diff --git a/nextage_tutorials/CMakeLists.txt b/nextage_tutorials/CMakeLists.txt
new file mode 100644
index 00000000..0a8d8182
--- /dev/null
+++ b/nextage_tutorials/CMakeLists.txt
@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(nextage_tutorials)
+
+find_package(catkin REQUIRED
+  nextage_description)
+
+catkin_package()
+
+if(EXISTS ${nextage_description_PREFIX}/share/nextage_description/urdf/NextageOpen.urdf)
+  set(nextage_urdf ${nextage_description_PREFIX}/share/nextage_description/urdf/NextageOpen.urdf)
+elseif(EXISTS ${nextage_description_SOURCE_PREFIX}/urdf/NextageOpen.urdf)
+  set(nextage_urdf ${nextage_description_SOURCE_PREFIX}/urdf/NextageOpen.urdf)
+else()
+  message(WARNING "Could not found nextage.urdf in ${nextage_description_PREFIX}/share/nextage_description/urdf/NextageOpen.urdf nor ${nextage_description_SOURCE_PREFIX}/urdf/NextageOpen.urdf")
+endif()
+if (EXISTS ${nextage_urdf})
+  message(STATUS "Found nextage.urdf at ${nextage_urdf}")
+  add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/nextage.l
+    COMMAND rosrun euscollada collada2eus nextage.dae config/nextage.yaml nextage.l
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+    DEPENDS nextage.dae config/nextage.yaml)
+  add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/nextage.dae
+    COMMAND rosrun collada_urdf urdf_to_collada ${nextage_urdf} nextage.dae
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+    DEPENDS ${nextage_urdf})
+
+  # get collada-dom version
+  find_package(PkgConfig)
+  pkg_check_modules(COLLADA collada-dom>=2.4.4 )
+  if ( ${COLLADA_FOUND} )
+    add_custom_target(generate_nextage_lisp ALL DEPENDS ${PROJECT_SOURCE_DIR}/nextage.l)
+  else()
+    pkg_check_modules(COLLADA collada-dom)
+    message(WARNING "urdf_to_collada requries collada-dom >= 2.4.4, installed version is ${COLLADA_VERSION}")
+  endif()
+endif()
+
+#############
+## Install ##
+#############
+
+install(DIRECTORY config euslisp launch model sample
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
+
+install(FILES nextage.dae nextage.l DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+############
+##  Test  ##
+############
diff --git a/nextage_tutorials/config/nextage.rviz b/nextage_tutorials/config/nextage.rviz
new file mode 100644
index 00000000..efa36bb8
--- /dev/null
+++ b/nextage_tutorials/config/nextage.rviz
@@ -0,0 +1,361 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointCloud21
+      Splitter Ratio: 0.3467600643634796
+    Tree Height: 235
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        CHEST_JOINT0_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        HEAD_JOINT0_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        HEAD_JOINT1_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT0_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT1_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT2_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT3_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT4_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LARM_JOINT5_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link Tree Style: Links in Alphabetic Order
+        RARM_JOINT0_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RARM_JOINT1_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RARM_JOINT2_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RARM_JOINT3_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RARM_JOINT4_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RARM_JOINT5_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        WAIST:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_depth_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_rgb_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_rgb_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        odom:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        CHEST_JOINT0_Link:
+          Value: true
+        HEAD_JOINT0_Link:
+          Value: true
+        HEAD_JOINT1_Link:
+          Value: true
+        LARM_JOINT0_Link:
+          Value: true
+        LARM_JOINT1_Link:
+          Value: true
+        LARM_JOINT2_Link:
+          Value: true
+        LARM_JOINT3_Link:
+          Value: true
+        LARM_JOINT4_Link:
+          Value: true
+        LARM_JOINT5_Link:
+          Value: true
+        RARM_JOINT0_Link:
+          Value: true
+        RARM_JOINT1_Link:
