diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2G.urdf.xacro b/hrpsys_ros_bridge_tutorials/models/HRP2G.urdf.xacro
index f364de3c..a6036a61 100644
--- a/hrpsys_ros_bridge_tutorials/models/HRP2G.urdf.xacro
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2G.urdf.xacro
@@ -1,6 +1,6 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2G" >
   <xacro:include filename="HRP2G.urdf" />
-  <xacro:include filename="$(find multisense_description)/urdf/multisenseS7.urdf" />
+  <xacro:include filename="$(find multisense_description)/urdf/multisenseS7/multisenseS7.urdf.xacro" />
   <joint name="hrp2_to_multisense" type="fixed">
     <parent link="HEAD_LINK1" />
     <child  link="head_root" /> <!-- for multisense / multisense_description -->
diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf.xacro b/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf.xacro
index 70fa4e98..64635c77 100644
--- a/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf.xacro
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSK.urdf.xacro
@@ -1,6 +1,6 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSK" >
   <xacro:include filename="HRP2JSK.urdf" />
-  <xacro:include filename="$(find multisense_description)/urdf/multisenseSL.urdf" />
+  <xacro:include filename="$(find multisense_description)/urdf/multisenseSL/multisenseSL.urdf.xacro" />
   <joint name="hrp2_to_multisense" type="fixed">
     <parent link="HEAD_LINK1" />
     <child  link="head_root" /> <!-- for multisense / multisense_description -->
diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro
index 42ea3364..70775ec9 100644
--- a/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2JSKNT.urdf.xacro
@@ -2,7 +2,7 @@
   <xacro:include filename="HRP2JSKNT_body.urdf" />
   <xacro:include filename="HRP3HAND_L.urdf" />
   <xacro:include filename="HRP3HAND_R.urdf" />
-  <xacro:include filename="$(find multisense_description)/urdf/multisenseSL.urdf" />
+  <xacro:include filename="$(find multisense_description)/urdf/multisenseSL/multisenseSL.urdf.xacro" />
   <joint name="hrp2_to_multisense" type="fixed">
     <parent link="HEAD_LINK1" />
     <!--child  link="head" /--> <!-- for drcsim / multisense_sl_description -->
diff --git a/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf.xacro b/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf.xacro
index 45acd036..2c174f94 100644
--- a/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf.xacro
+++ b/hrpsys_ros_bridge_tutorials/models/HRP2W.urdf.xacro
@@ -1,6 +1,6 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2W" >
   <xacro:include filename="HRP2W.urdf" />
-  <xacro:include filename="$(find multisense_description)/urdf/multisenseS7.urdf" />
+  <xacro:include filename="$(find multisense_description)/urdf/multisenseS7/multisenseS7.urdf.xacro" />
   <joint name="hrp2_to_multisense" type="fixed">
     <parent link="HEAD_LINK1" />
     <child  link="head_root" /> <!-- for multisense / multisense_description -->
diff --git a/hrpsys_ros_bridge_tutorials/models/JAXON.urdf.xacro b/hrpsys_ros_bridge_tutorials/models/JAXON.urdf.xacro
index 0b78f972..cc450c52 100644
--- a/hrpsys_ros_bridge_tutorials/models/JAXON.urdf.xacro
+++ b/hrpsys_ros_bridge_tutorials/models/JAXON.urdf.xacro
@@ -51,7 +51,7 @@
   </gazebo>
 
   <!-- HEAD -->
-  <xacro:include filename="$(find multisense_description)/urdf/multisenseSL.urdf" />
+  <xacro:include filename="$(find multisense_description)/urdf/multisenseSL/multisenseSL.urdf.xacro" />
   <joint name="head_tip_to_multisense" type="fixed">
     <parent link="HEAD_LINK1" />
     <child  link="head_root" />
diff --git a/hrpsys_ros_bridge_tutorials/models/JAXON_RED.urdf.xacro b/hrpsys_ros_bridge_tutorials/models/JAXON_RED.urdf.xacro
index 81a2e6bf..64e26f36 100644
--- a/hrpsys_ros_bridge_tutorials/models/JAXON_RED.urdf.xacro
+++ b/hrpsys_ros_bridge_tutorials/models/JAXON_RED.urdf.xacro
@@ -51,7 +51,7 @@
   </gazebo>
 
   <!-- HEAD -->
-  <xacro:include filename="$(find multisense_description)/urdf/multisenseSL.urdf" />
+  <xacro:include filename="$(find multisense_description)/urdf/multisenseSL/multisenseSL.urdf.xacro" />
   <joint name="head_tip_to_multisense" type="fixed">
     <parent link="HEAD_LINK1" />
     <child  link="head_root" />