diff --git a/hrpsys_choreonoid_tutorials/CMakeLists.txt b/hrpsys_choreonoid_tutorials/CMakeLists.txt
index 159ab4ab..9e2b2581 100644
--- a/hrpsys_choreonoid_tutorials/CMakeLists.txt
+++ b/hrpsys_choreonoid_tutorials/CMakeLists.txt
@@ -27,6 +27,14 @@ else()
   set (JSK_MODELS_DIR ${jsk_models_SOURCE_PREFIX})
 endif()
 
+find_package(hrp2_models QUIET)
+if(NOT "${hrp2_models_FOUND}")
+  string(ASCII 27 Esc)
+  message(WARNING "${Esc}[1;33mPackage hrp2_models is not found, if you have right to access them please include source code in catkin workspace${Esc}[m")
+else()
+  set (HRP2_MODELS_DIR ${hrp2_models_SOURCE_PREFIX})
+endif()
+
 ################################
 ## compile_openhrp_model
 ##  Generate OpenHRP3 .xml and .conf file.
@@ -198,6 +206,27 @@ configure_file(${PROJECT_SOURCE_DIR}/config/TABLIS_RH_FLAT.cnoid.in ${PROJECT_SO
 configure_file(${PROJECT_SOURCE_DIR}/config/TABLIS_BASE_RH_FLAT.cnoid.in ${PROJECT_SOURCE_DIR}/config/TABLIS_BASE_RH_FLAT.cnoid @ONLY)
 endif()
 
+###
+#HRP2JSK conid
+###
+if (${hrp2_models_FOUND})
+configure_file(${PROJECT_SOURCE_DIR}/config/HRP2JSK_RH_LOAD_OBJ.cnoid.in ${PROJECT_SOURCE_DIR}/config/HRP2JSK_RH_LOAD_OBJ.cnoid @ONLY)
+endif()
+
+###
+#HRP2JSKNT conid
+###
+if (${hrp2_models_FOUND})
+configure_file(${PROJECT_SOURCE_DIR}/config/HRP2JSKNT_RH_LOAD_OBJ.cnoid.in ${PROJECT_SOURCE_DIR}/config/HRP2JSKNT_RH_LOAD_OBJ.cnoid @ONLY)
+endif()
+
+###
+#HRP2JSKNTS conid
+###
+if (${hrp2_models_FOUND})
+configure_file(${PROJECT_SOURCE_DIR}/config/HRP2JSKNTS_RH_LOAD_OBJ.cnoid.in ${PROJECT_SOURCE_DIR}/config/HRP2JSKNTS_RH_LOAD_OBJ.cnoid @ONLY)
+endif()
+
 ###
 # scene.yaml
 ###
diff --git a/hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSK.RH.conf b/hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSK.RH.conf
new file mode 100644
index 00000000..38c1677d
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSK.RH.conf
@@ -0,0 +1,92 @@
+##
+name-server = localhost:15005
+##
+## PD Controller
+##     in: angleRef, angle
+##     out: torque
+##
+in-port = tauIn:JOINT_TORQUE
+out-port = angleOut:JOINT_VALUE
+out-port = qvel:JOINT_VELOCITY
+out-port = torque:JOINT_TORQUE
+# out-port = ddq:JOINT_ACCELERATION
+connection = tauIn:RobotHardware_choreonoid0:torqueOut
+connection = angleOut:RobotHardware_choreonoid0:angleIn
+connection = qvel:RobotHardware_choreonoid0:qvel_sim
+connection = torque:RobotHardware_choreonoid0:torque_sim
+###
+# debug ## ground truth robot potition
+###
+out-port = WAIST:WAIST:ABS_TRANSFORM
+# out-port = headq:motor_joint:JOINT_VALUE
+####
+# sensors
+####
+out-port = rfsensor_sim:rfsensor:FORCE_SENSOR
+out-port = lfsensor_sim:lfsensor:FORCE_SENSOR
+out-port = rhsensor_sim:rhsensor:FORCE_SENSOR
+out-port = lhsensor_sim:lhsensor:FORCE_SENSOR
+out-port = gsensor_sim:gsensor:ACCELERATION_SENSOR2
+out-port = gyrometer_sim:gyrometer:RATE_GYRO_SENSOR2
+connection = rfsensor_sim:RobotHardware_choreonoid0:rfsensor_sim
+connection = lfsensor_sim:RobotHardware_choreonoid0:lfsensor_sim
+connection = rhsensor_sim:RobotHardware_choreonoid0:rhsensor_sim
+connection = lhsensor_sim:RobotHardware_choreonoid0:lhsensor_sim
+connection = gsensor_sim:RobotHardware_choreonoid0:gsensor_sim
+connection = gyrometer_sim:RobotHardware_choreonoid0:gyrometer_sim
+####
+# vision
+####
+# out-port = HEAD_RANGE:HEAD_RANGE:RANGE_SENSOR
+# out-port = HEAD_LEFT_DEPTH:HEAD_LEFT_CAMERA:CAMERA_RANGE
+# out-port = HEAD_LEFT_CAMERA:HEAD_LEFT_CAMERA:CAMERA_IMAGE
+# out-port = HEAD_RIGHT_CAMERA:HEAD_RIGHT_CAMERA:CAMERA_IMAGE
+#out-port = CHEST_CAMERA:CHEST_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA:LARM_CAMERA:CAMERA_IMAGE
+#out-port = RARM_CAMERA:RARM_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA_N:LARM_CAMERA_N:CAMERA_IMAGE
+#out-port = RARM_CAMERA_N:RARM_CAMERA_N:CAMERA_IMAGE
+
+####
+# constraint
+####
+# out-port = F_BODY:WAIST:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK0:CHEST_JOINT0:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK1:CHEST_JOINT1:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK2:CHEST_JOINT2:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK0:HEAD_JOINT0:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK1:HEAD_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK0:LARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK1:LARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK2:LARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK3:LARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK4:LARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK5:LARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK6:LARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK7:LARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER0:LARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER1:LARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK0:RARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK1:RARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK2:RARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK3:RARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK4:RARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK5:RARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK6:RARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK7:RARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER0:RARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER1:RARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK0:LLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK1:LLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK2:LLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK3:LLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK4:LLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_UPPER:LLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_LOWER:LLEG_BUSH_PITCH:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK0:RLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK1:RLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK2:RLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK3:RLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK4:RLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_UPPER:RLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_LOWER:RLEG_BUSH_PITCH:CONSTRAINT_FORCE