+          Value: true
+        RARM_JOINT2_Link:
+          Value: true
+        RARM_JOINT3_Link:
+          Value: true
+        RARM_JOINT4_Link:
+          Value: true
+        RARM_JOINT5_Link:
+          Value: true
+        WAIST:
+          Value: true
+        head_camera_depth_frame:
+          Value: true
+        head_camera_depth_optical_frame:
+          Value: true
+        head_camera_rgb_frame:
+          Value: true
+        head_camera_rgb_optical_frame:
+          Value: true
+        odom:
+          Value: true
+      Marker Scale: 0.4000000059604645
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        odom:
+          WAIST:
+            CHEST_JOINT0_Link:
+              HEAD_JOINT0_Link:
+                HEAD_JOINT1_Link:
+                  head_camera_depth_frame:
+                    head_camera_depth_optical_frame:
+                      {}
+                  head_camera_rgb_frame:
+                    head_camera_rgb_optical_frame:
+                      {}
+              LARM_JOINT0_Link:
+                LARM_JOINT1_Link:
+                  LARM_JOINT2_Link:
+                    LARM_JOINT3_Link:
+                      LARM_JOINT4_Link:
+                        LARM_JOINT5_Link:
+                          {}
+              RARM_JOINT0_Link:
+                RARM_JOINT1_Link:
+                  RARM_JOINT2_Link:
+                    RARM_JOINT3_Link:
+                      RARM_JOINT4_Link:
+                        RARM_JOINT5_Link:
+                          {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.10000000149011612
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0.8350027203559875
+        Min Value: 2.86102294921875e-6
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /head_camera/depth_registered/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /head_camera/rgb/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.6546847820281982
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.11585560441017151
+        Y: 0.3534391522407532
+        Z: 0.8110464811325073
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3753983974456787
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.338571548461914
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 683
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000020dfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000176000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001b9000000910000001600ffffff000000010000010f00000319fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000319000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004610000003efc0100000002fb0000000800540069006d0065010000000000000461000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003050000020d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1121
+  X: 185
+  Y: 175
diff --git a/nextage_tutorials/config/nextage.yaml b/nextage_tutorials/config/nextage.yaml
new file mode 100644
index 00000000..650f16e9
--- /dev/null
+++ b/nextage_tutorials/config/nextage.yaml
@@ -0,0 +1,38 @@
+##
+## - collada_joint_name : euslisp_joint_name (start with :)
+##
+
+torso:
+  - CHEST_JOINT0    : torso-waist-y
+rarm:
+  - RARM_JOINT0     : rarm-shoulder-y
+  - RARM_JOINT1     : rarm-shoulder-p
+  - RARM_JOINT2     : rarm-shoulder-r
+  - RARM_JOINT3     : rarm-elbow-p
+  - RARM_JOINT4     : rarm-elbow-r
+  - RARM_JOINT5     : rarm-wrist-p
+larm:
+  - LARM_JOINT0     : larm-shoulder-y
+  - LARM_JOINT1     : larm-shoulder-p
+  - LARM_JOINT2     : larm-shoulder-r
+  - LARM_JOINT3     : larm-elbow-p
+  - LARM_JOINT4     : larm-elbow-r
+  - LARM_JOINT5     : larm-wrist-p
+head:
+  - HEAD_JOINT0     : head-neck-y
+  - HEAD_JOINT1     : head-neck-p
+
+angle-vector:
+  reset-pose : [0, -0.6, 0, -100, 15.2, 9.4, 3.2, .6, 0, -100, -15.2, 9.4, -3.2, 0, 0]
+
+rarm-end-coords:
+  parent : RARM_JOINT5_Link
+  translate : [-0.19, 0, 0]
+  rotate : [0, 1, 0, 90]
+larm-end-coords:
+  parent : LARM_JOINT5_Link
+  translate : [-0.19, 0, 0]
+  rotate : [0, 1, 0, 90]
+head-end-coords:
+  translate : [0.06, 0, 0.025]
+  rotate : [0, 1, 0, 90]
diff --git a/nextage_tutorials/euslisp/nextage-interface.l b/nextage_tutorials/euslisp/nextage-interface.l
new file mode 100644
index 00000000..6c6e55ed
--- /dev/null
+++ b/nextage_tutorials/euslisp/nextage-interface.l
@@ -0,0 +1,50 @@
+(load "package://pr2eus/robot-interface.l")
