diff --git a/hrpsys_gazebo_tutorials/euslisp/hrpsys-gazebo-utils.l b/hrpsys_gazebo_tutorials/euslisp/hrpsys-gazebo-utils.l
index 31e3e87c..9df9a722 100644
--- a/hrpsys_gazebo_tutorials/euslisp/hrpsys-gazebo-utils.l
+++ b/hrpsys_gazebo_tutorials/euslisp/hrpsys-gazebo-utils.l
@@ -94,38 +94,23 @@
       (generate-room-models (format nil "room~a" name)))
     (return-from generate-room-models))
   ;; check the model is derived from the room class
-  (let* ((robot-list (list "SampleRobot" "HRP2JSK" "HRP2JSKNT" "HRP2JSKNTS"))
-	 (world-file-path-list)
-	 (room (funcall (read-from-string name))))
+  (let* ((world-file-path-list)
+         (room (funcall (read-from-string name))))
     (unless (derivedp room scene)
       (warn "[ERROR] room (~a) is not room the model.~%" name)
       (return-from generate-room-models))
 
     ;; generate the world file
-    (dolist (robot-name robot-list)
-      (let* ((room-name (string-downcase (send room :name)))
-	     (package-dir-path (string-downcase (read (piped-fork "rospack find hrpsys_gazebo_tutorials"))))
-	     (world-src-file-path (format nil "~a/worlds/world_source.world" package-dir-path))
-	     (world-new-file-path (format nil "~a/worlds/~a_~a.world" package-dir-path robot-name room-name)))
-	(unix:system (format nil "rm -rf ~a" world-new-file-path))
-	(unix:system (format nil "cp ~a ~a" world-src-file-path world-new-file-path))
-	(unix:system (format nil "sed -i -e \"s@    <!-- A robot -->@    <!-- A robot -->\\n    <include>\\n      <uri>model://~a</uri>\\n      <pose>1.0 0 0.73 0 0 0</pose>\\n    </include>@g\" ~a" robot-name world-new-file-path))
-	(push world-new-file-path world-file-path-list)))
-
+    (let* ((room-name (string-downcase (send room :name)))
+           (package-dir-path (string-downcase (read (piped-fork "rospack find hrpsys_gazebo_tutorials"))))
+           (world-src-file-path (format nil "~a/worlds/world_source.world" package-dir-path))
+           (world-new-file-path (format nil "~a/worlds/~a.world" package-dir-path room-name)))
+      (unix:system (format nil "rm -rf ~a" world-new-file-path))
+      (unix:system (format nil "cp ~a ~a" world-src-file-path world-new-file-path))
+      (push world-new-file-path world-file-path-list))
     ;; convert models
-    (eus2urdf-room-for-gazebo room 
-			      :make-static t :make-fixed t :world-file-path-list world-file-path-list)
-    ;; generate the launch file
-    (dolist (robot-name robot-list)
-      (let* ((room-name (string-downcase (send room :name)))
-	     (package-dir-path (string-downcase (read (piped-fork "rospack find hrpsys_gazebo_tutorials"))))
-	     (launch-src-file-path (format nil "~a/launch/gazebo_launch_source.launch" package-dir-path))
-	     (launch-new-file-path (format nil "~a/launch/gazebo_~a_no_controllers_in_~a.launch" package-dir-path (string-downcase robot-name) room-name)))
-	(unix:system (format nil "rm -rf ~a" launch-new-file-path))
-	(unix:system (format nil "cp ~a ~a" launch-src-file-path launch-new-file-path))
-	(unix:system (format nil "sed -i -e \"s@__world_name__@~a_~a.world@g\" ~a" robot-name room-name launch-new-file-path))
-	(unix:system (format nil "sed -i -e \"s@__robot_name__@~a@g\" ~a" (string-downcase robot-name) launch-new-file-path))
-	(warning-message 2 "You can start simulation with following command:~%roslaunch hrpsys_gazebo_tutorials gazebo_~a_no_controllers_in_~a.launch~%" (string-downcase robot-name) room-name))))
-  )
+    (eus2urdf-room-for-gazebo room
+                              :make-static t :make-fixed t :world-file-path-list world-file-path-list)
+    ))
 (warn "(generate-room-models \"room73b2\")~%")
 
diff --git a/hrpsys_gazebo_tutorials/worlds/world_source.world b/hrpsys_gazebo_tutorials/worlds/world_source.world
new file mode 100644
index 00000000..a977b2b4
--- /dev/null
+++ b/hrpsys_gazebo_tutorials/worlds/world_source.world
@@ -0,0 +1,35 @@
+<?xml version="1.0" ?>
+<!-- This is a source file of world. -->
+<!-- Do not edit this file. -->
+<sdf version="1.4">
+  <world name="default">
+    <physics type="ode">
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.4</sor>
+        </solver>
+        <constraints>
+          <cfm>0.0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.0</contact_surface_layer>
+        </constraints>
+      </ode>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <!-- A robot -->
+    <!-- Objects -->
+  </world>
+</sdf>