      attribute_name: effort
+      attribute_value: 100
+    replaced_attribute_value: 1000
+  # for hands
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_INDEXMP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_INDEXMP_P_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_INDEXPIP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_MIDDLEPIP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_THUMBCM_Y_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_THUMBCM_P_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_INDEXMP_R_LINK
+    replaced_xml:  '<gazebo reference="L_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_INDEXMP_P_LINK
+    replaced_xml:  '<gazebo reference="L_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_INDEXPIP_R_LINK
+    replaced_xml:  '<gazebo reference="L_INDEXPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_MIDDLEPIP_R_LINK
+    replaced_xml:  '<gazebo reference="L_MIDDLEPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_THUMBCM_Y_LINK
+    replaced_xml:  '<gazebo reference="L_THUMBCM_Y_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_THUMBCM_P_LINK
+    replaced_xml:  '<gazebo reference="L_THUMBCM_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_INDEXMP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_INDEXMP_P_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_INDEXPIP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_MIDDLEPIP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_THUMBCM_Y_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_THUMBCM_P_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_INDEXMP_R_LINK
+    replaced_xml:  '<gazebo reference="R_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_INDEXMP_P_LINK
+    replaced_xml:  '<gazebo reference="R_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_INDEXPIP_R_LINK
+    replaced_xml:  '<gazebo reference="R_INDEXPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_MIDDLEPIP_R_LINK
+    replaced_xml:  '<gazebo reference="R_MIDDLEPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_THUMBCM_Y_LINK
+    replaced_xml:  '<gazebo reference="R_THUMBCM_Y_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_THUMBCM_P_LINK
+    replaced_xml:  '<gazebo reference="R_THUMBCM_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
diff --git a/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.yaml b/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.yaml
index 1907dda2..32559e81 100644
--- a/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.yaml
+++ b/hrpsys_ros_bridge_tutorials/models/hrp2jsknts.yaml
@@ -148,3 +148,176 @@ angle-vector:
                       0.0,  40.0,
                      50.0, -30.0, -10.0, -120.0, -25.0, -5.0, -20.0,  60.0,
                      50.0,  30.0,  10.0, -120.0,  25.0,  5.0, -20.0, -60.0]
+# for gazebo simulation
+replace_xmls:
+  - match_rule:
+      tag: mass
+      attribute_name: value
+      attribute_value: '0'
+    replaced_xml: '<mass value="1e-03" />'
+  - match_rule:
+      tag: inertia
+      attribute_name: ixx
+      attribute_value: '0'
+    replaced_xml: '<inertia ixx="1e-04" ixy="0" ixz="0" iyy="1e-04" iyz="0" izz="1e-04"/>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: LLEG_LINK5
+    replaced_xml: '<gazebo reference="LLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: RLEG_LINK5
+    replaced_xml: '<gazebo reference="RLEG_LINK5">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: LLEG_LINK6
+    replaced_xml: '<gazebo reference="LLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: RLEG_LINK6
+    replaced_xml: '<gazebo reference="RLEG_LINK6">\n    <kp>1400000.0</kp>\n    <kd>280.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      attribute_name: velocity
+      attribute_value: 0.5
+    replaced_attribute_value: 10.0
+  - match_rule:
+      attribute_name: effort
+      attribute_value: 100
+    replaced_attribute_value: 1000
+  # for hands
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_INDEXMP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_INDEXMP_P_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_INDEXPIP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_MIDDLEPIP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_THUMBCM_Y_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: L_THUMBCM_P_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_INDEXMP_R_LINK