+(require :nextage "package://nextage_tutorials/nextage.l")
+
+(defclass nextage-interface
+  :super robot-interface
+  :slots ())
+(defmethod nextage-interface
+  (:init (&rest args)
+         (send-super :init :robot nextageopen-robot))
+  (:default-controller ()
+   (append
+    (send self :larm-controller)
+    (send self :rarm-controller)
+    (send self :torso-controller)
+    (send self :head-controller)))
+  (:larm-controller ()
+   (list
+    (list
+     (cons :controller-action "/larm_controller/follow_joint_trajectory_action")
+     (cons :controller-state "/larm_controller/fstate")
+     (cons :action-type control_msgs::FollowJointTrajectoryAction)
+     (cons :joint-names (send-all (send robot :larm :joint-list) :name)))))
+  (:rarm-controller ()
+   (list
+    (list
+     (cons :controller-action "/rarm_controller/follow_joint_trajectory_action")
+     (cons :controller-state "/rarm_controller/fstate")
+     (cons :action-type control_msgs::FollowJointTrajectoryAction)
+     (cons :joint-names (send-all (send robot :rarm :joint-list) :name)))))
+  (:torso-controller ()
+   (list
+    (list
+     (cons :controller-action "/torso_controller/follow_joint_trajectory_action")
+     (cons :controller-state "/torso_controller/fstate")
+     (cons :action-type control_msgs::FollowJointTrajectoryAction)
+     (cons :joint-names (send-all (send robot :torso :joint-list) :name)))))
+  (:head-controller ()
+   (list
+    (list
+     (cons :controller-action "/head_controller/follow_joint_trajectory_action")
+     (cons :controller-state "/head_controller/fstate")
+     (cons :action-type control_msgs::FollowJointTrajectoryAction)
+     (cons :joint-names (send-all (send robot :head :joint-list) :name)))))
+  )
+
+(defun nextage-init ()
+  (if (not (boundp '*ri*))
+      (setq *ri* (instance nextage-interface :init)))
+  (if (not (boundp '*nextage*))
+      (setq *nextage* (instance nextageopen-robot :init))))
diff --git a/nextage_tutorials/launch/sample.launch b/nextage_tutorials/launch/sample.launch
new file mode 100644
index 00000000..458bef34
--- /dev/null
+++ b/nextage_tutorials/launch/sample.launch
@@ -0,0 +1,23 @@
+<launch>
+
+  <include file="$(find nextage_gazebo)/launch/nextage_world.launch" >
+    <arg name="gzpose" value="-x 0.01 -y 0.01 -z 0.1" />
+    <arg name="model" value="$(find nextage_tutorials)/model/NextageKinect.xacro" />
+    <arg name="world_file" value="$(find nextage_tutorials)/model/sample.world" />
+  </include>
+
+  <!-- copied from /nextage_ros_bridge/launch/ar_headcamera.launch -->
+
+  <!-- Spawn models into Gazebo -->
+  <!-- defined in $(find nextage_tutorials)/model/sample.world -->
+  <!-- <node name="spawn_sdf_cafetable" pkg="gazebo_ros" type="spawn_model" -->
+  <!--       args="-file $(find nextage_gazebo)/models/cafe_table/model.sdf -sdf -->
+  <!--             -x 1.0 -model Cafe_Table" /> -->
+  <node name="spawn_sdf_armarkerbox" pkg="gazebo_ros" type="spawn_model"
+        args="-file $(find nextage_gazebo)/models/MarkerBox-60mm/model.sdf -sdf
+              -x 1.0 -z 1.0 -model MarkerBox-60mm" />
+
+  <!-- rviz -->
+  <node pkg="rviz" name="rviz" type="rviz"
+        args="-d $(find nextage_tutorials)/config/nextage.rviz" />
+</launch>
diff --git a/nextage_tutorials/model/NextageKinect.xacro b/nextage_tutorials/model/NextageKinect.xacro
new file mode 100644
index 00000000..14cf8780
--- /dev/null
+++ b/nextage_tutorials/model/NextageKinect.xacro
@@ -0,0 +1,82 @@
+<?xml version="1.0"?>
+<robot name="NextageOpen" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find nextage_description)/urdf/NextageOpen.urdf" />
+
+  <link name="odom" />
+  <joint name="odom_to_WAIST" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0 0.97" />
+    <parent link="odom" />
+    <child link="WAIST" />
+  </joint>
+
+  <!-- based on fetch_description/robots/fetch.urdf   -->
+  <!--          nextage_description/urdf/nxo_gz.xacro -->
+
+  <link name="head_camera_rgb_frame" />
+  <joint name="head_camera_rgb_joint" type="fixed">
+    <origin rpy="0 0.25 0" xyz="0.0175 0.02 0.105" />
+    <parent link="HEAD_JOINT1_Link" />
+    <child link="head_camera_rgb_frame" />
+  </joint>
+  <link name="head_camera_rgb_optical_frame" />
+  <joint name="head_camera_rgb_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
+    <parent link="head_camera_rgb_frame" />
+    <child link="head_camera_rgb_optical_frame" />