diff --git a/hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSKNT.RH.conf b/hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSKNT.RH.conf
new file mode 100644
index 00000000..38c1677d
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSKNT.RH.conf
@@ -0,0 +1,92 @@
+##
+name-server = localhost:15005
+##
+## PD Controller
+##     in: angleRef, angle
+##     out: torque
+##
+in-port = tauIn:JOINT_TORQUE
+out-port = angleOut:JOINT_VALUE
+out-port = qvel:JOINT_VELOCITY
+out-port = torque:JOINT_TORQUE
+# out-port = ddq:JOINT_ACCELERATION
+connection = tauIn:RobotHardware_choreonoid0:torqueOut
+connection = angleOut:RobotHardware_choreonoid0:angleIn
+connection = qvel:RobotHardware_choreonoid0:qvel_sim
+connection = torque:RobotHardware_choreonoid0:torque_sim
+###
+# debug ## ground truth robot potition
+###
+out-port = WAIST:WAIST:ABS_TRANSFORM
+# out-port = headq:motor_joint:JOINT_VALUE
+####
+# sensors
+####
+out-port = rfsensor_sim:rfsensor:FORCE_SENSOR
+out-port = lfsensor_sim:lfsensor:FORCE_SENSOR
+out-port = rhsensor_sim:rhsensor:FORCE_SENSOR
+out-port = lhsensor_sim:lhsensor:FORCE_SENSOR
+out-port = gsensor_sim:gsensor:ACCELERATION_SENSOR2
+out-port = gyrometer_sim:gyrometer:RATE_GYRO_SENSOR2
+connection = rfsensor_sim:RobotHardware_choreonoid0:rfsensor_sim
+connection = lfsensor_sim:RobotHardware_choreonoid0:lfsensor_sim
+connection = rhsensor_sim:RobotHardware_choreonoid0:rhsensor_sim
+connection = lhsensor_sim:RobotHardware_choreonoid0:lhsensor_sim
+connection = gsensor_sim:RobotHardware_choreonoid0:gsensor_sim
+connection = gyrometer_sim:RobotHardware_choreonoid0:gyrometer_sim
+####
+# vision
+####
+# out-port = HEAD_RANGE:HEAD_RANGE:RANGE_SENSOR
+# out-port = HEAD_LEFT_DEPTH:HEAD_LEFT_CAMERA:CAMERA_RANGE
+# out-port = HEAD_LEFT_CAMERA:HEAD_LEFT_CAMERA:CAMERA_IMAGE
+# out-port = HEAD_RIGHT_CAMERA:HEAD_RIGHT_CAMERA:CAMERA_IMAGE
+#out-port = CHEST_CAMERA:CHEST_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA:LARM_CAMERA:CAMERA_IMAGE
+#out-port = RARM_CAMERA:RARM_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA_N:LARM_CAMERA_N:CAMERA_IMAGE
+#out-port = RARM_CAMERA_N:RARM_CAMERA_N:CAMERA_IMAGE
+
+####
+# constraint
+####
+# out-port = F_BODY:WAIST:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK0:CHEST_JOINT0:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK1:CHEST_JOINT1:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK2:CHEST_JOINT2:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK0:HEAD_JOINT0:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK1:HEAD_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK0:LARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK1:LARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK2:LARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK3:LARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK4:LARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK5:LARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK6:LARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK7:LARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER0:LARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER1:LARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK0:RARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK1:RARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK2:RARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK3:RARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK4:RARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK5:RARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK6:RARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK7:RARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER0:RARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER1:RARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK0:LLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK1:LLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK2:LLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK3:LLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK4:LLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_UPPER:LLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_LOWER:LLEG_BUSH_PITCH:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK0:RLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK1:RLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK2:RLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK3:RLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK4:RLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_UPPER:RLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_LOWER:RLEG_BUSH_PITCH:CONSTRAINT_FORCE
diff --git a/hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSKNTS.RH.conf b/hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSKNTS.RH.conf
new file mode 100644
index 00000000..2db8001d
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/config/BodyRTC_HRP2JSKNTS.RH.conf
@@ -0,0 +1,92 @@
+##
+name-server = localhost:15005
+##
+## PD Controller
+##     in: angleRef, angle
+##     out: torque
+##
+in-port = tauIn:JOINT_TORQUE
+out-port = angleOut:JOINT_VALUE
+out-port = qvel:JOINT_VELOCITY
+out-port = torque:JOINT_TORQUE
+# out-port = ddq:JOINT_ACCELERATION
+connection = tauIn:RobotHardware_choreonoid0:torqueOut
+connection = angleOut:RobotHardware_choreonoid0:angleIn
+connection = qvel:RobotHardware_choreonoid0:qvel_sim
+connection = torque:RobotHardware_choreonoid0:torque_sim
+###
+# debug ## ground truth robot potition
+###
+out-port = WAIST:WAIST:ABS_TRANSFORM
+# out-port = headq:motor_joint:JOINT_VALUE
+####
+# sensors
+####
+out-port = rfsensor_sim:rfsensor:FORCE_SENSOR
+out-port = lfsensor_sim:lfsensor:FORCE_SENSOR
+out-port = rhsensor_sim:rhsensor:FORCE_SENSOR