+    replaced_xml:  '<gazebo reference="L_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_INDEXMP_P_LINK
+    replaced_xml:  '<gazebo reference="L_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_INDEXPIP_R_LINK
+    replaced_xml:  '<gazebo reference="L_INDEXPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_MIDDLEPIP_R_LINK
+    replaced_xml:  '<gazebo reference="L_MIDDLEPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_THUMBCM_Y_LINK
+    replaced_xml:  '<gazebo reference="L_THUMBCM_Y_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: L_THUMBCM_P_LINK
+    replaced_xml:  '<gazebo reference="L_THUMBCM_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_INDEXMP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_INDEXMP_P_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_INDEXPIP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_MIDDLEPIP_R_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_THUMBCM_Y_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: inertia
+      parent_depth: 2
+      parent_attribute_name: name
+      parent_attribute_value: R_THUMBCM_P_LINK
+    replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_INDEXMP_R_LINK
+    replaced_xml:  '<gazebo reference="R_INDEXMP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_INDEXMP_P_LINK
+    replaced_xml:  '<gazebo reference="R_INDEXMP_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_INDEXPIP_R_LINK
+    replaced_xml:  '<gazebo reference="R_INDEXPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_MIDDLEPIP_R_LINK
+    replaced_xml:  '<gazebo reference="R_MIDDLEPIP_R_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_THUMBCM_Y_LINK
+    replaced_xml:  '<gazebo reference="R_THUMBCM_Y_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: R_THUMBCM_P_LINK
+    replaced_xml:  '<gazebo reference="R_THUMBCM_P_LINK">\n    <kp>140.0</kp>\n    <kd>2800.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
diff --git a/hrpsys_ros_bridge_tutorials/models/jaxon.yaml b/hrpsys_ros_bridge_tutorials/models/jaxon.yaml
index 66f4080e..af7d9b20 100644
--- a/hrpsys_ros_bridge_tutorials/models/jaxon.yaml
+++ b/hrpsys_ros_bridge_tutorials/models/jaxon.yaml
@@ -140,3 +140,31 @@ sensors:
   - {sensor_name: 'rhsensor', sensor_type: 'base_force6d', parent_link: 'RARM_LINK7', translate: '0 0 -0.069', rotate: '-0.382683 -0.92388 0 180'}
   - {sensor_name: 'lhsensor', sensor_type: 'base_force6d', parent_link: 'LARM_LINK7', translate: '0 0 -0.069', rotate: '0.382683 -0.92388 0 180'}
   - {sensor_name: 'fisheye', sensor_type: 'camera', parent_link: 'CHEST_LINK2', translate: '0.147 0 -0.022', rotate: '0.965926 0 0.258819 180'}
+# for gazebo simulation
+replace_xmls:
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: LLEG_LINK5
+    replaced_xml: '<gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: RLEG_LINK5
+    replaced_xml: '<gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: collision
+      sub_tag: mesh
+      sub_attribute_name: filename
+      sub_attribute_value: package://hrpsys_ros_bridge_tutorials/models/JAXON_meshes/RLEG_LINK5_mesh.dae
+    replaced_xml: '<collision>\n      <origin xyz="0.015 -0.010 -0.08" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.240 0.138 0.07"/></geometry></collision>'
+  - match_rule:
+      tag: collision
+      sub_tag: mesh
+      sub_attribute_name: filename
+      sub_attribute_value: package://hrpsys_ros_bridge_tutorials/models/JAXON_meshes/LLEG_LINK5_mesh.dae
+    replaced_xml: '<collision>\n      <origin xyz="0.015 0.010 -0.08" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.240 0.138 0.07"/></geometry></collision>'
+  - match_rule:
+      attribute_name: velocity
+      attribute_value: 0.5
+    replaced_attribute_value: 10.0
diff --git a/hrpsys_ros_bridge_tutorials/models/samplerobot.yaml b/hrpsys_ros_bridge_tutorials/models/samplerobot.yaml
index 0125ca4d..e3f6599f 100644
--- a/hrpsys_ros_bridge_tutorials/models/samplerobot.yaml
+++ b/hrpsys_ros_bridge_tutorials/models/samplerobot.yaml
@@ -79,3 +79,23 @@ angle-vector:
                      0.0, 0.0, 0.0] # torso
 
 
+# for gazebo simulation
