diff --git a/deploy/deploy_real/deploy_real_ros_ikctrl.py b/deploy/deploy_real/deploy_real_ros_ikctrl.py
index a1cb882..6a382c8 100644
--- a/deploy/deploy_real/deploy_real_ros_ikctrl.py
+++ b/deploy/deploy_real/deploy_real_ros_ikctrl.py
@@ -242,7 +242,7 @@ class Controller:
             res_q = self.ikctrl(self.qj, delta, rel=True)
         else:
             # FIXME(ycho): 0.01 --> cmd_scale ?
-            self.target_pose[..., :3] += 0.01 * self.cmd
+            self.target_pose[..., :3] += 0.001 * self.cmd
             res_q = self.ikctrl(self.qj,
                                 self.target_pose,
                                 rel=False)
@@ -258,8 +258,8 @@ class Controller:
                                self.lim_hi_pin[i_pin])
             self.low_cmd.motor_cmd[i_mot].q = target_q
             self.low_cmd.motor_cmd[i_mot].dq = 0.0
-            self.low_cmd.motor_cmd[i_mot].kp = float(self.config.kps[i_mot])
-            self.low_cmd.motor_cmd[i_mot].kd = float(self.config.kps[i_mot])
+            self.low_cmd.motor_cmd[i_mot].kp = 0.01*float(self.config.kps[i_mot])
+            self.low_cmd.motor_cmd[i_mot].kd = 0.01*float(self.config.kps[i_mot])
             self.low_cmd.motor_cmd[i_mot].tau = 0.0
         # send the command
         self.send_cmd(self.low_cmd)
diff --git a/deploy/deploy_real/ikctrl.py b/deploy/deploy_real/ikctrl.py
index 69c2c7f..f4b7f0f 100644
--- a/deploy/deploy_real/ikctrl.py
+++ b/deploy/deploy_real/ikctrl.py
@@ -7,7 +7,7 @@ import time
 import yaml
 import numpy as np
 import torch as th
-from yourdfpy import URDF
+# from yourdfpy import URDF
 
 import pinocchio as pin
 import pink