diff --git a/hrpsys_ros_bridge_tutorials/catkin.cmake b/hrpsys_ros_bridge_tutorials/catkin.cmake
index e4e3519b..415a6c1e 100644
--- a/hrpsys_ros_bridge_tutorials/catkin.cmake
+++ b/hrpsys_ros_bridge_tutorials/catkin.cmake
@@ -250,14 +250,13 @@ generate_default_launch_eusinterface_files("$(find openhrp3)/share/OpenHRP-3.1/s
 macro (generate_hand_attached_hrp2_model _robot_name)
   set(_model_dir "${PROJECT_SOURCE_DIR}/models/")
   set(_in_urdf_file "${_model_dir}/${_robot_name}.urdf")
-  set(_out_urdf_file "${_model_dir}/${_robot_name}_WH.urdf")
+  set(_out_urdf_file "${_model_dir}/${_robot_name}_body.urdf")
   string(TOLOWER ${_robot_name} _srobot_name)
-  set(_launch_file "${PROJECT_SOURCE_DIR}/launch/${_srobot_name}_ros_bridge.launch")
   set(_script_file "${PROJECT_SOURCE_DIR}/models/gen_hand_attached_hrp2_model.sh")
   message("generate hand_attached_hrp2_model for ${_robot_name}")
   add_custom_command(OUTPUT ${_out_urdf_file}
-      COMMAND ${_script_file} ${_robot_name} ${_in_urdf_file} ${_out_urdf_file} ${_launch_file} ${PROJECT_SOURCE_DIR}/..
-      DEPENDS ${_in_urdf_file} ${_launch_file} "${_model_dir}/HRP3HAND_L.urdf" "${_model_dir}/HRP3HAND_R.urdf")
+      COMMAND ${_script_file} ${_robot_name} ${_in_urdf_file} ${PROJECT_SOURCE_DIR}/..
+      DEPENDS ${_in_urdf_file})
   add_custom_target(${_robot_name}_model_generate DEPENDS ${_out_urdf_file})
   list(APPEND compile_urdf_robots ${_robot_name}_model_generate)
 endmacro()
diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro
index 957a26a7..7ebdc17f 100644
--- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro
@@ -1,5 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNT" >
-  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_tmp.urdf" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_body.urdf" />
   <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP3HAND_L.urdf" />
   <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP3HAND_R.urdf" />
 </robot>
diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf.xacro b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf.xacro
index 479eb733..b6a357f6 100644
--- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf.xacro
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNTS.urdf.xacro
@@ -1,5 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNTS" >
-  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_tmp.urdf" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_body.urdf" />
   <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP3HAND_L.urdf" />
   <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP3HAND_R.urdf" />
 </robot>
diff --git a/hrpsys_ros_bridge_tutorials/models/gen_hand_attached_hrp2_model.sh b/hrpsys_ros_bridge_tutorials/models/gen_hand_attached_hrp2_model.sh
index 68496ea9..16bd4c4f 100755
--- a/hrpsys_ros_bridge_tutorials/models/gen_hand_attached_hrp2_model.sh
+++ b/hrpsys_ros_bridge_tutorials/models/gen_hand_attached_hrp2_model.sh
@@ -7,34 +7,22 @@ trap error ERR
 
 ROBOT_MODEL=$1
 INPUT_FILE=$2
-OUTPUT_FILE=$3
-LAUNCH_FILE=$4
-ADDITIONAL_ROS_PACKAGE_PATH=$5
-TMP_FILE=`echo ${INPUT_FILE} | sed "s/.urdf/_tmp.urdf/g"`
+ADDITIONAL_ROS_PACKAGE_PATH=$3
+BODY_FILE=`echo ${INPUT_FILE} | sed "s/.urdf/_body.urdf/g"`
 export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$ADDITIONAL_ROS_PACKAGE_PATH
 
 
 # make tmp file
-cp ${INPUT_FILE} ${TMP_FILE}
+cp ${INPUT_FILE} ${BODY_FILE}
 
 # remove LARM_LINK6
-L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${TMP_FILE} -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" ${TMP_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
+L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${BODY_FILE} -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" ${BODY_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" ${TMP_FILE}
+sed -i -e "${L_START},${L_END}d" ${BODY_FILE}
 
 # remove RARM_LINK6
-L_START=`grep -n "<link name=\"RARM_LINK6\"" ${TMP_FILE} -m 1 | cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" ${TMP_FILE} | grep -n "<\/gazebo>" -m 1 | cut -f1 -d:) ##
+L_START=`grep -n "<link name=\"RARM_LINK6\"" ${BODY_FILE} -m 1 | cut -f1 -d:`
+L_END=$(sed -n "${L_START},\$p" ${BODY_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" ${TMP_FILE}
-
-# generate URDF with xacro
-rosrun xacro xacro.py `echo ${INPUT_FILE} | sed "s/.urdf/.urdf.xacro/g"` > ${OUTPUT_FILE}
-
-# remove tmp file
-rm -rf ${TMP_FILE}
-
-# overwrite launch file to use new model
-OUTPUT_FILE_BASENAME=`basename ${OUTPUT_FILE}`
-sed -i -e "s@arg\ name=\"COLLADA_FILE\"\ \(.*\)${ROBOT_MODEL}.dae\"@arg\ name=\"COLLADA_FILE\"\ \\1${OUTPUT_FILE_BASENAME}\"@g" ${LAUNCH_FILE}
+sed -i -e "${L_START},${L_END}d" ${BODY_FILE}