+  </joint>
+  <link name="head_camera_depth_frame" />
+  <joint name="head_camera_depth_joint" type="fixed">
+    <origin rpy="0 0.25 0" xyz="0.0175 0.045 0.105" />
+    <parent link="HEAD_JOINT1_Link" />
+    <child link="head_camera_depth_frame" />
+  </joint>
+  <link name="head_camera_depth_optical_frame" />
+  <joint name="head_camera_depth_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
+    <parent link="head_camera_depth_frame" />
+    <child link="head_camera_depth_optical_frame" />
+  </joint>
+
+  <!-- copied from fetch_gazebo/robots/fetch.gazebo.xacro -->
+
+  <!-- Primesense Carmine 1.09 -->
+  <gazebo reference="head_camera_rgb_frame">
+    <sensor type="depth" name="camera">
+      <always_on>true</always_on>
+      <update_rate>15.0</update_rate>
+      <camera>
+        <horizontal_fov>1.047197</horizontal_fov>
+        <image>
+          <!-- openni_kinect plugin works only with BGR8 -->
+          <format>B8G8R8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.05</near>
+          <far>50</far>
+        </clip>
+      </camera>
+      <plugin name="head_camera_controller" filename="libgazebo_ros_openni_kinect.so">
+        <baseline>0.1</baseline>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>15.0</updateRate>
+        <cameraName>head_camera</cameraName>
+        <imageTopicName>/head_camera/rgb/image_raw</imageTopicName>
+        <cameraInfoTopicName>/head_camera/rgb/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>/head_camera/depth_registered/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>/head_camera/depth_registered/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>/head_camera/depth_registered/points</pointCloudTopicName>
+        <frameName>head_camera_rgb_optical_frame</frameName>
+        <pointCloudCutoff>0.35</pointCloudCutoff>
+        <pointCloudCutoffMax>4.5</pointCloudCutoffMax>
+        <CxPrime>0</CxPrime>
+        <Cx>0</Cx>
+        <Cy>0</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+      </plugin>
+    </sensor>
+  </gazebo>
+</robot>
diff --git a/nextage_tutorials/model/sample.world b/nextage_tutorials/model/sample.world
new file mode 100644
index 00000000..46376eba
--- /dev/null
+++ b/nextage_tutorials/model/sample.world
@@ -0,0 +1,19 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <!-- cafe table -->
+    <include>
+      <uri>model://cafe_table</uri>
+      <!-- see http://sdformat.org/spec?ver=1.5&elem=model#model_pose for definition -->
+      <pose>1.0 0 0  0 0 0</pose>
+    </include>
+  </world>
+</sdf>
diff --git a/nextage_tutorials/package.xml b/nextage_tutorials/package.xml
new file mode 100644
index 00000000..6fc36136
--- /dev/null
+++ b/nextage_tutorials/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>nextage_tutorials</name>
+  <version>0.0.0</version>
+  <description>nextage tutorials for EusLisp/Gazebo users</description>
+
+  <license>BSD</license>
+  <maintainer email="k-okada@jsk.t.u-tokyo.ac.jp">Kei Okada</maintainer>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>pr2eus</exec_depend>
+  <exec_depend>euscollada</exec_depend>
+  <exec_depend>nextage_description</exec_depend>
+  <exec_depend>nextage_gazebo</exec_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/nextage_tutorials/sample/sample.l b/nextage_tutorials/sample/sample.l
new file mode 100755
index 00000000..72873d58
--- /dev/null
+++ b/nextage_tutorials/sample/sample.l
@@ -0,0 +1,28 @@
+#!/usr/bin/env roseus
+
+;; demo on euslisp
+
+(load "package://nextage_tutorials/nextage.l")
+
+(setq *nextage* (nextageopen))
+(send *nextage* :reset-pose)
+(objects (list *nextage*))
+
+(send *nextage* :head :neck-p :joint-angle 25)
+(send *nextage* :head :neck-y :joint-angle 45)
+(send *nextage* :torso :waist-y :joint-angle 30)
+
+(send *nextage* :larm :move-end-pos #f(0 0 200) :world :debug-view :no-message)
+(send *nextage* :rarm :move-end-pos #f(0 -200 0) :world :debug-view :no-message)
+
+;; demo on gazebo
+(load "package://nextage_tutorials/euslisp/nextage-interface.l")
+
+(nextage-init)
+(send *ri* :angle-vector (send *nextage* :angle-vector) 1000) ;; caution !!! it could be too fast!!!!
+(send *ri* :wait-interpolation)
+
+(send *nextage* :reset-pose)
+(send *nextage* :head :neck-p :joint-angle 25)
+(send *ri* :angle-vector (send *nextage* :angle-vector) 500) ;; caution !!! it could be too fast!!!!
+(send *ri* :wait-interpolation)