diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml b/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml
index 1194a156..5ad2892e 100644
--- a/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml
@@ -1,8 +1,8 @@
 bush:
   springT: 3.3e5
   dampingT: 3.3e2
-  springR: 2.5e3
-  dampingR: 2.5
+  springR: 1.0e3
+  dampingR: 1.0
 
 tilt_laser:
   TILT_UPPER_BOUND: 1.35
diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml
index 1194a156..5ad2892e 100644
--- a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml
@@ -1,8 +1,8 @@
 bush:
   springT: 3.3e5
   dampingT: 3.3e2
-  springR: 2.5e3
-  dampingR: 2.5
+  springR: 1.0e3
+  dampingR: 1.0
 
 tilt_laser:
   TILT_UPPER_BOUND: 1.35
diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml
index 1194a156..5ad2892e 100644
--- a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml
@@ -1,8 +1,8 @@
 bush:
   springT: 3.3e5
   dampingT: 3.3e2
-  springR: 2.5e3
-  dampingR: 2.5
+  springR: 1.0e3
+  dampingR: 1.0
 
 tilt_laser:
   TILT_UPPER_BOUND: 1.35
diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_LOAD_OBJ.cnoid.in b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_LOAD_OBJ.cnoid.in
index 3dd296d7..bc944028 100644
--- a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_LOAD_OBJ.cnoid.in
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_LOAD_OBJ.cnoid.in
@@ -27,8 +27,8 @@ items:
               0, 1, 0,
               0, 0, 1 ]
             jointPositions: [
-               -0.000015,  0.003323, -0.468274,  0.872491, -0.404216, -0.003323,  0.000000,
-               -0.000015,  0.003323, -0.467353,  0.870656, -0.403303, -0.003323,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
                 0.000000,  0.000000,  0.000000,  0.000000,
                 0.174533, -0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533,  0.261799,
                 0.174533,  0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533, -0.261799,
@@ -40,8 +40,8 @@ items:
               0, 1, 0,
               0, 0, 1 ]
             initialJointPositions: [
-               -0.000015,  0.003323, -0.468274,  0.872491, -0.404216, -0.003323,  0.000000,
-               -0.000015,  0.003323, -0.467353,  0.870656, -0.403303, -0.003323,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
                 0.000000,  0.000000,  0.000000,  0.000000,
                 0.174533, -0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533,  0.261799,
                 0.174533,  0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533, -0.261799,
diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_LOAD_OBJ.cnoid.in b/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_LOAD_OBJ.cnoid.in
index 6d4530b1..f3179a55 100644
--- a/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_LOAD_OBJ.cnoid.in
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_LOAD_OBJ.cnoid.in
@@ -27,8 +27,8 @@ items:
               0, 1, 0,
               0, 0, 1 ]
             jointPositions: [
-               -0.000015,  0.003323, -0.468274,  0.872491, -0.404216, -0.003323,  0.000000,
-               -0.000015,  0.003323, -0.467353,  0.870656, -0.403303, -0.003323,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
                 0.000000,  0.000000,  0.000000,  0.000000,
                 0.174533, -0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533,  0.261799,
                 0.174533,  0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533, -0.261799,
@@ -40,8 +40,8 @@ items:
               0, 1, 0,
               0, 0, 1 ]
             initialJointPositions: [
-               -0.000015,  0.003323, -0.468274,  0.872491, -0.404216, -0.003323,  0.000000,
-               -0.000015,  0.003323, -0.467353,  0.870656, -0.403303, -0.003323,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
                 0.000000,  0.000000,  0.000000,  0.000000,
                 0.174533, -0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533,  0.261799,
                 0.174533,  0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533, -0.261799,