diff --git a/.travis b/.travis
index 0955a49e..54cfece8 160000
--- a/.travis
+++ b/.travis
@@ -1 +1 @@
-Subproject commit 0955a49eb558dbcc8f25c032668ad25774c41a8b
+Subproject commit 54cfece8bf0ab09877f00070a64a93fc507b68e7
diff --git a/hrpsys_choreonoid_tutorials/CMakeLists.txt b/hrpsys_choreonoid_tutorials/CMakeLists.txt
index e27d0c42..371d3804 100644
--- a/hrpsys_choreonoid_tutorials/CMakeLists.txt
+++ b/hrpsys_choreonoid_tutorials/CMakeLists.txt
@@ -183,6 +183,7 @@ configure_file(${PROJECT_SOURCE_DIR}/config/JAXON_RED_STEPS.cnoid.in ${PROJECT_S
 ###
 if (${jsk_models_FOUND})
 configure_file(${PROJECT_SOURCE_DIR}/config/JAXON_BLUE_RH_FLAT.cnoid.in ${PROJECT_SOURCE_DIR}/config/JAXON_BLUE_RH_FLAT.cnoid @ONLY)
+configure_file(${PROJECT_SOURCE_DIR}/config/JAXON_BLUE_RH_LOAD_OBJ.cnoid.in ${PROJECT_SOURCE_DIR}/config/JAXON_BLUE_RH_LOAD_OBJ.cnoid @ONLY)
 endif()
 
 ###
diff --git a/hrpsys_choreonoid_tutorials/config/JAXON_BLUE_RH_LOAD_OBJ.cnoid.in b/hrpsys_choreonoid_tutorials/config/JAXON_BLUE_RH_LOAD_OBJ.cnoid.in
new file mode 100644
index 00000000..ed1cbb53
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/config/JAXON_BLUE_RH_LOAD_OBJ.cnoid.in
@@ -0,0 +1,366 @@
+items:
+  id: 0
+  name: "Root"
+  plugin: Base
+  class: RootItem
+  children:
+    -
+      id: 1
+      name: "World"
+      plugin: Body
+      class: WorldItem
+      data:
+        collisionDetection: false
+        collisionDetector: AISTCollisionDetector
+      children:
+        -
+          id: 2
+          name: "JAXON_BLUE"
+          plugin: Body
+          class: BodyItem
+          data:
+            modelFile: "@JSK_MODELS_DIR@/JAXON_BLUE/JAXON_BLUEmain_bush.wrl"
+            format: CHOREONOID-BODY
+            currentBaseLink: "WAIST"
+            rootPosition: [ 0.0, 0.0, 1.0235 ]
+            rootAttitude: [
+              0, -1, 0,
+              1, 0, 0,
+              0, 0, 1 ]
+            jointPositions: [
+               0.000054, -0.003093, -0.262419,  0.681091, -0.418672,  0.003093,  0.000054, -0.003093, -0.262401,  0.681084,
+              -0.418684,  0.003093,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.523599, -0.349066,
+              -0.087266, -1.396263,  0.000000,  0.000000, -0.349066,  0.523599,  0.349066,  0.087266, -1.396263,
+               0.000000,  0.000000, -0.349066 ]
+            initialRootPosition: [ 0.0, 0.0, 1.0185 ]
+            initialRootAttitude: [
+              0, -1, 0,
+              1, 0, 0,
+              0, 0, 1 ]
+            initialJointPositions: [
+               0.000054, -0.003093, -0.262419,  0.681091, -0.418672,  0.003093,  0.000054, -0.003093, -0.262401,  0.681084,
+              -0.418684,  0.003093,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.523599, -0.349066,
+              -0.087266, -1.396263,  0.000000,  0.000000, -0.349066,  0.523599,  0.349066,  0.087266, -1.396263,
+               0.000000,  0.000000, -0.349066 ]
+            zmp: [ 0, 0, 0 ]
+            collisionDetection: true
+            selfCollisionDetection: false
+            isEditable: true
+          children:
+            -
+              id: 3
+              name: "BodyRTC"
+              plugin: OpenRTM
+              class: BodyRTCItem
+              data:
+                isImmediateMode: true
+                moduleName: "@JVRC_RTC_DIRECTORY@/lib/RobotHardware_choreonoid"
+                confFileName: "@JVRC_CONF_DIRECTORY@/BodyRTC_JAXON_BLUE.RH.conf"
+                configurationMode: Use Configuration File
+                AutoConnect: false
+                InstanceName: JAXON_BLUE(Robot)0
+                bodyPeriodicRate: 0.002
+        -
+          id: 4
+          name: "AISTSimulator"
+          plugin: Body
+          class: AISTSimulatorItem
+          data:
+            realtimeSync: true
+            recording: full
+            timeRangeMode: TimeBar range
+            onlyActiveControlPeriod: true
+            timeLength: 12000
+            allLinkPositionOutputMode: false
+            deviceStateOutput: true
+            controllerThreads: true
+            recordCollisionData: false
+            dynamicsMode: Forward dynamics
+            integrationMode: Runge Kutta
+            gravity: [ 0, 0, -9.80665 ]
+            staticFriction: 1
+            slipFriction: 1
+            cullingThresh: 0.005
+            contactCullingDepth: 0.03
+            errorCriterion: 0.001
+            maxNumIterations: 1000
+            contactCorrectionDepth: 0.0001
+            contactCorrectionVelocityRatio: 1
+            kinematicWalking: false
+            2Dmode: false
+    -
+      id: 5
+      name: "ros_service_server.py"
+      plugin: Python
+      class: PythonScriptItem
+      data:
+        file: "@JVRC_RTC_DIRECTORY@/scripts/ros_service_server.py"
+        executionOnLoading: true
+        backgroundExecution: false
+    -
+      id: 6
+      name: "add_objects.py"
+      plugin: Python
+      class: PythonScriptItem
+      data: 
+        file: "@JVRC_RTC_DIRECTORY@/launch/add_objects.py"
+        executionOnLoading: true
+        backgroundExecution: false
+views:
+  -
+    id: 0
+    name: "CameraImage"
+    plugin: Base
+    class: ImageView
+    mounted: true
+  -
+    id: 1
+    plugin: Base
+    class: ItemPropertyView
+    mounted: true
+  -
+    id: 2
+    plugin: Base
+    class: ItemTreeView
+    mounted: true
+    state:
+      selected: [ 9 ]
+      checked: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, ]
+      expanded: [ 1 ]
+  -
+    id: 3
+    plugin: Base
+    class: MessageView
+    mounted: true
+  -
+    id: 4
+    plugin: Base
+    class: SceneView
+    mounted: true
+    state:
+      editMode: true
+      viewpointControlMode: thirdPerson
+      collisionLines: false
+      polygonMode: fill
+      defaultHeadLight: true
+      defaultHeadLightIntensity: 0.75
+      headLightLightingFromBack: false
+      worldLight: true
+      worldLightIntensity: 0.5
+      worldLightAmbient: 0.3
+      additionalLights: true
+      floorGrid: true
+      floorGridSpan: 10
+      floorGridInterval: 0.5
+      xzGridSpan: 10
+      xzGridInterval: 0.5
+      xzGrid: false
+      yzGridSpan: 10
+      yzGridInterval: 0.5
+      texture: true
+      lineWidth: 1
+      pointSize: 1
+      normalVisualization: false
+      normalLength: 0.01
+      coordinateAxes: true
+      showFPS: false
+      enableNewDisplayListDoubleRendering: false
+      useBufferForPicking: true
+      cameras:
+        -
+          camera: [ System, Perspective ]
+          isCurrent: true
+          fieldOfView: 0.6978
+          near: 0.01
+          far: 100