+out-port = lhsensor_sim:lhsensor:FORCE_SENSOR
+out-port = gsensor_sim:gsensor:ACCELERATION_SENSOR2
+out-port = gyrometer_sim:gyrometer:RATE_GYRO_SENSOR2
+connection = rfsensor_sim:RobotHardware_choreonoid0:rfsensor_sim
+connection = lfsensor_sim:RobotHardware_choreonoid0:lfsensor_sim
+connection = rhsensor_sim:RobotHardware_choreonoid0:rhsensor_sim
+connection = lhsensor_sim:RobotHardware_choreonoid0:lhsensor_sim
+connection = gsensor_sim:RobotHardware_choreonoid0:gsensor_sim
+connection = gyrometer_sim:RobotHardware_choreonoid0:gyrometer_sim
+####
+# vision
+####
+#out-port = HEAD_RANGE:HEAD_RANGE:RANGE_SENSOR
+out-port = HEAD_DEPTH:CARMINE_DEPTH:CAMERA_RANGE
+out-port = HEAD_CAMERA:CARMINE:CAMERA_IMAGE
+#out-port = HEAD_RIGHT_CAMERA:HEAD_RIGHT_CAMERA:CAMERA_IMAGE
+#out-port = CHEST_CAMERA:CHEST_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA:LARM_CAMERA:CAMERA_IMAGE
+#out-port = RARM_CAMERA:RARM_CAMERA:CAMERA_IMAGE
+#out-port = LARM_CAMERA_N:LARM_CAMERA_N:CAMERA_IMAGE
+#out-port = RARM_CAMERA_N:RARM_CAMERA_N:CAMERA_IMAGE
+
+####
+# constraint
+####
+# out-port = F_BODY:WAIST:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK0:CHEST_JOINT0:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK1:CHEST_JOINT1:CONSTRAINT_FORCE
+# out-port = F_CHEST_LINK2:CHEST_JOINT2:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK0:HEAD_JOINT0:CONSTRAINT_FORCE
+# out-port = F_HEAD_LINK1:HEAD_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK0:LARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK1:LARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK2:LARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK3:LARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK4:LARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK5:LARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK6:LARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_LARM_LINK7:LARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER0:LARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LARM_FINGER1:LARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK0:RARM_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK1:RARM_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK2:RARM_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK3:RARM_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK4:RARM_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK5:RARM_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK6:RARM_JOINT6:CONSTRAINT_FORCE
+# out-port = F_RARM_LINK7:RARM_JOINT7:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER0:RARM_F_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RARM_FINGER1:RARM_F_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK0:LLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK1:LLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK2:LLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK3:LLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK4:LLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_UPPER:LLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_LLEG_LINK5_LOWER:LLEG_BUSH_PITCH:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK0:RLEG_JOINT0:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK1:RLEG_JOINT1:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK2:RLEG_JOINT2:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK3:RLEG_JOINT3:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK4:RLEG_JOINT4:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_UPPER:RLEG_JOINT5:CONSTRAINT_FORCE
+# out-port = F_RLEG_LINK5_LOWER:RLEG_BUSH_PITCH:CONSTRAINT_FORCE
diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml b/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml
new file mode 100644
index 00000000..f548fd68
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKCustomizer.yaml
@@ -0,0 +1,5 @@
+bush:
+  springT: 3.3e5
+  dampingT: 3.3e2
+  springR: 1.0e3
+  dampingR: 1.0
diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml
new file mode 100644
index 00000000..eab5bf75
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTCustomizer.yaml
@@ -0,0 +1,21 @@
+bush:
+  RLEG:
+    springT: 3.3e5
+    dampingT: 3.3e2
+    springR: 1.0e3
+    dampingR: 1.0
+  LLEG:
+    springT: 3.3e5
+    dampingT: 3.3e2
+    springR: 1.0e3
+    dampingR: 1.0
+  RARM:
+    springT: 1.0e5
+    dampingT: 1.0e3
+    springR: 3.0e2
+    dampingR: 3.0
+  LARM:
+    springT: 1.0e5
+    dampingT: 1.0e3
+    springR: 3.0e2
+    dampingR: 3.0
diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml
new file mode 100644
index 00000000..eab5bf75
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTSCustomizer.yaml
@@ -0,0 +1,21 @@
+bush:
+  RLEG:
+    springT: 3.3e5
+    dampingT: 3.3e2
+    springR: 1.0e3
+    dampingR: 1.0
+  LLEG:
+    springT: 3.3e5
+    dampingT: 3.3e2
+    springR: 1.0e3
+    dampingR: 1.0
+  RARM:
+    springT: 1.0e5
+    dampingT: 1.0e3
+    springR: 3.0e2
+    dampingR: 3.0
+  LARM:
+    springT: 1.0e5
+    dampingT: 1.0e3
+    springR: 3.0e2
+    dampingR: 3.0
diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_RH_LOAD_OBJ.cnoid.in b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_RH_LOAD_OBJ.cnoid.in
new file mode 100644
index 00000000..e85cdf87
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNTS_RH_LOAD_OBJ.cnoid.in
@@ -0,0 +1,413 @@
+items:
+  id: 0
+  name: "Root"
+  plugin: Base
+  class: RootItem
+  children:
+    -
+      id: 1
+      name: "World"
+      plugin: Body
+      class: WorldItem
+      data:
+        collisionDetection: false
+        collisionDetector: AISTCollisionDetector
+      children:
+        -
+          id: 2
+          name: "HRP2JSKNTS"
+          plugin: Body
+          class: BodyItem
+          data:
+            modelFile: "@HRP2_MODELS_DIR@/HRP2JSKNTS_WITH_3HAND_for_OpenHRP3/HRP2JSKNTSmain_bush.wrl"
+            currentBaseLink: "WAIST"
+            rootPosition: [ 0.0, 0.0, 0.650 ]
+            rootAttitude: [
+              1, 0, 0,
+              0, 1, 0,
