diff --git a/jsk_footstep_planner/config/HRP2JSKNTS_footstep_planner_params.yaml b/jsk_footstep_planner/config/HRP2JSKNTS_footstep_planner_params.yaml
index a70506b66..a4e9c4209 100644
--- a/jsk_footstep_planner/config/HRP2JSKNTS_footstep_planner_params.yaml
+++ b/jsk_footstep_planner/config/HRP2JSKNTS_footstep_planner_params.yaml
@@ -4,8 +4,8 @@ footstep_size_x: 0.254
 footstep_size_y: 0.150368
 rleg_footstep_offset: [0.016411, 0.0, 0.0]
 lleg_footstep_offset: [0.016411, 0.0, 0.0]
-collision_bbox_size: [0.499967, 0.39561, 1.33184]
-collision_bbox_offset: [-0.055675, 0.0, 0.0]
+collision_bbox_size: [0.499966, 0.396911, 1.03184]
+collision_bbox_offset: [-0.055675, 0.00064, 0.805435]
 successors:
   - x: 0.15
     y: 0.0
@@ -250,3 +250,6 @@ successors:
   - x: -0.05
     y: -0.05
     theta: -0.349066
+goal_pos_thr: 0.05
+goal_rot_thr: 0.087266
+transition_limit_yaw: 0.350811
diff --git a/jsk_footstep_planner/euslisp/generate-footstep-planner-parameters-from-robot-model.l b/jsk_footstep_planner/euslisp/generate-footstep-planner-parameters-from-robot-model.l
index 7e4ababc8..273ee5c10 100644
--- a/jsk_footstep_planner/euslisp/generate-footstep-planner-parameters-from-robot-model.l
+++ b/jsk_footstep_planner/euslisp/generate-footstep-planner-parameters-from-robot-model.l
@@ -69,11 +69,11 @@
           (float-vector
            (* 1e-3 (- (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 0)) #'>) 0) (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 0)) #'<) 0)))
            (* 1e-3 (- (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 1)) #'>) 1) (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 1)) #'<) 1)))
-           (* 1e-3 (- (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 2)) #'>) 2) (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 2)) #'<) 2)))))
+           (- (* 1e-3 (- (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 2)) #'>) 2) (elt (find-extream (send bb :vertices) #'(lambda (x) (elt x 2)) #'<) 2))) 0.3))) ;;0.3[m] from the ground is not considered
          (neglect-thre (* 1e-3 0.1)) ;; 0.1[mm]
          (bbox-offset
           (let ((tmp (scale 1e-3 (send (send robot :foot-midcoords) :inverse-transform-vector (send bb :centroid)))))
-            (float-vector (neglect-small-value (elt tmp 0) neglect-thre) (neglect-small-value (elt tmp 1) neglect-thre) 0.0)
+            (float-vector (neglect-small-value (elt tmp 0) neglect-thre) (neglect-small-value (elt tmp 1) neglect-thre) (+ 0.15 (neglect-small-value (elt tmp 2) neglect-thre))) ;;0.3[m] from the ground is not considered
             )))
     (if return-value
         (list bbox-size bbox-offset)