+          eye: [ 2.7, -2.7, 2 ]
+          direction: [ -0.7, 0.7, -0.3 ]
+          up: [ -0.25, 0.25, 1]
+        -
+          camera: [ System, Orthographic ]
+          orthoHeight: 20
+          near: 0.01
+          far: 100
+      backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ]
+      gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      dedicatedItemTreeViewChecks: false
+  -
+    id: 5
+    name: "Task"
+    plugin: Base
+    class: TaskView
+    state:
+      layoutMode: horizontal
+      isAutoMode: false
+  -
+    id: 6
+    plugin: Body
+    class: BodyLinkView
+    mounted: true
+    state:
+      showRotationMatrix: false
+  -
+    id: 7
+    plugin: Body
+    class: JointSliderView
+    mounted: true
+    state:
+      showAllJoints: true
+      jointId: false
+      name: true
+      numColumns: 1
+      spinBox: true
+      slider: true
+      labelOnLeft: true
+  -
+    id: 8
+    plugin: Body
+    class: LinkSelectionView
+    mounted: true
+    state:
+      listingMode: "Link List"
+  -
+    id: 10
+    plugin: Python
+    class: PythonConsoleView
+    mounted: true
+toolbars:
+  "TimeBar":
+    minTime: 0
+    maxTime: 12000
+    frameRate: 1000
+    playbackFrameRate: 50
+    idleLoopDrivenMode: false
+    currentTime: 0
+    speedScale: 1
+    syncToOngoingUpdates: true
+    autoExpansion: true
+  "KinematicsBar":
+    mode: AUTO
+    enablePositionDragger: true
+    penetrationBlock: false
+    collisionLinkHighlight: false
+    snapDistance: 0.025
+    penetrationBlockDepth: 0.0005
+    lazyCollisionDetectionMode: true
+  "LeggedBodyBar":
+    stanceWidth: 0.15
+  "BodyMotionGenerationBar":
+    autoGenerationForNewBody: true
+    balancer: false
+    autoGeneration: false
+    timeScaleRatio: 1
+    preInitialDuration: 1
+    postFinalDuration: 1
+    onlyTimeBarRange: false
+    makeNewBodyItem: true
+    stealthyStepMode: true
+    stealthyHeightRatioThresh: 2
+    flatLiftingHeight: 0.005
+    flatLandingHeight: 0.005
+    impactReductionHeight: 0.005
+    impactReductionTime: 0.04
+    autoZmp: true
+    minZmpTransitionTime: 0.1
+    zmpCenteringTimeThresh: 0.03
+    zmpTimeMarginBeforeLiftingSpin: 0
+    zmpMaxDistanceFromCenter: 0.02
+    allLinkPositions: false
+    lipSyncMix: false
+    timeToStartBalancer: 0
+    balancerIterations: 2
+    plainBalancerMode: false
+    boundaryConditionType: position
+    boundarySmootherType: quintic
+    boundarySmootherTime: 0.5
+    boundaryCmAdjustment: false
+    boundaryCmAdjustmentTime: 1
+    waistHeightRelaxation: false
+    gravity: 9.8
+    dynamicsTimeRatio: 1
+Body:
+  "BodyMotionEngine":
+    updateJointVelocities: false
+  "EditableSceneBody":
+    editableSceneBodies:
+      -
+        bodyItem: 2
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+      -
+        bodyItem: 3
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+      -
+        bodyItem: 4
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+    staticModelEditing: false
+  "KinematicFaultChecker":
+    checkJointPositions: true
+    angleMargin: 0
+    translationMargin: 0
+    checkJointVelocities: true
+    velocityLimitRatio: 100
+    targetJoints: all
+    checkSelfCollisions: true
+    onlyTimeBarRange: false
+OpenRTM:
+  "deleteUnmanagedRTCsOnStartingSimulation": false
+viewAreas:
+  -
+    type: embedded
+    tabs: true
+    contents:
+      type: splitter
+      orientation: horizontal
+      sizes: [ 310, 2195 ]
+      children:
+        -
+          type: splitter
+          orientation: vertical
+          sizes: [ 768, 767 ]
+          children:
+            -
+              type: pane
+              views: [ 2 ]
+              current: 2
+            -
+              type: pane
+              views: [ 1, 8 ]
+              current: 1
+        -
+          type: splitter
+          orientation: vertical
+          sizes: [ 1205, 330 ]
+          children:
+            -
+              type: splitter
+              orientation: horizontal
+              sizes: [ 449, 1740 ]
+              children:
+                -
+                  type: pane
+                  views: [ 6, 7, 0 ]
+                  current: 6
+                -
+                  type: pane
+                  views: [ 4 ]
+                  current: 4
+            -
+              type: pane
+              views: [ 3, 10 ]
+              current: 10
+layoutOfToolBars:
+  rows:
+    -
+      - { name: "FileBar", x: 0, priority: 0 }
+      - { name: "ScriptBar", x: 47, priority: 3 }
+      - { name: "TimeBar", x: 47, priority: 1 }
+      - { name: "SceneBar", x: 1455, priority: 2 }
+      - { name: "SimulationBar", x: 1464, priority: 0 }
diff --git a/hrpsys_choreonoid_tutorials/launch/jaxon_blue_choreonoid.launch b/hrpsys_choreonoid_tutorials/launch/jaxon_blue_choreonoid.launch
index f0a9de3a..1e52c736 100644
--- a/hrpsys_choreonoid_tutorials/launch/jaxon_blue_choreonoid.launch
+++ b/hrpsys_choreonoid_tutorials/launch/jaxon_blue_choreonoid.launch
@@ -4,6 +4,7 @@
   <arg name="USE_ROBOTHARDWARE" default="true" />
   <arg name="ENVIRONMENT_YAML" default="$(find hrpsys_choreonoid_tutorials)/config/flat.yaml" />
   <arg name="LOAD_OBJECTS" default="false" />
+  <arg name="NO_SCENE" default="false" />
 
   <arg name="KILL_SERVERS" default="false" />
   <arg name="NOSIM" default="false" />
@@ -16,14 +17,19 @@
   <arg name="LAUNCH_FOOTCOORDS" default="true" />
 
   <!-- robot dependant settings -->
-  <arg if="$(arg USE_ROBOTHARDWARE)"
-       name="taskname" value="RH_$(arg TASK)" />
-  <arg unless="$(arg USE_ROBOTHARDWARE)"
-       name="taskname" value="$(arg TASK)" />
   <arg if="$(arg LOAD_OBJECTS)"
-       name="taskname_last" value="LOAD_OBJ" />
+       name="taskname" value="LOAD_OBJ" />
   <arg unless="$(arg LOAD_OBJECTS)"
-       name="taskname_last" value="$(arg taskname)" />
+       name="taskname" value="$(arg TASK)" />
+  <arg if="$(arg USE_ROBOTHARDWARE)"
+       name="taskname_obj" value="RH_$(arg taskname)" />
+  <arg unless="$(arg USE_ROBOTHARDWARE)"
+       name="taskname_obj" value="$(arg taskname)" />
+  <arg if="$(arg NO_SCENE)"
+       name="taskname_last" value="$(arg taskname_obj)_NW" />
+  <arg unless="$(arg NO_SCENE)"
+       name="taskname_last" value="$(arg taskname_obj)" />
+
   <env if="$(arg LOAD_OBJECTS)"
        name="EXTRA_CHOREONOID_OBJS" value="$(arg ENVIRONMENT_YAML)" />
 
diff --git a/hrpsys_choreonoid_tutorials/launch/jaxon_red_choreonoid.launch b/hrpsys_choreonoid_tutorials/launch/jaxon_red_choreonoid.launch
index ab888ba3..1692b72c 100644
--- a/hrpsys_choreonoid_tutorials/launch/jaxon_red_choreonoid.launch