+              0, 0, 1 ]
+            jointPositions: [
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000000,  0.000000,  0.000000,  0.000000,
+                0.174533, -0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533,  0.261799,
+                0.174533,  0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533, -0.261799,
+                0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,
+                0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000]
+            initialRootPosition: [ 0.0, 0.0, 0.650 ]
+            initialRootAttitude: [
+              1, 0, 0,
+              0, 1, 0,
+              0, 0, 1 ]
+            initialJointPositions: [
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000000,  0.000000,  0.000000,  0.000000,
+                0.174533, -0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533,  0.261799,
+                0.174533,  0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533, -0.261799,
+                0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,
+                0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000]
+            zmp: [ 0, 0, 0 ]
+            collisionDetection: true
+            selfCollisionDetection: false
+            isEditable: true
+          children:
+            -
+              id: 3
+              name: "BodyRTC"
+              plugin: OpenRTM
+              class: BodyRTCItem
+              data:
+                isImmediateMode: true
+                moduleName: "@JVRC_RTC_DIRECTORY@/lib/RobotHardware_choreonoid"
+                confFileName: "@JVRC_CONF_DIRECTORY@/BodyRTC_HRP2JSKNTS.RH.conf"
+                configurationMode: Use Configuration File
+                AutoConnect: false
+                InstanceName: HRP2JSKNTS(Robot)0
+                bodyPeriodicRate: 0.004
+        -
+          id: 4
+          name: "add_objects.py"
+          plugin: Python
+          class: PythonScriptItem
+          data:
+            file: "@JVRC_RTC_DIRECTORY@/launch/add_objects.py"
+            executionOnLoading: true
+            backgroundExecution: false
+        -
+          id: 5
+          name: "AISTSimulator"
+          plugin: Body
+          class: AISTSimulatorItem
+          data:
+            realtimeSync: true
+            recording: full
+            timeRangeMode: TimeBar range
+            onlyActiveControlPeriod: true
+            timeLength: 12000
+            allLinkPositionOutputMode: false
+            deviceStateOutput: true
+            controllerThreads: true
+            recordCollisionData: false
+            dynamicsMode: Forward dynamics
+            integrationMode: Runge Kutta
+            gravity: [ 0, 0, -9.80665 ]
+            staticFriction: 1
+            slipFriction: 1
+            cullingThresh: 0.005
+            contactCullingDepth: 0.03
+            errorCriterion: 0.001
+            maxNumIterations: 1000
+            contactCorrectionDepth: 0.0001
+            contactCorrectionVelocityRatio: 1
+            kinematicWalking: false
+            2Dmode: false
+          children:
+            -
+              id: 7
+              name: "GLVisionSimulator"
+              plugin: Body
+              class: GLVisionSimulatorItem
+              data:
+                enabled: true
+                targetBodies: [ HRP2JSKNTS ]
+                targetSensors: [ CARMINE ]
+                maxFrameRate: 1000
+                maxLatency: 1
+                recordVisionData: false
+                useThread: true
+                useThreadsForSensors: true
+                bestEffort: false
+                allSceneObjects: false
+                rangeSensorPrecisionRatio: 2
+                depthError: 0
+                enableHeadLight: true
+                enableAdditionalLights: true
+            -
+              id: 8
+              name: "GLVisionSimulator"
+              plugin: Body
+              class: GLVisionSimulatorItem
+              data:
+                enabled: true
+                targetBodies: [ HRP2JSKNTS ]
+                targetSensors: [ CARMINE_DEPTH ]
+                maxFrameRate: 1000
+                maxLatency: 1
+                recordVisionData: false
+                useThread: true
+                useThreadsForSensors: true
+                bestEffort: false
+                allSceneObjects: false
+                rangeSensorPrecisionRatio: 2
+                depthError: 0
+                enableHeadLight: true
+                enableAdditionalLights: true
+    -
+      id: 9
+      name: "ros_service_server.py"
+      plugin: Python
+      class: PythonScriptItem
+      data:
+        file: "@JVRC_RTC_DIRECTORY@/scripts/ros_service_server.py"
+        executionOnLoading: true
+        backgroundExecution: false
+
+views:
+  -
+    id: 0
+    name: "CameraImage"
+    plugin: Base
+    class: ImageView
+    mounted: true
+  -
+    id: 1
+    plugin: Base
+    class: ItemPropertyView
+    mounted: true
+  -
+    id: 2
+    plugin: Base
+    class: ItemTreeView
+    mounted: true
+    state:
+      selected: [ 9 ]
+      checked: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, ]
+      expanded: [ 1 ]
+  -
+    id: 3
+    plugin: Base
+    class: MessageView
+    mounted: true
+  -
+    id: 4
+    plugin: Base
+    class: SceneView
+    mounted: true
+    state:
+      editMode: true
+      viewpointControlMode: thirdPerson
+      collisionLines: false
+      polygonMode: fill
+      defaultHeadLight: true
+      defaultHeadLightIntensity: 0.75
+      headLightLightingFromBack: false
+      worldLight: true
+      worldLightIntensity: 0.5
+      worldLightAmbient: 0.3
+      additionalLights: true
+      floorGrid: true
+      floorGridSpan: 10
+      floorGridInterval: 0.5
+      xzGridSpan: 10
+      xzGridInterval: 0.5
+      xzGrid: false
+      yzGridSpan: 10
+      yzGridInterval: 0.5
+      texture: true
+      lineWidth: 1
+      pointSize: 1
