diff --git a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py
index 3bf0d267..b2e145ba 100755
--- a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py
+++ b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/hrp2_hrpsys_config.py
@@ -75,7 +75,8 @@ def setStAbcParametershrp2017c(self):
         abcp=self.abc_svc.getAutoBalancerParam()[1]
         #abcp.default_zmp_offsets = [[0.015, -0.01, 0], [0.015, 0.01, 0], [0, 0, 0], [0, 0, 0]]
         #abcp.default_zmp_offsets = [[0.015, 0.01, 0], [0.015, -0.01, 0], [0, 0, 0], [0, 0, 0]]
-        abcp.default_zmp_offsets = [[0.01, 0.01, 0], [0.01, -0.01, 0], [0, 0, 0], [0, 0, 0]]
+        #abcp.default_zmp_offsets = [[0.01, 0.01, 0], [0.01, -0.01, 0], [0, 0, 0], [0, 0, 0]] # before 2018/07/01 murooka
+        abcp.default_zmp_offsets = [[0.02, 0.01, 0], [0.02, -0.01, 0], [0, 0, 0], [0, 0, 0]] # after 2018/07/01 murooka
         self.abc_svc.setAutoBalancerParam(abcp)
         # ST parameters
         stp=self.st_svc.getParameter()
@@ -141,6 +142,9 @@ def setStAbcParametershrp2017c(self):
         # for swing
         stp.eefm_swing_pos_spring_gain = [[1]*3, [1]*3, [0]*3, [0]*3]
         stp.eefm_swing_rot_spring_gain = [[1]*3, [1]*3, [0]*3, [0]*3]
+        # IK
+        for ikp in stp.ik_limb_parameters:
+            ikp.ik_loop_count=1
         self.st_svc.setParameter(stp)
         # GG parameters
         gg=self.abc_svc.getGaitGeneratorParam()[1]