diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
index 995f706d..a843d23e 100644
--- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
+++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
@@ -1561,8 +1561,7 @@ DEF JAXON_JVRC Humanoid {
                                       children [
                                         DEF LLEG_LINK6 Segment {
                                           centerOfMass 0.0 -0.0455 0.0
-                                          #mass 1.6718
-                                          mass 2.4689 # 1.6718 + 0.5072 + 0.2899
+                                          mass 1.0
                                           momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
                                           children [
                                             DEF WHEEL_FRONT_L WheelFront {}
@@ -1593,7 +1592,7 @@ DEF JAXON_JVRC Humanoid {
                                       children [
                                         DEF LLEG_LINK7 Segment {
                                           centerOfMass 0.0 -0.0387 0.0
-                                          mass 0.5072
+                                          mass 1.0
                                           momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
                                           children [
                                             DEF WHEEL_REAR_L WheelFront {}
@@ -1818,8 +1817,7 @@ DEF JAXON_JVRC Humanoid {
                                       children [
                                         DEF RLEG_LINK6 Segment {
                                           centerOfMass 0.0 0.0455 0.0
-                                          #mass 1.6718
-                                          mass 2.4689 # 1.6718 + 0.5072 + 0.2899
+                                          mass 1.0
                                           momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
                                           children [
                                             DEF WHEEL_FRONT_R WheelFront {}
@@ -1850,7 +1848,7 @@ DEF JAXON_JVRC Humanoid {
                                       children [
                                         DEF RLEG_LINK7 Segment {
                                           centerOfMass 0.0 -0.0387 0.0
-                                          mass 0.5072
+                                          mass 1.0
                                           momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
                                           children [
                                             DEF WHEEL_REAR_R WheelFront {}
diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
index 16c041c7..1454b477 100644
--- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
+++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
@@ -1562,8 +1562,7 @@ DEF JAXON_JVRC Humanoid {
                                       children [
                                         DEF LLEG_LINK6 Segment {
                                           centerOfMass 0.0 -0.0455 0.0
-                                          #mass 1.6718
-                                          mass 2.4689 # 1.6718 + 0.5072 + 0.2899
+                                          mass 1.0
                                           momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
                                           children [
                                             DEF WHEEL_FRONT_L WheelFront {}
@@ -1594,7 +1593,7 @@ DEF JAXON_JVRC Humanoid {
                                       children [
                                         DEF LLEG_LINK7 Segment {
                                           centerOfMass 0.0 -0.0387 0.0
-                                          mass 0.5072
+                                          mass 1.0
                                           momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
                                           children [
                                             DEF WHEEL_REAR_L WheelFront {}
@@ -1819,8 +1818,7 @@ DEF JAXON_JVRC Humanoid {
                                       children [
                                         DEF RLEG_LINK6 Segment {
                                           centerOfMass 0.0 0.0455 0.0
-                                          #mass 1.6718
-                                          mass 2.4689 # 1.6718 + 0.5072 + 0.2899
+                                          mass 1.0
                                           momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
                                           children [
                                             DEF WHEEL_FRONT_R WheelFront {}
@@ -1851,7 +1849,7 @@ DEF JAXON_JVRC Humanoid {
                                       children [
                                         DEF RLEG_LINK7 Segment {
                                           centerOfMass 0.0 -0.0387 0.0
-                                          mass 0.5072
+                                          mass 1.0
                                           momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
                                           children [
                                             DEF WHEEL_REAR_R WheelFront {}
diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
index d9491348..a9d6d664 100644
--- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
+++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
@@ -1734,8 +1734,7 @@ DEF JAXON_JVRC Humanoid {
                                                   children [
                                                     DEF LLEG_LINK6 Segment {
                                                       centerOfMass 0.0 -0.0455 0.0
-                                                      #mass 1.6718
-                                                      mass 2.4689 # 1.6718 + 0.5072 + 0.2899
+                                                      mass 1.0
                                                       momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
                                                       children [
                                                         DEF WHEEL_FRONT_L WheelFront {}
@@ -1766,7 +1765,7 @@ DEF JAXON_JVRC Humanoid {
                                                   children [
                                                     DEF LLEG_LINK7 Segment {
                                                       centerOfMass 0.0 -0.0387 0.0
-                                                      mass 0.5072
+                                                      mass 1.0
                                                       momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
                                                       children [
                                                         DEF WHEEL_REAR_L WheelFront {}
@@ -2048,8 +2047,7 @@ DEF JAXON_JVRC Humanoid {
                                                   children [
                                                     DEF RLEG_LINK6 Segment {
                                                       centerOfMass 0.0 0.0455 0.0
-                                                      #mass 1.6718
-                                                      mass 2.4689 # 1.6718 + 0.5072 + 0.2899
+                                                      mass 1.0
                                                       momentsOfInertia [0.0038 0.0 0.0 0.0 0.0041 0.0 0.0 0.0 0.0038]
                                                       children [
                                                         DEF WHEEL_FRONT_R WheelFront {}
@@ -2080,7 +2078,7 @@ DEF JAXON_JVRC Humanoid {
                                                   children [
                                                     DEF RLEG_LINK7 Segment {
                                                       centerOfMass 0.0 -0.0387 0.0
-                                                      mass 0.5072
+                                                      mass 1.0
                                                       momentsOfInertia [0.0011 0.0 0.0 0.0 0.0001 0.0 0.0 0.0 0.0011]
                                                       children [
                                                         DEF WHEEL_REAR_R WheelFront {}