+      normalVisualization: false
+      normalLength: 0.01
+      coordinateAxes: true
+      showFPS: false
+      enableNewDisplayListDoubleRendering: false
+      useBufferForPicking: true
+      cameras:
+        -
+          camera: [ System, Perspective ]
+          isCurrent: true
+          fieldOfView: 0.6978
+          near: 0.01
+          far: 100
+          eye: [ 2.7, -2.7, 2 ]
+          direction: [ -0.7, 0.7, -0.3 ]
+          up: [ -0.25, 0.25, 1]
+        -
+          camera: [ System, Orthographic ]
+          orthoHeight: 20
+          near: 0.01
+          far: 100
+      backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ]
+      gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      dedicatedItemTreeViewChecks: false
+  -
+    id: 5
+    name: "Task"
+    plugin: Base
+    class: TaskView
+    state:
+      layoutMode: horizontal
+      isAutoMode: false
+  -
+    id: 6
+    plugin: Body
+    class: BodyLinkView
+    mounted: true
+    state:
+      showRotationMatrix: false
+  -
+    id: 7
+    plugin: Body
+    class: JointSliderView
+    mounted: true
+    state:
+      showAllJoints: true
+      jointId: false
+      name: true
+      numColumns: 1
+      spinBox: true
+      slider: true
+      labelOnLeft: true
+  -
+    id: 8
+    plugin: Body
+    class: LinkSelectionView
+    mounted: true
+    state:
+      listingMode: "Link List"
+  -
+    id: 10
+    plugin: Python
+    class: PythonConsoleView
+    mounted: true
+toolbars:
+  "TimeBar":
+    minTime: 0
+    maxTime: 12000
+    frameRate: 1000
+    playbackFrameRate: 50
+    idleLoopDrivenMode: false
+    currentTime: 0
+    speedScale: 1
+    syncToOngoingUpdates: true
+    autoExpansion: true
+  "KinematicsBar":
+    mode: AUTO
+    enablePositionDragger: true
+    penetrationBlock: false
+    collisionLinkHighlight: false
+    snapDistance: 0.025
+    penetrationBlockDepth: 0.0005
+    lazyCollisionDetectionMode: true
+  "LeggedBodyBar":
+    stanceWidth: 0.15
+  "BodyMotionGenerationBar":
+    autoGenerationForNewBody: true
+    balancer: false
+    autoGeneration: false
+    timeScaleRatio: 1
+    preInitialDuration: 1
+    postFinalDuration: 1
+    onlyTimeBarRange: false
+    makeNewBodyItem: true
+    stealthyStepMode: true
+    stealthyHeightRatioThresh: 2
+    flatLiftingHeight: 0.005
+    flatLandingHeight: 0.005
+    impactReductionHeight: 0.005
+    impactReductionTime: 0.04
+    autoZmp: true
+    minZmpTransitionTime: 0.1
+    zmpCenteringTimeThresh: 0.03
+    zmpTimeMarginBeforeLiftingSpin: 0
+    zmpMaxDistanceFromCenter: 0.02
+    allLinkPositions: false
+    lipSyncMix: false
+    timeToStartBalancer: 0
+    balancerIterations: 2
+    plainBalancerMode: false
+    boundaryConditionType: position
+    boundarySmootherType: quintic
+    boundarySmootherTime: 0.5
+    boundaryCmAdjustment: false
+    boundaryCmAdjustmentTime: 1
+    waistHeightRelaxation: false
+    gravity: 9.8
+    dynamicsTimeRatio: 1
+Body:
+  "BodyMotionEngine":
+    updateJointVelocities: false
+  "EditableSceneBody":
+    editableSceneBodies:
+      -
+        bodyItem: 2
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+      -
+        bodyItem: 3
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+      -
+        bodyItem: 4
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+    staticModelEditing: false
+  "KinematicFaultChecker":
+    checkJointPositions: true
+    angleMargin: 0
+    translationMargin: 0
+    checkJointVelocities: true
+    velocityLimitRatio: 100
+    targetJoints: all
+    checkSelfCollisions: true
+    onlyTimeBarRange: false
+OpenRTM:
+  "deleteUnmanagedRTCsOnStartingSimulation": false
+viewAreas:
+  -
+    type: embedded
+    tabs: true
+    contents:
+      type: splitter
+      orientation: horizontal
+      sizes: [ 310, 2195 ]
+      children:
+        -
+          type: splitter
+          orientation: vertical
+          sizes: [ 768, 767 ]
+          children:
+            -
+              type: pane
+              views: [ 2 ]
+              current: 2
+            -
+              type: pane
+              views: [ 1, 8 ]
+              current: 1
+        -
+          type: splitter
+          orientation: vertical
+          sizes: [ 1205, 330 ]
+          children:
+            -
+              type: splitter
+              orientation: horizontal
+              sizes: [ 449, 1740 ]
+              children:
+                -
+                  type: pane
+                  views: [ 6, 7, 0 ]
+                  current: 6
+                -
+                  type: pane
+                  views: [ 4 ]
+                  current: 4
+            -
+              type: pane
+              views: [ 3, 10 ]
+              current: 10
+layoutOfToolBars:
+  rows:
+    -
+      - { name: "FileBar", x: 0, priority: 0 }
+      - { name: "ScriptBar", x: 47, priority: 3 }
+      - { name: "TimeBar", x: 47, priority: 1 }
+      - { name: "SceneBar", x: 1455, priority: 2 }
+      - { name: "SimulationBar", x: 1464, priority: 0 }
diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_RH_LOAD_OBJ.cnoid.in b/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_RH_LOAD_OBJ.cnoid.in
new file mode 100644
index 00000000..f63647ce
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSKNT_RH_LOAD_OBJ.cnoid.in
@@ -0,0 +1,372 @@
+items:
+  id: 0
+  name: "Root"
+  plugin: Base
+  class: RootItem
+  children:
+    -
+      id: 1
+      name: "World"
+      plugin: Body
+      class: WorldItem
+      data:
+        collisionDetection: false
+        collisionDetector: AISTCollisionDetector
+      children:
+        -
+          id: 2
+          name: "HRP2JSKNT"
+          plugin: Body
+          class: BodyItem
+          data:
+            modelFile: "@HRP2_MODELS_DIR@/HRP2JSKNT_WITH_3HAND_for_OpenHRP3/HRP2JSKNTmain_bush.wrl"
+            currentBaseLink: "WAIST"
+            rootPosition: [ 0.0, 0.0, 0.650 ]
+            rootAttitude: [
+              1, 0, 0,