+++ b/hrpsys_choreonoid_tutorials/launch/jaxon_red_choreonoid.launch
@@ -13,7 +13,7 @@
   <arg name="GUI" default="true" />
   <arg name="hrpsys_precreate_rtc" default=""/>
   <arg name="hrpsys_opt_rtc_config_args" default="" />
-  <arg name="LAUNCH_FOOTCOORDS" default="true" />
+  <arg name="LAUNCH_FOOTCOORDS" default="false" />
 
   <!-- robot dependant settings -->
   <arg if="$(arg LOAD_OBJECTS)"
diff --git a/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains.sav b/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains.sav
index 5e9bd811..e3a6cfd0 100644
--- a/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains.sav
+++ b/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains.sav
@@ -36,3 +36,8 @@
 1 0 1 1 0 0
 1 0 1 1 0 0
 1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+0 0 0 0 0 0
\ No newline at end of file
diff --git a/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat b/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat
index 18d11fe4..d871e6cb 100644
--- a/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat
+++ b/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat
@@ -35,4 +35,9 @@
 400 10 1 0
 400 10 1 0
 400 10 1 0
+20000 100 0 0
+20000 100 0 0
+20000 100 0 0
+20000 100 0 0
 100 5 1 0
+0 0 0 0
diff --git a/hrpsys_choreonoid_tutorials/scripts/chidori_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/chidori_rh_setup.py
index d075287b..1ce9d1e1 100755
--- a/hrpsys_choreonoid_tutorials/scripts/chidori_rh_setup.py
+++ b/hrpsys_choreonoid_tutorials/scripts/chidori_rh_setup.py
@@ -13,15 +13,15 @@ def getRTCList (self):
             ['kf', "KalmanFilter"],
             #['vs', "VirtualForceSensor"],
             ['rmfo', "RemoveForceSensorLinkOffset"],
+            ['octd', "ObjectContactTurnaroundDetector"],
             ['es', "EmergencyStopper"],
             ['rfu', "ReferenceForceUpdater"],
-            ['octd', "ObjectContactTurnaroundDetector"],
             ['ic', "ImpedanceController"],
             ['abc', "AutoBalancer"],
             ['st', "Stabilizer"],
-            # ['tc', "TorqueController"],
-            # ['te', "ThermoEstimator"],
             # ['tl', "ThermoLimiter"],
+            # ['te', "ThermoEstimator"],
+            # ['tc', "TorqueController"],
             ['co', "CollisionDetector"],
             ['hes', "EmergencyStopper"],
             ['el', "SoftErrorLimiter"],
diff --git a/hrpsys_choreonoid_tutorials/scripts/jaxon_blue_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/jaxon_blue_rh_setup.py
index a632c136..4ed7903c 100755
--- a/hrpsys_choreonoid_tutorials/scripts/jaxon_blue_rh_setup.py
+++ b/hrpsys_choreonoid_tutorials/scripts/jaxon_blue_rh_setup.py
@@ -13,16 +13,16 @@ def getRTCList (self):
             ['kf', "KalmanFilter"],
             ['vs', "VirtualForceSensor"],
             ['rmfo', "RemoveForceSensorLinkOffset"],
+            ['octd', "ObjectContactTurnaroundDetector"],
             ['es', "EmergencyStopper"],
+            ['rfu', "ReferenceForceUpdater"],
             ['ic', "ImpedanceController"],
             ['abc', "AutoBalancer"],
-            ['st', "Stabilizer"],
-            ['co', "CollisionDetector"],
-            # ['tc', "TorqueController"],
-            # ['te', "ThermoEstimator"],
+            # ['st', "Stabilizer"],
             # ['tl', "ThermoLimiter"],
-            ['rfu', "ReferenceForceUpdater"],
-            ['octd', "ObjectContactTurnaroundDetector"],
+            # ['te', "ThermoEstimator"],
+            # ['tc', "TorqueController"],
+            ['co', "CollisionDetector"],
             ['hes', "EmergencyStopper"],
             ['el', "SoftErrorLimiter"],
             ['log', "DataLogger"]
@@ -42,18 +42,17 @@ def defJointGroups (self):
 
     def startABSTIMP (self):
         ### not used on hrpsys
-        # self.el_svc.setServoErrorLimit("motor_joint",   sys.float_info.max)
         # self.el_svc.setServoErrorLimit("RARM_F_JOINT0", sys.float_info.max)
         # self.el_svc.setServoErrorLimit("RARM_F_JOINT1", sys.float_info.max)
         # self.el_svc.setServoErrorLimit("LARM_F_JOINT0", sys.float_info.max)
         # self.el_svc.setServoErrorLimit("LARM_F_JOINT1", sys.float_info.max)
         ###
-        self.startAutoBalancer()
         # Suppress limit over message and behave like real robot that always angle-vector is in seq.
         # Latter four 0.0 are for hands.
         self.seq_svc.setJointAngles(self.jaxonResetPose(), 1.0)
-        self.ic_svc.startImpedanceController("larm")
-        self.ic_svc.startImpedanceController("rarm")
+        self.abc_svc.startAutoBalancer(['rleg','lleg'])
+        # self.ic_svc.startImpedanceController("larm")
+        # self.ic_svc.startImpedanceController("rarm")
         self.startStabilizer()
 
 if __name__ == '__main__':
diff --git a/hrpsys_choreonoid_tutorials/scripts/jaxon_red_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/jaxon_red_rh_setup.py
index 4538ed10..d3815f5f 100755
--- a/hrpsys_choreonoid_tutorials/scripts/jaxon_red_rh_setup.py
+++ b/hrpsys_choreonoid_tutorials/scripts/jaxon_red_rh_setup.py
@@ -13,16 +13,16 @@ def getRTCList (self):
             ['kf', "KalmanFilter"],
             ['vs', "VirtualForceSensor"],
             ['rmfo', "RemoveForceSensorLinkOffset"],
+            ['octd', "ObjectContactTurnaroundDetector"],
             ['es', "EmergencyStopper"],
+            ['rfu', "ReferenceForceUpdater"],
             ['ic', "ImpedanceController"],
             ['abc', "AutoBalancer"],
-            ['st', "Stabilizer"],
-            ['co', "CollisionDetector"],
-            # ['tc', "TorqueController"],
-            # ['te', "ThermoEstimator"],
+            # ['st', "Stabilizer"],
             # ['tl', "ThermoLimiter"],
-            ['rfu', "ReferenceForceUpdater"],
-            ['octd', "ObjectContactTurnaroundDetector"],
+            # ['te', "ThermoEstimator"],
+            # ['tc', "TorqueController"],
+            ['co', "CollisionDetector"],
             ['hes', "EmergencyStopper"],
             ['el', "SoftErrorLimiter"],
             ['log', "DataLogger"]
@@ -42,18 +42,17 @@ def defJointGroups (self):
 
     def startABSTIMP (self):
         ### not used on hrpsys
-        self.el_svc.setServoErrorLimit("motor_joint",   sys.float_info.max)
         self.el_svc.setServoErrorLimit("RARM_F_JOINT0", sys.float_info.max)
         self.el_svc.setServoErrorLimit("RARM_F_JOINT1", sys.float_info.max)
         self.el_svc.setServoErrorLimit("LARM_F_JOINT0", sys.float_info.max)
         self.el_svc.setServoErrorLimit("LARM_F_JOINT1", sys.float_info.max)
         ###
-        self.startAutoBalancer()
