diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l b/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l
index 9ecbb997..26dcb4ce 100644
--- a/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l
+++ b/hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l
@@ -21,13 +21,6 @@
         (send self :def-limb-controller-method limb)
         (send self :add-controller (read-from-string (format nil "~A-controller" limb))
               :joint-enable-check t :create-actions t))
-      ; ;; Load param to erase offset of force moment sensor
-      ; (unless (send self :simulation-modep)
-      ;   (send self :load-forcemoment-offset-param
-      ;         (format nil "~A/models/~A-force-moment-offset.l"
-      ;                 (ros::resolve-ros-path "package://hrpsys_ros_bridge_tutorials")
-      ;                 (send robot :name))
-      ;         :set-offset t))
       ;; number of servo motors in one hand
       (setq hand-servo-num 4)))
   (:call-operation-return (method &rest args)
diff --git a/hrpsys_ros_bridge_tutorials/models/HIRONXJSK-force-moment-offset.l b/hrpsys_ros_bridge_tutorials/models/HIRONXJSK-force-moment-offset.l
deleted file mode 100644
index 30ee4a77..00000000
--- a/hrpsys_ros_bridge_tutorials/models/HIRONXJSK-force-moment-offset.l
+++ /dev/null
@@ -1 +0,0 @@
-((:rarm :force-offset #f(2.42349 2.03268 0.237616) :moment-offset #f(0.590862 -0.944791 -0.01666) :link-offset-mass 0.377791 :link-offset-centroid #f(-0.007461 -0.021374 -0.235109)) (:larm :force-offset #f(-2.6364 2.73913 0.714611) :moment-offset #f(0.632441 0.523776 0.097475) :link-offset-mass 0.342879 :link-offset-centroid #f(-0.002918 0.00508 -0.233272)))