+              0, 1, 0,
+              0, 0, 1 ]
+            jointPositions: [
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000000,  0.000000,  0.000000,  0.000000,
+                0.174533, -0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533,  0.261799,
+                0.174533,  0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533, -0.261799,
+                0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,
+                0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000]
+            initialRootPosition: [ 0.0, 0.0, 0.650 ]
+            initialRootAttitude: [
+              1, 0, 0,
+              0, 1, 0,
+              0, 0, 1 ]
+            initialJointPositions: [
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000366,  0.002938, -0.383414,  0.868598, -0.485184, -0.002938,  0.000000,
+                0.000000,  0.000000,  0.000000,  0.000000,
+                0.174533, -0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533,  0.261799,
+                0.174533,  0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533, -0.261799,
+                0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,
+                0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000]
+            zmp: [ 0, 0, 0 ]
+            collisionDetection: true
+            selfCollisionDetection: false
+            isEditable: true
+          children:
+            -
+              id: 3
+              name: "BodyRTC"
+              plugin: OpenRTM
+              class: BodyRTCItem
+              data:
+                isImmediateMode: true
+                moduleName: "@JVRC_RTC_DIRECTORY@/lib/RobotHardware_choreonoid"
+                confFileName: "@JVRC_CONF_DIRECTORY@/BodyRTC_HRP2JSKNT.RH.conf"
+                configurationMode: Use Configuration File
+                AutoConnect: false
+                InstanceName: HRP2JSKNT(Robot)0
+                bodyPeriodicRate: 0.004
+        -
+          id: 4
+          name: "add_objects.py"
+          plugin: Python
+          class: PythonScriptItem
+          data:
+            file: "@JVRC_RTC_DIRECTORY@/launch/add_objects.py"
+            executionOnLoading: true
+            backgroundExecution: false
+        -
+          id: 5
+          name: "AISTSimulator"
+          plugin: Body
+          class: AISTSimulatorItem
+          data:
+            realtimeSync: true
+            recording: full
+            timeRangeMode: TimeBar range
+            onlyActiveControlPeriod: true
+            timeLength: 12000
+            allLinkPositionOutputMode: false
+            deviceStateOutput: true
+            controllerThreads: true
+            recordCollisionData: false
+            dynamicsMode: Forward dynamics
+            integrationMode: Runge Kutta
+            gravity: [ 0, 0, -9.80665 ]
+            staticFriction: 1
+            slipFriction: 1
+            cullingThresh: 0.005
+            contactCullingDepth: 0.03
+            errorCriterion: 0.001
+            maxNumIterations: 1000
+            contactCorrectionDepth: 0.0001
+            contactCorrectionVelocityRatio: 1
+            kinematicWalking: false
+            2Dmode: false
+    -
+      id: 9
+      name: "ros_service_server.py"
+      plugin: Python
+      class: PythonScriptItem
+      data:
+        file: "@JVRC_RTC_DIRECTORY@/scripts/ros_service_server.py"
+        executionOnLoading: true
+        backgroundExecution: false
+
+views:
+  -
+    id: 0
+    name: "CameraImage"
+    plugin: Base
+    class: ImageView
+    mounted: true
+  -
+    id: 1
+    plugin: Base
+    class: ItemPropertyView
+    mounted: true
+  -
+    id: 2
+    plugin: Base
+    class: ItemTreeView
+    mounted: true
+    state:
+      selected: [ 9 ]
+      checked: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, ]
+      expanded: [ 1 ]
+  -
+    id: 3
+    plugin: Base
+    class: MessageView
+    mounted: true
+  -
+    id: 4
+    plugin: Base
+    class: SceneView
+    mounted: true
+    state:
+      editMode: true
+      viewpointControlMode: thirdPerson
+      collisionLines: false
+      polygonMode: fill
+      defaultHeadLight: true
+      defaultHeadLightIntensity: 0.75
+      headLightLightingFromBack: false
+      worldLight: true
+      worldLightIntensity: 0.5
+      worldLightAmbient: 0.3
+      additionalLights: true
+      floorGrid: true
+      floorGridSpan: 10
+      floorGridInterval: 0.5
+      xzGridSpan: 10
+      xzGridInterval: 0.5
+      xzGrid: false
+      yzGridSpan: 10
+      yzGridInterval: 0.5
+      texture: true
+      lineWidth: 1
+      pointSize: 1
+      normalVisualization: false
+      normalLength: 0.01
+      coordinateAxes: true
+      showFPS: false
+      enableNewDisplayListDoubleRendering: false
+      useBufferForPicking: true
+      cameras:
+        -
+          camera: [ System, Perspective ]
+          isCurrent: true
+          fieldOfView: 0.6978
+          near: 0.01
+          far: 100
+          eye: [ 2.7, -2.7, 2 ]
+          direction: [ -0.7, 0.7, -0.3 ]
+          up: [ -0.25, 0.25, 1]
+        -
+          camera: [ System, Orthographic ]
+          orthoHeight: 20
+          near: 0.01
+          far: 100
+      backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ]
+      gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      dedicatedItemTreeViewChecks: false
+  -
+    id: 5
+    name: "Task"
+    plugin: Base
+    class: TaskView
+    state:
+      layoutMode: horizontal
+      isAutoMode: false
+  -
+    id: 6
+    plugin: Body
+    class: BodyLinkView
+    mounted: true
+    state:
+      showRotationMatrix: false
+  -
+    id: 7
+    plugin: Body
+    class: JointSliderView
+    mounted: true
+    state:
+      showAllJoints: true
+      jointId: false
+      name: true
+      numColumns: 1
+      spinBox: true
+      slider: true
+      labelOnLeft: true
+  -
+    id: 8
+    plugin: Body
+    class: LinkSelectionView
+    mounted: true