         # Suppress limit over message and behave like real robot that always angle-vector is in seq.
         # Latter four 0.0 are for hands.
         self.seq_svc.setJointAngles(self.jaxonResetPose()+[0.0, 0.0, 0.0, 0.0] , 1.0)
-        self.ic_svc.startImpedanceController("larm")
-        self.ic_svc.startImpedanceController("rarm")
+        self.abc_svc.startAutoBalancer(['rleg','lleg'])
+        # self.ic_svc.startImpedanceController("larm")
+        # self.ic_svc.startImpedanceController("rarm")
         self.startStabilizer()
 
 if __name__ == '__main__':
diff --git a/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py b/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py
index 366b38af..25570d5f 100755
--- a/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py
+++ b/hrpsys_choreonoid_tutorials/scripts/jaxon_red_setup.py
@@ -13,16 +13,16 @@ def getRTCList (self):
             ['kf', "KalmanFilter"],
             ['vs', "VirtualForceSensor"],
             ['rmfo', "RemoveForceSensorLinkOffset"],
+            ['octd', "ObjectContactTurnaroundDetector"],
             ['es', "EmergencyStopper"],
+            ['rfu', "ReferenceForceUpdater"],
             ['ic', "ImpedanceController"],
             ['abc', "AutoBalancer"],
-            ['st', "Stabilizer"],
-            ['co', "CollisionDetector"],
-            # ['tc', "TorqueController"],
-            # ['te', "ThermoEstimator"],
+            # ['st', "Stabilizer"],
             # ['tl', "ThermoLimiter"],
-            ['rfu', "ReferenceForceUpdater"],
-            ['octd', "ObjectContactTurnaroundDetector"],
+            # ['te', "ThermoEstimator"],
+            # ['tc', "TorqueController"],
+            ['co', "CollisionDetector"],
             ['hes', "EmergencyStopper"],
             ['el', "SoftErrorLimiter"],
             ['log', "DataLogger"]
@@ -42,18 +42,17 @@ def defJointGroups (self):
 
     def startABSTIMP (self):
         ### not used on hrpsys
-        self.el_svc.setServoErrorLimit("motor_joint",   sys.float_info.max)
         self.el_svc.setServoErrorLimit("RARM_F_JOINT0", sys.float_info.max)
         self.el_svc.setServoErrorLimit("RARM_F_JOINT1", sys.float_info.max)
         self.el_svc.setServoErrorLimit("LARM_F_JOINT0", sys.float_info.max)
         self.el_svc.setServoErrorLimit("LARM_F_JOINT1", sys.float_info.max)
         ###
-        self.startAutoBalancer()
         # Suppress limit over message and behave like real robot that always angle-vector is in seq.
         # Latter four 0.0 are for hands.
         self.seq_svc.setJointAngles(self.jaxonResetPose()+[0.0, 0.0, 0.0, 0.0] , 1.0)
-        self.ic_svc.startImpedanceController("larm")
-        self.ic_svc.startImpedanceController("rarm")
+        self.abc_svc.startAutoBalancer(['rleg','lleg'])
+        # self.ic_svc.startImpedanceController("larm")
+        # self.ic_svc.startImpedanceController("rarm")
         self.startStabilizer()
 
 if __name__ == '__main__':
diff --git a/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/choreonoid_hrpsys_config.py b/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/choreonoid_hrpsys_config.py
index 56794004..b629c26d 100755
--- a/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/choreonoid_hrpsys_config.py
+++ b/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/choreonoid_hrpsys_config.py
@@ -17,10 +17,10 @@ def getRTCList (self):
             ['ic', "ImpedanceController"],
             ['abc', "AutoBalancer"],
             ['st', "Stabilizer"],
-            ['co', "CollisionDetector"],
-            # ['tc', "TorqueController"],
-            # ['te', "ThermoEstimator"],
             # ['tl', "ThermoLimiter"],
+            # ['te', "ThermoEstimator"],
+            # ['tc', "TorqueController"],
+            ['co', "CollisionDetector"],
             ['hes', "EmergencyStopper"],
             ['el', "SoftErrorLimiter"],
             ['log', "DataLogger"]
diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
index f0089dd3..a843d23e 100644
--- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
+++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
@@ -59,6 +59,182 @@ PROTO Segment [
   }
 }
 
+PROTO PressureSensor [
+ exposedField SFFloat maxPressure -1
+ exposedField SFVec3f translation 0 0 0
+ exposedField SFRotation rotation 0 0 1 0
+ exposedField SFInt32 sensorId -1
+]
+{
+   Transform {
+      translation IS translation
+      rotation IS rotation
+   }
+}
+
+PROTO PhotoInterrupter [
+ exposedField SFVec3f transmitter 0 0 0
+ exposedField SFVec3f receiver 0 0 0
+ exposedField SFInt32 sensorId -1
+]
+{
+   Transform{
+      children [
+         Transform{
+            translation IS transmitter
+         }
+         Transform{
+            translation IS receiver
+         }
+      ]
+   }
+}
+
+PROTO CylinderSensorZ [
+ exposedField    SFFloat    maxAngle      -1
+ exposedField    SFFloat    minAngle        0
+ exposedField    MFNode     children        [ ]
+]
+{
+   Transform{
+      rotation 1 0 0 1.5708
+      children [
+         DEF SensorY CylinderSensor{
+            maxAngle IS maxAngle
+            minAngle IS minAngle
+         }
+         DEF AxisY Transform{
+            children [
+               Transform{
+                  rotation 1 0 0 -1.5708
+                  children IS children
+               }
+            ]
+         }
+      ]
+   }
+   ROUTE SensorY.rotation_changed TO AxisY.set_rotation
+}
+
+PROTO CylinderSensorY [
+ exposedField    SFFloat    maxAngle      -1
+ exposedField    SFFloat    minAngle        0
+ exposedField    MFNode     children        [ ]
+]
+{
+   Transform{
+      rotation 0 1 0 1.5708
+      children [
+         DEF SensorX CylinderSensor{
+            maxAngle IS maxAngle
+            minAngle IS minAngle
+         }
+         DEF AxisX Transform{
+            children [
+               Transform{
+                  rotation 0 1 0 -1.5708
+                  children IS children
+               }
+            ]
+         }
+      ]
+   }
+   ROUTE SensorX.rotation_changed TO AxisX.set_rotation
+}
+
+PROTO CylinderSensorX [
+ exposedField    SFFloat    maxAngle      -1
+ exposedField    SFFloat    minAngle        0
+ exposedField    MFNode     children        [ ]
+]
+{
+   Transform{
+      rotation 0 0 1 -1.5708
+      children [
+         DEF SensorZ CylinderSensor{
+            maxAngle IS maxAngle
+            minAngle IS minAngle
+         }
+         DEF AxisZ Transform{
+            children [
+               Transform{
+                  rotation 0 0 1 1.5708
+                  children IS children
+               }
+            ]
+         }
+      ]
+   }
+   ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation
+}
+
+PROTO WheelFront [
+]
+{
+   Shape {
+      geometry Cylinder {
+         radius 0.04
+         height 0.12
+      }
+      appearance Appearance {
+         material Material {}
+      }
+   }
+}
+
+NavigationInfo {
+   avatarSize    0.5
+   headlight     TRUE
+   type  ["EXAMINE", "ANY"]
+}
+
+Background {
+   skyColor 0.4 0.6 0.4
+}
+
+Viewpoint {
+   position    3 0 0.835
+   orientation 0.5770 0.5775 0.5775 2.0935
+}
+
+PROTO Surface [
+ field   SFVec3f bboxCenter 0 0 0
+ field   SFVec3f bboxSize   -1 -1 -1
+ field   MFNode  visual     [ ]
+ field   MFNode  collision  [ ]
+ eventIn MFNode  addChildren
+ eventIn MFNode  removeChildren
+]
+{
+   Group {
+      addChildren    IS addChildren
+      bboxCenter     IS bboxCenter
+      bboxSize       IS bboxSize
+      children       IS visual
+      removeChildren IS removeChildren
+   }
+}
+
+# If the body includes closed loop links, plase define the following proto node
+PROTO ExtraJoint [
+ # Name of the first link
+ exposedField SFString link1Name ""
+ # Name of the second link
+ exposedField SFString link2Name ""
+ # Connection (joint) position in the local coordinate of the first link
+ exposedField SFVec3f  link1LocalPos 0 0 0
+ # Connection (joint) position in the local coordinate of the second link
+ exposedField SFVec3f  link2LocalPos 0 0 0
+ # Constraint axes. Two or three orthogonal axes must be specified
+ # in the local coordinate of the first link
+ #exposedField MFVec3f  axes [ ]
+ # Possible types are "piston" and "ball"
+ exposedField SFString jointType "ball"
+ exposedField SFVec3f  jointAxis 0 1 0
+]
+{
+}
+
 PROTO Humanoid [
   field           SFVec3f    bboxCenter            0 0 0
   field           SFVec3f    bboxSize              -1 -1 -1
@@ -1361,6 +1537,71 @@ DEF JAXON_JVRC Humanoid {
                                     } #Sensor
                                   ]
                                 } #Segment LLEG_LINK5
+                                DEF LLEG_JOINT6 Joint { #wheel main
+                                  jointType "rotate"
+                                  jointId 38
+                                  jointAxis 0 1 0
+                                  translation 0.12 0.0 -0.0825 # 0.02 - 0.1025
+                                  rotation 1 0 0 0
