diff --git a/jsk_hrp2_ros_bridge/config/HRP2W.conf b/jsk_hrp2_ros_bridge/config/HRP2W.conf
index 41c14382..ff21b268 100644
--- a/jsk_hrp2_ros_bridge/config/HRP2W.conf
+++ b/jsk_hrp2_ros_bridge/config/HRP2W.conf
@@ -1,7 +1,7 @@
 model: file:///home/grxuser/src/OpenHRP/etc/HRP2W_for_OpenHRP3/HRP2Wmain.wrl
 dt: 0.004
 
-end_effectors: rarm,RARM_JOINT6,CHEST_JOINT1,-5.684342e-17,0.0169,-0.174,-9.813078e-18,1.0,4.906539e-18,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-5.684342e-17,-0.0169,-0.174,9.813078e-18,1.0,-4.906539e-18,1.5708
+end_effectors: rarm,RARM_JOINT6,CHEST_JOINT1,0.0,0.0169,-0.174,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,0.0,-0.0169,-0.174,0.0,1.0,0.0,1.5708
 # for ThermoEstimator
 motor_heat_params: 0.003,0.5, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.003,0.5, 0.003,0.5, 0.02,0.3, 0.003,0.5, 0.2,0.3, 0.2,0.3, 0.2,0.3, 0.2,0.3
 motor_temperature_limit: 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0