+    state:
+      listingMode: "Link List"
+  -
+    id: 10
+    plugin: Python
+    class: PythonConsoleView
+    mounted: true
+toolbars:
+  "TimeBar":
+    minTime: 0
+    maxTime: 12000
+    frameRate: 1000
+    playbackFrameRate: 50
+    idleLoopDrivenMode: false
+    currentTime: 0
+    speedScale: 1
+    syncToOngoingUpdates: true
+    autoExpansion: true
+  "KinematicsBar":
+    mode: AUTO
+    enablePositionDragger: true
+    penetrationBlock: false
+    collisionLinkHighlight: false
+    snapDistance: 0.025
+    penetrationBlockDepth: 0.0005
+    lazyCollisionDetectionMode: true
+  "LeggedBodyBar":
+    stanceWidth: 0.15
+  "BodyMotionGenerationBar":
+    autoGenerationForNewBody: true
+    balancer: false
+    autoGeneration: false
+    timeScaleRatio: 1
+    preInitialDuration: 1
+    postFinalDuration: 1
+    onlyTimeBarRange: false
+    makeNewBodyItem: true
+    stealthyStepMode: true
+    stealthyHeightRatioThresh: 2
+    flatLiftingHeight: 0.005
+    flatLandingHeight: 0.005
+    impactReductionHeight: 0.005
+    impactReductionTime: 0.04
+    autoZmp: true
+    minZmpTransitionTime: 0.1
+    zmpCenteringTimeThresh: 0.03
+    zmpTimeMarginBeforeLiftingSpin: 0
+    zmpMaxDistanceFromCenter: 0.02
+    allLinkPositions: false
+    lipSyncMix: false
+    timeToStartBalancer: 0
+    balancerIterations: 2
+    plainBalancerMode: false
+    boundaryConditionType: position
+    boundarySmootherType: quintic
+    boundarySmootherTime: 0.5
+    boundaryCmAdjustment: false
+    boundaryCmAdjustmentTime: 1
+    waistHeightRelaxation: false
+    gravity: 9.8
+    dynamicsTimeRatio: 1
+Body:
+  "BodyMotionEngine":
+    updateJointVelocities: false
+  "EditableSceneBody":
+    editableSceneBodies:
+      -
+        bodyItem: 2
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+      -
+        bodyItem: 3
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+      -
+        bodyItem: 4
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+    staticModelEditing: false
+  "KinematicFaultChecker":
+    checkJointPositions: true
+    angleMargin: 0
+    translationMargin: 0
+    checkJointVelocities: true
+    velocityLimitRatio: 100
+    targetJoints: all
+    checkSelfCollisions: true
+    onlyTimeBarRange: false
+OpenRTM:
+  "deleteUnmanagedRTCsOnStartingSimulation": false
+viewAreas:
+  -
+    type: embedded
+    tabs: true
+    contents:
+      type: splitter
+      orientation: horizontal
+      sizes: [ 310, 2195 ]
+      children:
+        -
+          type: splitter
+          orientation: vertical
+          sizes: [ 768, 767 ]
+          children:
+            -
+              type: pane
+              views: [ 2 ]
+              current: 2
+            -
+              type: pane
+              views: [ 1, 8 ]
+              current: 1
+        -
+          type: splitter
+          orientation: vertical
+          sizes: [ 1205, 330 ]
+          children:
+            -
+              type: splitter
+              orientation: horizontal
+              sizes: [ 449, 1740 ]
+              children:
+                -
+                  type: pane
+                  views: [ 6, 7, 0 ]
+                  current: 6
+                -
+                  type: pane
+                  views: [ 4 ]
+                  current: 4
+            -
+              type: pane
+              views: [ 3, 10 ]
+              current: 10
+layoutOfToolBars:
+  rows:
+    -
+      - { name: "FileBar", x: 0, priority: 0 }
+      - { name: "ScriptBar", x: 47, priority: 3 }
+      - { name: "TimeBar", x: 47, priority: 1 }
+      - { name: "SceneBar", x: 1455, priority: 2 }
+      - { name: "SimulationBar", x: 1464, priority: 0 }
diff --git a/hrpsys_choreonoid_tutorials/config/HRP2JSK_RH_LOAD_OBJ.cnoid.in b/hrpsys_choreonoid_tutorials/config/HRP2JSK_RH_LOAD_OBJ.cnoid.in
new file mode 100644
index 00000000..f934e54f
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/config/HRP2JSK_RH_LOAD_OBJ.cnoid.in
@@ -0,0 +1,368 @@
+items:
+  id: 0
+  name: "Root"
+  plugin: Base
+  class: RootItem
+  children:
+    -
+      id: 1
+      name: "World"
+      plugin: Body
+      class: WorldItem
+      data:
+        collisionDetection: false
+        collisionDetector: AISTCollisionDetector
+      children:
+        -
+          id: 2
+          name: "HRP2JSK"
+          plugin: Body
+          class: BodyItem
+          data:
+            modelFile: "@HRP2_MODELS_DIR@/HRP2JSK_for_OpenHRP3/HRP2JSKmain_bush.wrl"
+            currentBaseLink: "WAIST"
+            rootPosition: [ 0.0, 0.0, 0.650 ]
+            rootAttitude: [
+              1, 0, 0,
+              0, 1, 0,
+              0, 0, 1 ]
+            jointPositions: [
+               -0.000015,  0.003323, -0.468274,  0.872491, -0.404216, -0.003323,
+               -0.000015,  0.003323, -0.467353,  0.870656, -0.403303, -0.003323,
+                0.000000,  0.000000,  0.000000,  0.000000,
+                0.174533, -0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533,  0.261799,
+                0.174533,  0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533, -0.261799]
+            initialRootPosition: [ 0.0, 0.0, 0.650 ]
+            initialRootAttitude: [
+              1, 0, 0,
+              0, 1, 0,
+              0, 0, 1 ]
+            initialJointPositions: [
+               -0.000015,  0.003323, -0.468274,  0.872491, -0.404216, -0.003323,
+               -0.000015,  0.003323, -0.467353,  0.870656, -0.403303, -0.003323,
+                0.000000,  0.000000,  0.000000,  0.000000,
+                0.174533, -0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533,  0.261799,
+                0.174533,  0.174533,  0.000000, -0.436332,  0.000000,  0.000000, -0.174533, -0.261799]
+            zmp: [ 0, 0, 0 ]
+            collisionDetection: true
+            selfCollisionDetection: false
+            isEditable: true
+          children:
+            -
+              id: 3
+              name: "BodyRTC"