+                                  llimit [-100]
+                                  ulimit [ 100]
+                                  lvlimit [-38.0]
+                                  uvlimit [ 38.0]
+                                  # climit[50.55]
+                                  # torqueConst 0.1
+                                  # gearRatio 3.5
+                                  climit[80]
+                                  torqueConst 0.02
+                                  gearRatio 1000.0
+                                  rotorInertia 1.0e-6
+                                  children [
+                                    DEF LLEG_LINK6_MOV CylinderSensorY {
+                                      maxAngle 100
+                                      minAngle -100
+                                      children [
+                                        DEF LLEG_LINK6 Segment {
+                                          centerOfMass 0.0 -0.0455 0.0
+                                          mass 1.0
+                                          momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
+                                          children [
+                                            DEF WHEEL_FRONT_L WheelFront {}
+                                          ]
+                                        }
+                                      ]
+                                    }
+                                  ]
+                                } # End of LLEG_JOINT6
+                                DEF LLEG_JOINT7 Joint { #wheel rear
+                                  jointType "rotate"
+                                  jointId 40
+                                  jointAxis 0 1 0
+                                  translation -0.11 0.0 -0.0825 # 0.02 - 0.1025
+                                  rotation 1 0 0 0
+                                  llimit [-100]
+                                  ulimit [ 100]
+                                  lvlimit [-17.4444]
+                                  uvlimit [ 17.4444]
+                                  climit[50.55]
+                                  torqueConst 0.1
+                                  gearRatio 1000
+                                  rotorInertia 1.0e-6
+                                  children [
+                                    DEF LLEG_LINK7_MOV CylinderSensorY {
+                                      maxAngle 100
+                                      minAngle -100
+                                      children [
+                                        DEF LLEG_LINK7 Segment {
+                                          centerOfMass 0.0 -0.0387 0.0
+                                          mass 1.0
+                                          momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
+                                          children [
+                                            DEF WHEEL_REAR_L WheelFront {}
+                                          ]
+                                        }
+                                      ]
+                                    }
+                                  ]
+                                } # End of LLEG_JOINT7
                               ]
                             } #Joint LLEG_JOINT5
                           ]
@@ -1552,6 +1793,71 @@ DEF JAXON_JVRC Humanoid {
                                     } #Sensor
                                   ]
                                 } #Segment RLEG_LINK5
+                                DEF RLEG_JOINT6 Joint { #wheel main
+                                  jointType "rotate"
+                                  jointId 37
+                                  jointAxis 0 1 0
+                                  translation 0.12 0.0 -0.0825 # 0.02 - 0.1025
+                                  rotation 1 0 0 0
+                                  llimit [-100]
+                                  ulimit [ 100]
+                                  lvlimit [-38.0]
+                                  uvlimit [ 30.0]
+                                  # climit[50.55]
+                                  # torqueConst 0.1
+                                  # gearRatio 3.5
+                                  climit[80]
+                                  torqueConst 0.02
+                                  gearRatio 1000.0
+                                  rotorInertia 1.0e-6
+                                  children [
+                                    DEF RLEG_LINK6_MOV CylinderSensorY {
+                                      maxAngle 100
+                                      minAngle -100
+                                      children [
+                                        DEF RLEG_LINK6 Segment {
+                                          centerOfMass 0.0 0.0455 0.0
+                                          mass 1.0
+                                          momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
+                                          children [
+                                            DEF WHEEL_FRONT_R WheelFront {}
+                                          ]
+                                        }
+                                      ]
+                                    }
+                                  ]
+                                } # End of RLEG_JOINT6
+                                DEF RLEG_JOINT7 Joint { #wheel center
+                                  jointType "rotate"
+                                  jointId 39
+                                  jointAxis 0 1 0
+                                  translation -0.11 0.0 -0.0825 # 0.02 - 0.1025
+                                  rotation 1 0 0 0
+                                  llimit [-100]
+                                  ulimit [ 100]
+                                  lvlimit [-17.4444]
+                                  uvlimit [ 17.4444]
+                                  climit[50.55]
+                                  torqueConst 0.1
+                                  gearRatio 1000
+                                  rotorInertia 1.0e-6
+                                  children [
+                                    DEF RLEG_LINK7_MOV CylinderSensorY {
+                                      maxAngle 100
+                                      minAngle -100
+                                      children [
+                                        DEF RLEG_LINK7 Segment {
+                                          centerOfMass 0.0 -0.0387 0.0
+                                          mass 1.0
+                                          momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
+                                          children [
+                                            DEF WHEEL_REAR_R WheelFront {}
+                                          ]
+                                        }
+                                      ]
+                                    }
+                                  ]
+                                } # End of RLEG_JOINT7
                               ]
                             } #Joint RLEG_JOINT5
                           ]
@@ -1596,12 +1902,16 @@ DEF JAXON_JVRC Humanoid {
     USE LLEG_JOINT3,
     USE LLEG_JOINT4,
     USE LLEG_JOINT5,
+    USE LLEG_JOINT6,
+    USE LLEG_JOINT7,
     USE RLEG_JOINT0,
     USE RLEG_JOINT1,
     USE RLEG_JOINT2,
     USE RLEG_JOINT3,
     USE RLEG_JOINT4,
     USE RLEG_JOINT5,
+    USE RLEG_JOINT6,
+    USE RLEG_JOINT7,
     USE LARM_F_JOINT0,
     USE LARM_F_JOINT1,
     USE RARM_F_JOINT0,
@@ -1637,12 +1947,16 @@ DEF JAXON_JVRC Humanoid {
     USE LLEG_LINK3,
     USE LLEG_LINK4,
     USE LLEG_LINK5,
+    USE LLEG_LINK6,
+    USE LLEG_LINK7,
     USE RLEG_LINK0,
     USE RLEG_LINK1,
     USE RLEG_LINK2,
     USE RLEG_LINK3,
     USE RLEG_LINK4,
     USE RLEG_LINK5,
+    USE RLEG_LINK6,
+    USE RLEG_LINK7,
     USE LARM_FINGER0,
     USE LARM_FINGER1,
     USE RARM_FINGER0,
diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
index fcda23ae..1454b477 100644
--- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
+++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
@@ -59,6 +59,182 @@ PROTO Segment [
   }
 }
 
+PROTO PressureSensor [
+ exposedField SFFloat maxPressure -1
+ exposedField SFVec3f translation 0 0 0
+ exposedField SFRotation rotation 0 0 1 0
+ exposedField SFInt32 sensorId -1
+]
+{
+   Transform {
+      translation IS translation
+      rotation IS rotation
+   }
+}
+
+PROTO PhotoInterrupter [
+ exposedField SFVec3f transmitter 0 0 0
+ exposedField SFVec3f receiver 0 0 0
+ exposedField SFInt32 sensorId -1
+]
+{
+   Transform{
+      children [
+         Transform{
+            translation IS transmitter
+         }
+         Transform{
+            translation IS receiver
+         }
+      ]
+   }
+}
+
+PROTO CylinderSensorZ [
+ exposedField    SFFloat    maxAngle      -1