+replace_xmls:
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: LLEG_LINK6
+    replaced_xml: '<gazebo reference="LLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: RLEG_LINK6
+    replaced_xml: '<gazebo reference="RLEG_LINK6">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      attribute_name: effort
+      attribute_value: 100
+    replaced_attribute_value: 200
+  - match_rule:
+      attribute_name: velocity
+      attribute_value: 0.5
+    replaced_attribute_value: 6.0
diff --git a/hrpsys_ros_bridge_tutorials/models/staro.yaml b/hrpsys_ros_bridge_tutorials/models/staro.yaml
index 706a7253..25d34668 100644
--- a/hrpsys_ros_bridge_tutorials/models/staro.yaml
+++ b/hrpsys_ros_bridge_tutorials/models/staro.yaml
@@ -116,3 +116,41 @@ sensors:
   - {sensor_name: 'lasensor', sensor_type: 'base_force6d', parent_link: 'LARM_LINK7', translate: '0  0.05755 0', rotate: '1 0 0 -90'}
   - {sensor_name: 'rfsensor', sensor_type: 'base_force6d', parent_link: 'RLEG_LINK5', translate: '0 0 -0.069', rotate: '0 1 0 180'}
   - {sensor_name: 'lfsensor', sensor_type: 'base_force6d', parent_link: 'LLEG_LINK5', translate: '0 0 -0.069', rotate: '0 1 0 180'}
+
+# for gazebo simulation
+replace_xmls:
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: LLEG_LINK5
+    replaced_xml: '<gazebo reference="LLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: gazebo
+      attribute_name: reference
+      attribute_value: RLEG_LINK5
+    replaced_xml: '<gazebo reference="RLEG_LINK5">\n    <kp>1000000.0</kp>\n    <kd>100.0</kd>\n    <mu1>1.5</mu1>\n    <mu2>1.5</mu2>\n    <fdir1>1 0 0</fdir1>\n    <maxVel>10.0</maxVel>\n    <minDepth>0.00</minDepth>\n  </gazebo>'
+  - match_rule:
+      tag: collision
+      sub_tag: mesh
+      sub_attribute_name: filename
+      sub_attribute_value: package://hrpsys_ros_bridge_tutorials/models/STARO_meshes/RLEG_LINK5_mesh.dae
+    replaced_xml: '<collision>\n      <origin xyz="0.015 -0.010 -0.0709961" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.23 0.13 0.05" />'
+  - match_rule:
+      tag: collision
+      sub_tag: mesh
+      sub_attribute_name: filename
+      sub_attribute_value: package://hrpsys_ros_bridge_tutorials/models/STARO_meshes/LLEG_LINK5_mesh.dae
+    replaced_xml: '<collision>\n      <origin xyz="0.015 0.010 -0.0709961" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.23 0.13 0.05" />'
+  - match_rule:
+      tag: collision
+      sub_tag: mesh
+      sub_attribute_name: filename
+      sub_attribute_value: package://hrpsys_ros_bridge_tutorials/models/STARO_meshes/BODY_mesh.dae
+    replaced_xml: '<collision>\n      <origin xyz="0 0 0.145" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.235 0.5 0.29" />'
+  - match_rule:
+      tag: collision
+      sub_tag: mesh
+      sub_attribute_name: filename
+      sub_attribute_value: package://hrpsys_ros_bridge_tutorials/models/STARO_meshes/CHEST_LINK1_mesh.dae
+    replaced_xml: '<collision>\n      <origin xyz="-0.05 0 -0.01" rpy="0 -0 0"/>\n      <geometry>\n        <box size="0.18 0.55 0.16" />'
+b
\ No newline at end of file
diff --git a/hrpsys_ros_bridge_tutorials/package.xml b/hrpsys_ros_bridge_tutorials/package.xml
index 0e7d0326..e993273f 100644
--- a/hrpsys_ros_bridge_tutorials/package.xml
+++ b/hrpsys_ros_bridge_tutorials/package.xml
@@ -29,7 +29,8 @@
   <build_depend>control_msgs</build_depend>
   <build_depend>hrp2_models</build_depend> <!-- only jsk people have this package, so if you do not find them, please comment out this -->
   <build_depend>jsk_models</build_depend> <!-- only jsk people have this package, so if you do not find them, please comment out this -->
-
+  <build_depend>collada_urdf_jsk_patch</build_depend>
+  
   <run_depend>hrpsys_ros_bridge</run_depend>
   <run_depend>hrpsys</run_depend>
   <run_depend>openhrp3</run_depend>
@@ -43,6 +44,7 @@
   <run_depend>hrp2_models</run_depend> <!-- only jsk people have this package, so if you do not find them, please comment out this -->
   <run_depend>jsk_models</run_depend> <!-- only jsk people have this package, so if you do not find them, please comment out this -->
   <!-- <test_depend>openhrp3</test_depend> -->
+  <run_depend>collada_urdf_jsk_patch</run_depend>
   <export>
   </export>
 </package>