+ exposedField    SFFloat    minAngle        0
+ exposedField    MFNode     children        [ ]
+]
+{
+   Transform{
+      rotation 1 0 0 1.5708
+      children [
+         DEF SensorY CylinderSensor{
+            maxAngle IS maxAngle
+            minAngle IS minAngle
+         }
+         DEF AxisY Transform{
+            children [
+               Transform{
+                  rotation 1 0 0 -1.5708
+                  children IS children
+               }
+            ]
+         }
+      ]
+   }
+   ROUTE SensorY.rotation_changed TO AxisY.set_rotation
+}
+
+PROTO CylinderSensorY [
+ exposedField    SFFloat    maxAngle      -1
+ exposedField    SFFloat    minAngle        0
+ exposedField    MFNode     children        [ ]
+]
+{
+   Transform{
+      rotation 0 1 0 1.5708
+      children [
+         DEF SensorX CylinderSensor{
+            maxAngle IS maxAngle
+            minAngle IS minAngle
+         }
+         DEF AxisX Transform{
+            children [
+               Transform{
+                  rotation 0 1 0 -1.5708
+                  children IS children
+               }
+            ]
+         }
+      ]
+   }
+   ROUTE SensorX.rotation_changed TO AxisX.set_rotation
+}
+
+PROTO CylinderSensorX [
+ exposedField    SFFloat    maxAngle      -1
+ exposedField    SFFloat    minAngle        0
+ exposedField    MFNode     children        [ ]
+]
+{
+   Transform{
+      rotation 0 0 1 -1.5708
+      children [
+         DEF SensorZ CylinderSensor{
+            maxAngle IS maxAngle
+            minAngle IS minAngle
+         }
+         DEF AxisZ Transform{
+            children [
+               Transform{
+                  rotation 0 0 1 1.5708
+                  children IS children
+               }
+            ]
+         }
+      ]
+   }
+   ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation
+}
+
+PROTO WheelFront [
+]
+{
+   Shape {
+      geometry Cylinder {
+         radius 0.04
+         height 0.12
+      }
+      appearance Appearance {
+         material Material {}
+      }
+   }
+}
+
+NavigationInfo {
+   avatarSize    0.5
+   headlight     TRUE
+   type  ["EXAMINE", "ANY"]
+}
+
+Background {
+   skyColor 0.4 0.6 0.4
+}
+
+Viewpoint {
+   position    3 0 0.835
+   orientation 0.5770 0.5775 0.5775 2.0935
+}
+
+PROTO Surface [
+ field   SFVec3f bboxCenter 0 0 0
+ field   SFVec3f bboxSize   -1 -1 -1
+ field   MFNode  visual     [ ]
+ field   MFNode  collision  [ ]
+ eventIn MFNode  addChildren
+ eventIn MFNode  removeChildren
+]
+{
+   Group {
+      addChildren    IS addChildren
+      bboxCenter     IS bboxCenter
+      bboxSize       IS bboxSize
+      children       IS visual
+      removeChildren IS removeChildren
+   }
+}
+
+# If the body includes closed loop links, plase define the following proto node
+PROTO ExtraJoint [
+ # Name of the first link
+ exposedField SFString link1Name ""
+ # Name of the second link
+ exposedField SFString link2Name ""
+ # Connection (joint) position in the local coordinate of the first link
+ exposedField SFVec3f  link1LocalPos 0 0 0
+ # Connection (joint) position in the local coordinate of the second link
+ exposedField SFVec3f  link2LocalPos 0 0 0
+ # Constraint axes. Two or three orthogonal axes must be specified
+ # in the local coordinate of the first link
+ #exposedField MFVec3f  axes [ ]
+ # Possible types are "piston" and "ball"
+ exposedField SFString jointType "ball"
+ exposedField SFVec3f  jointAxis 0 1 0
+]
+{
+}
+
 PROTO Humanoid [
   field           SFVec3f    bboxCenter            0 0 0
   field           SFVec3f    bboxSize              -1 -1 -1
@@ -1362,6 +1538,71 @@ DEF JAXON_JVRC Humanoid {
                                     } #Sensor
                                   ]
                                 } #Segment LLEG_LINK5
+                                DEF LLEG_JOINT6 Joint { #wheel main
+                                  jointType "rotate"
+                                  jointId 38
+                                  jointAxis 0 1 0
+                                  translation 0.12 0.0 -0.0825 # 0.02 - 0.1025
+                                  rotation 1 0 0 0
+                                  llimit [-100]
+                                  ulimit [ 100]
+                                  lvlimit [-38.0]
+                                  uvlimit [ 38.0]
+                                  # climit[50.55]
+                                  # torqueConst 0.1
+                                  # gearRatio 3.5
+                                  climit[80]
+                                  torqueConst 0.02
+                                  gearRatio 1000.0
+                                  rotorInertia 1.0e-6
+                                  children [
+                                    DEF LLEG_LINK6_MOV CylinderSensorY {
+                                      maxAngle 100
+                                      minAngle -100
+                                      children [
+                                        DEF LLEG_LINK6 Segment {
+                                          centerOfMass 0.0 -0.0455 0.0
+                                          mass 1.0
+                                          momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
+                                          children [
+                                            DEF WHEEL_FRONT_L WheelFront {}
+                                          ]
+                                        }
+                                      ]
+                                    }
+                                  ]
+                                } # End of LLEG_JOINT6
+                                DEF LLEG_JOINT7 Joint { #wheel rear
+                                  jointType "rotate"
+                                  jointId 40
+                                  jointAxis 0 1 0
+                                  translation -0.11 0.0 -0.0825 # 0.02 - 0.1025
+                                  rotation 1 0 0 0
+                                  llimit [-100]
+                                  ulimit [ 100]
+                                  lvlimit [-17.4444]
+                                  uvlimit [ 17.4444]
+                                  climit[50.55]
+                                  torqueConst 0.1
+                                  gearRatio 1000
+                                  rotorInertia 1.0e-6
+                                  children [
+                                    DEF LLEG_LINK7_MOV CylinderSensorY {
+                                      maxAngle 100
+                                      minAngle -100
+                                      children [
+                                        DEF LLEG_LINK7 Segment {
+                                          centerOfMass 0.0 -0.0387 0.0
+                                          mass 1.0
+                                          momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
+                                          children [
+                                            DEF WHEEL_REAR_L WheelFront {}
+                                          ]
+                                        }
+                                      ]
+                                    }
+                                  ]
+                                } # End of LLEG_JOINT7
                               ]
                             } #Joint LLEG_JOINT5
                           ]
@@ -1553,6 +1794,71 @@ DEF JAXON_JVRC Humanoid {
                                     } #Sensor
                                   ]
                                 } #Segment RLEG_LINK5
+                                DEF RLEG_JOINT6 Joint { #wheel main
+                                  jointType "rotate"
+                                  jointId 37
+                                  jointAxis 0 1 0
+                                  translation 0.12 0.0 -0.0825 # 0.02 - 0.1025
+                                  rotation 1 0 0 0
+                                  llimit [-100]
+                                  ulimit [ 100]
+                                  lvlimit [-38.0]
+                                  uvlimit [ 30.0]
+                                  # climit[50.55]
+                                  # torqueConst 0.1
+                                  # gearRatio 3.5
+                                  climit[80]
+                                  torqueConst 0.02
+                                  gearRatio 1000.0
+                                  rotorInertia 1.0e-6
+                                  children [
+                                    DEF RLEG_LINK6_MOV CylinderSensorY {
+                                      maxAngle 100
+                                      minAngle -100
+                                      children [
+                                        DEF RLEG_LINK6 Segment {
+                                          centerOfMass 0.0 0.0455 0.0
+                                          mass 1.0
+                                          momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
+                                          children [
+                                            DEF WHEEL_FRONT_R WheelFront {}
+                                          ]
+                                        }
+                                      ]
+                                    }
+                                  ]
+                                } # End of RLEG_JOINT6
+                                DEF RLEG_JOINT7 Joint { #wheel center
+                                  jointType "rotate"
+                                  jointId 39
+                                  jointAxis 0 1 0
+                                  translation -0.11 0.0 -0.0825 # 0.02 - 0.1025
+                                  rotation 1 0 0 0
+                                  llimit [-100]
+                                  ulimit [ 100]
+                                  lvlimit [-17.4444]
+                                  uvlimit [ 17.4444]
+                                  climit[50.55]
+                                  torqueConst 0.1
+                                  gearRatio 1000
+                                  rotorInertia 1.0e-6
+                                  children [
+                                    DEF RLEG_LINK7_MOV CylinderSensorY {
+                                      maxAngle 100
+                                      minAngle -100
+                                      children [
+                                        DEF RLEG_LINK7 Segment {
+                                          centerOfMass 0.0 -0.0387 0.0
+                                          mass 1.0
+                                          momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
+                                          children [
+                                            DEF WHEEL_REAR_R WheelFront {}
+                                          ]
+                                        }
+                                      ]
+                                    }
+                                  ]
+                                } # End of RLEG_JOINT7
                               ]
                             } #Joint RLEG_JOINT5
                           ]
@@ -1597,12 +1903,16 @@ DEF JAXON_JVRC Humanoid {
     USE LLEG_JOINT3,
     USE LLEG_JOINT4,
     USE LLEG_JOINT5,
+    USE LLEG_JOINT6,
+    USE LLEG_JOINT7,
     USE RLEG_JOINT0,
     USE RLEG_JOINT1,
     USE RLEG_JOINT2,
     USE RLEG_JOINT3,
     USE RLEG_JOINT4,
     USE RLEG_JOINT5,
+    USE RLEG_JOINT6,
+    USE RLEG_JOINT7,
     USE LARM_F_JOINT0,
     USE LARM_F_JOINT1,
     USE RARM_F_JOINT0,
@@ -1638,12 +1948,16 @@ DEF JAXON_JVRC Humanoid {
     USE LLEG_LINK3,
     USE LLEG_LINK4,
     USE LLEG_LINK5,
+    USE LLEG_LINK6,
+    USE LLEG_LINK7,
     USE RLEG_LINK0,
     USE RLEG_LINK1,
     USE RLEG_LINK2,
     USE RLEG_LINK3,
     USE RLEG_LINK4,
     USE RLEG_LINK5,
+    USE RLEG_LINK6,
+    USE RLEG_LINK7,
     USE LARM_FINGER0,
     USE LARM_FINGER1,
     USE RARM_FINGER0,
diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
index f14a0b1a..a9d6d664 100644
--- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
+++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
@@ -59,6 +59,182 @@ PROTO Segment [
   }
 }
 
+PROTO PressureSensor [
+ exposedField SFFloat maxPressure -1
+ exposedField SFVec3f translation 0 0 0
+ exposedField SFRotation rotation 0 0 1 0
+ exposedField SFInt32 sensorId -1
+]
+{
+   Transform {
+      translation IS translation
+      rotation IS rotation
+   }
+}
+
+PROTO PhotoInterrupter [
+ exposedField SFVec3f transmitter 0 0 0
+ exposedField SFVec3f receiver 0 0 0
+ exposedField SFInt32 sensorId -1
+]
+{
+   Transform{
+      children [
+         Transform{
+            translation IS transmitter
+         }
+         Transform{
+            translation IS receiver
+         }
+      ]
+   }
+}
+
+PROTO CylinderSensorZ [
+ exposedField    SFFloat    maxAngle      -1
+ exposedField    SFFloat    minAngle        0
+ exposedField    MFNode     children        [ ]
+]
+{
+   Transform{
+      rotation 1 0 0 1.5708
+      children [
+         DEF SensorY CylinderSensor{
+            maxAngle IS maxAngle
+            minAngle IS minAngle
+         }
+         DEF AxisY Transform{
+            children [
+               Transform{
+                  rotation 1 0 0 -1.5708
+                  children IS children
+               }
+            ]
+         }
+      ]
+   }
+   ROUTE SensorY.rotation_changed TO AxisY.set_rotation
+}
+
+PROTO CylinderSensorY [
+ exposedField    SFFloat    maxAngle      -1
+ exposedField    SFFloat    minAngle        0
+ exposedField    MFNode     children        [ ]
+]
+{
+   Transform{
+      rotation 0 1 0 1.5708
+      children [
+         DEF SensorX CylinderSensor{
+            maxAngle IS maxAngle
+            minAngle IS minAngle
+         }
+         DEF AxisX Transform{
+            children [
+               Transform{
+                  rotation 0 1 0 -1.5708
+                  children IS children
+               }
+            ]
+         }
+      ]
+   }
+   ROUTE SensorX.rotation_changed TO AxisX.set_rotation
+}
+
+PROTO CylinderSensorX [
+ exposedField    SFFloat    maxAngle      -1
+ exposedField    SFFloat    minAngle        0
+ exposedField    MFNode     children        [ ]
+]
+{
+   Transform{
+      rotation 0 0 1 -1.5708
+      children [
+         DEF SensorZ CylinderSensor{
+            maxAngle IS maxAngle
+            minAngle IS minAngle
+         }
+         DEF AxisZ Transform{
+            children [
+               Transform{
+                  rotation 0 0 1 1.5708
+                  children IS children
+               }
+            ]
+         }
+      ]
+   }
+   ROUTE SensorZ.rotation_changed TO AxisZ.set_rotation
+}
+
+PROTO WheelFront [
+]
+{
+   Shape {
+      geometry Cylinder {
+         radius 0.04
+         height 0.12
+      }
+      appearance Appearance {
+         material Material {}
+      }
+   }
+}
+
+NavigationInfo {
+   avatarSize    0.5
+   headlight     TRUE
+   type  ["EXAMINE", "ANY"]
+}
+
+Background {
+   skyColor 0.4 0.6 0.4
+}
+
+Viewpoint {
+   position    3 0 0.835
+   orientation 0.5770 0.5775 0.5775 2.0935
+}
+
+PROTO Surface [
+ field   SFVec3f bboxCenter 0 0 0
+ field   SFVec3f bboxSize   -1 -1 -1
+ field   MFNode  visual     [ ]
+ field   MFNode  collision  [ ]
+ eventIn MFNode  addChildren
+ eventIn MFNode  removeChildren
+]
+{
+   Group {
+      addChildren    IS addChildren
+      bboxCenter     IS bboxCenter
+      bboxSize       IS bboxSize
+      children       IS visual
+      removeChildren IS removeChildren
+   }
+}
+
+# If the body includes closed loop links, plase define the following proto node
+PROTO ExtraJoint [
+ # Name of the first link
+ exposedField SFString link1Name ""
+ # Name of the second link
+ exposedField SFString link2Name ""
+ # Connection (joint) position in the local coordinate of the first link
+ exposedField SFVec3f  link1LocalPos 0 0 0
+ # Connection (joint) position in the local coordinate of the second link
+ exposedField SFVec3f  link2LocalPos 0 0 0
+ # Constraint axes. Two or three orthogonal axes must be specified
+ # in the local coordinate of the first link
+ #exposedField MFVec3f  axes [ ]
+ # Possible types are "piston" and "ball"
+ exposedField SFString jointType "ball"
+ exposedField SFVec3f  jointAxis 0 1 0
+]
+{
+}
+
 PROTO Humanoid [
   field           SFVec3f    bboxCenter            0 0 0
   field           SFVec3f    bboxSize              -1 -1 -1
@@ -1534,6 +1710,71 @@ DEF JAXON_JVRC Humanoid {
                                                 } # surface
                                               ]
                                             } # End of LLEG_LINK5_LOWER
+                                            DEF LLEG_JOINT6 Joint { #wheel main
+                                              jointType "rotate"
+                                              jointId 38
+                                              jointAxis 0 1 0
+                                              translation 0.12 0.0 0.02
+                                              rotation 1 0 0 0
+                                              llimit [-100]
+                                              ulimit [ 100]
+                                              lvlimit [-38.0]
+                                              uvlimit [ 38.0]
+                                              # climit[50.55]
+                                              # torqueConst 0.1
+                                              # gearRatio 3.5
+                                              climit[80]
+                                              torqueConst 0.02
+                                              gearRatio 1000.0
+                                              rotorInertia 1.0e-6
+                                              children [
+                                                DEF LLEG_LINK6_MOV CylinderSensorY {
+                                                  maxAngle 100
+                                                  minAngle -100
+                                                  children [
+                                                    DEF LLEG_LINK6 Segment {
+                                                      centerOfMass 0.0 -0.0455 0.0
+                                                      mass 1.0
+                                                      momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
+                                                      children [
+                                                        DEF WHEEL_FRONT_L WheelFront {}
+                                                      ]
+                                                    }
+                                                  ]
+                                                }
+                                              ]
+                                            } # End of LLEG_JOINT6
+                                            DEF LLEG_JOINT7 Joint { #wheel rear
+                                              jointType "rotate"
+                                              jointId 40
+                                              jointAxis 0 1 0
+                                              translation -0.11 0.0 0.02
+                                              rotation 1 0 0 0
+                                              llimit [-100]
+                                              ulimit [ 100]
+                                              lvlimit [-17.4444]
+                                              uvlimit [ 17.4444]
+                                              climit[50.55]
+                                              torqueConst 0.1
+                                              gearRatio 1000
+                                              rotorInertia 1.0e-6
+                                              children [
+                                                DEF LLEG_LINK7_MOV CylinderSensorY {
+                                                  maxAngle 100
+                                                  minAngle -100
+                                                  children [
+                                                    DEF LLEG_LINK7 Segment {
+                                                      centerOfMass 0.0 -0.0387 0.0
+                                                      mass 1.0
+                                                      momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
+                                                      children [
+                                                        DEF WHEEL_REAR_L WheelFront {}
+                                                      ]
+                                                    }
+                                                  ]
+                                                }
+                                              ]
+                                            } # End of LLEG_JOINT7
                                           ]
                                         } # End of LLEG_BUSH_PITCH
                                       ]
@@ -1782,6 +2023,71 @@ DEF JAXON_JVRC Humanoid {
                                                 } # surface
                                               ]
                                             } # End of RLEG_LINK5_LOWER
+                                            DEF RLEG_JOINT6 Joint { #wheel main
+                                              jointType "rotate"
+                                              jointId 37
+                                              jointAxis 0 1 0
+                                              translation 0.12 0.0 0.02
+                                              rotation 1 0 0 0
+                                              llimit [-100]
+                                              ulimit [ 100]
+                                              lvlimit [-38.0]
+                                              uvlimit [ 30.0]
+                                              # climit[50.55]
+                                              # torqueConst 0.1
+                                              # gearRatio 3.5
+                                              climit[80]
+                                              torqueConst 0.02
+                                              gearRatio 1000.0
+                                              rotorInertia 1.0e-6
+                                              children [
+                                                DEF RLEG_LINK6_MOV CylinderSensorY {
+                                                  maxAngle 100
+                                                  minAngle -100
+                                                  children [
+                                                    DEF RLEG_LINK6 Segment {
+                                                      centerOfMass 0.0 0.0455 0.0
+                                                      mass 1.0
+                                                      momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
+                                                      children [
+                                                        DEF WHEEL_FRONT_R WheelFront {}
+                                                      ]
+                                                    }
+                                                  ]
+                                                }
+                                              ]
+                                            } # End of RLEG_JOINT6
+                                            DEF RLEG_JOINT7 Joint { #wheel center
+                                              jointType "rotate"
+                                              jointId 39
+                                              jointAxis 0 1 0
+                                              translation -0.11 0.0 0.02
+                                              rotation 1 0 0 0
+                                              llimit [-100]
+                                              ulimit [ 100]
+                                              lvlimit [-17.4444]
+                                              uvlimit [ 17.4444]
+                                              climit[50.55]
+                                              torqueConst 0.1
+                                              gearRatio 1000
+                                              rotorInertia 1.0e-6
+                                              children [
+                                                DEF RLEG_LINK7_MOV CylinderSensorY {
+                                                  maxAngle 100
+                                                  minAngle -100
+                                                  children [
+                                                    DEF RLEG_LINK7 Segment {
+                                                      centerOfMass 0.0 -0.0387 0.0
+                                                      mass 1.0
+                                                      momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
+                                                      children [
+                                                        DEF WHEEL_REAR_R WheelFront {}
+                                                      ]
+                                                    }
+                                                  ]
+                                                }
+                                              ]
+                                            } # End of RLEG_JOINT7
                                           ]
                                         } # End of RLEG_BUSH_PITCH
                                       ]
@@ -1832,12 +2138,16 @@ DEF JAXON_JVRC Humanoid {
     USE LLEG_JOINT3,
     USE LLEG_JOINT4,
     USE LLEG_JOINT5,
+    USE LLEG_JOINT6,
+    USE LLEG_JOINT7,
     USE RLEG_JOINT0,
     USE RLEG_JOINT1,
     USE RLEG_JOINT2,
     USE RLEG_JOINT3,
     USE RLEG_JOINT4,
     USE RLEG_JOINT5,
+    USE RLEG_JOINT6,
+    USE RLEG_JOINT7,
     USE LARM_F_JOINT0,
     USE LARM_F_JOINT1,
     USE RARM_F_JOINT0,
@@ -1874,6 +2184,8 @@ DEF JAXON_JVRC Humanoid {
     USE LLEG_LINK4,
     USE LLEG_LINK5_UPPER,
     USE LLEG_LINK5_LOWER,
+    USE LLEG_LINK6,
+    USE LLEG_LINK7,
     USE RLEG_LINK0,
     USE RLEG_LINK1,
     USE RLEG_LINK2,
@@ -1881,6 +2193,8 @@ DEF JAXON_JVRC Humanoid {
     USE RLEG_LINK4,
     USE RLEG_LINK5_UPPER,
     USE RLEG_LINK5_LOWER,
+    USE RLEG_LINK6,
+    USE RLEG_LINK7,
     USE LARM_FINGER0,
     USE LARM_FINGER1,
     USE RARM_FINGER0,