+              plugin: OpenRTM
+              class: BodyRTCItem
+              data:
+                isImmediateMode: true
+                moduleName: "@JVRC_RTC_DIRECTORY@/lib/RobotHardware_choreonoid"
+                confFileName: "@JVRC_CONF_DIRECTORY@/BodyRTC_HRP2JSK.RH.conf"
+                configurationMode: Use Configuration File
+                AutoConnect: false
+                InstanceName: HRP2JSK(Robot)0
+                bodyPeriodicRate: 0.004
+        -
+          id: 4
+          name: "add_objects.py"
+          plugin: Python
+          class: PythonScriptItem
+          data:
+            file: "@JVRC_RTC_DIRECTORY@/launch/add_objects.py"
+            executionOnLoading: true
+            backgroundExecution: false
+        -
+          id: 5
+          name: "AISTSimulator"
+          plugin: Body
+          class: AISTSimulatorItem
+          data:
+            realtimeSync: true
+            recording: full
+            timeRangeMode: TimeBar range
+            onlyActiveControlPeriod: true
+            timeLength: 12000
+            allLinkPositionOutputMode: false
+            deviceStateOutput: true
+            controllerThreads: true
+            recordCollisionData: false
+            dynamicsMode: Forward dynamics
+            integrationMode: Runge Kutta
+            gravity: [ 0, 0, -9.80665 ]
+            staticFriction: 1
+            slipFriction: 1
+            cullingThresh: 0.005
+            contactCullingDepth: 0.03
+            errorCriterion: 0.001
+            maxNumIterations: 1000
+            contactCorrectionDepth: 0.0001
+            contactCorrectionVelocityRatio: 1
+            kinematicWalking: false
+            2Dmode: false
+    -
+      id: 9
+      name: "ros_service_server.py"
+      plugin: Python
+      class: PythonScriptItem
+      data:
+        file: "@JVRC_RTC_DIRECTORY@/scripts/ros_service_server.py"
+        executionOnLoading: true
+        backgroundExecution: false
+
+views:
+  -
+    id: 0
+    name: "CameraImage"
+    plugin: Base
+    class: ImageView
+    mounted: true
+  -
+    id: 1
+    plugin: Base
+    class: ItemPropertyView
+    mounted: true
+  -
+    id: 2
+    plugin: Base
+    class: ItemTreeView
+    mounted: true
+    state:
+      selected: [ 9 ]
+      checked: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, ]
+      expanded: [ 1 ]
+  -
+    id: 3
+    plugin: Base
+    class: MessageView
+    mounted: true
+  -
+    id: 4
+    plugin: Base
+    class: SceneView
+    mounted: true
+    state:
+      editMode: true
+      viewpointControlMode: thirdPerson
+      collisionLines: false
+      polygonMode: fill
+      defaultHeadLight: true
+      defaultHeadLightIntensity: 0.75
+      headLightLightingFromBack: false
+      worldLight: true
+      worldLightIntensity: 0.5
+      worldLightAmbient: 0.3
+      additionalLights: true
+      floorGrid: true
+      floorGridSpan: 10
+      floorGridInterval: 0.5
+      xzGridSpan: 10
+      xzGridInterval: 0.5
+      xzGrid: false
+      yzGridSpan: 10
+      yzGridInterval: 0.5
+      texture: true
+      lineWidth: 1
+      pointSize: 1
+      normalVisualization: false
+      normalLength: 0.01
+      coordinateAxes: true
+      showFPS: false
+      enableNewDisplayListDoubleRendering: false
+      useBufferForPicking: true
+      cameras:
+        -
+          camera: [ System, Perspective ]
+          isCurrent: true
+          fieldOfView: 0.6978
+          near: 0.01
+          far: 100
+          eye: [ 2.7, -2.7, 2 ]
+          direction: [ -0.7, 0.7, -0.3 ]
+          up: [ -0.25, 0.25, 1]
+        -
+          camera: [ System, Orthographic ]
+          orthoHeight: 20
+          near: 0.01
+          far: 100
+      backgroundColor: [ 0.100000001, 0.100000001, 0.300000012 ]
+      gridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      xzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      yzgridColor: [ 0.899999976, 0.899999976, 0.899999976, 1 ]
+      dedicatedItemTreeViewChecks: false
+  -
+    id: 5
+    name: "Task"
+    plugin: Base
+    class: TaskView
+    state:
+      layoutMode: horizontal
+      isAutoMode: false
+  -
+    id: 6
+    plugin: Body
+    class: BodyLinkView
+    mounted: true
+    state:
+      showRotationMatrix: false
+  -
+    id: 7
+    plugin: Body
+    class: JointSliderView
+    mounted: true
+    state:
+      showAllJoints: true
+      jointId: false
+      name: true
+      numColumns: 1
+      spinBox: true
+      slider: true
+      labelOnLeft: true
+  -
+    id: 8
+    plugin: Body
+    class: LinkSelectionView
+    mounted: true
+    state:
+      listingMode: "Link List"
+  -
+    id: 10
+    plugin: Python
+    class: PythonConsoleView
+    mounted: true
+toolbars:
+  "TimeBar":
+    minTime: 0
+    maxTime: 12000
+    frameRate: 1000
+    playbackFrameRate: 50
+    idleLoopDrivenMode: false
+    currentTime: 0
+    speedScale: 1
+    syncToOngoingUpdates: true
+    autoExpansion: true
+  "KinematicsBar":
+    mode: AUTO
+    enablePositionDragger: true
+    penetrationBlock: false
+    collisionLinkHighlight: false
+    snapDistance: 0.025
+    penetrationBlockDepth: 0.0005
+    lazyCollisionDetectionMode: true
+  "LeggedBodyBar":
+    stanceWidth: 0.15
+  "BodyMotionGenerationBar":
+    autoGenerationForNewBody: true
+    balancer: false
+    autoGeneration: false
+    timeScaleRatio: 1
+    preInitialDuration: 1
+    postFinalDuration: 1
+    onlyTimeBarRange: false
+    makeNewBodyItem: true
+    stealthyStepMode: true
+    stealthyHeightRatioThresh: 2
+    flatLiftingHeight: 0.005
+    flatLandingHeight: 0.005
+    impactReductionHeight: 0.005
+    impactReductionTime: 0.04
+    autoZmp: true
+    minZmpTransitionTime: 0.1
+    zmpCenteringTimeThresh: 0.03
+    zmpTimeMarginBeforeLiftingSpin: 0
+    zmpMaxDistanceFromCenter: 0.02
+    allLinkPositions: false
+    lipSyncMix: false
+    timeToStartBalancer: 0
+    balancerIterations: 2
+    plainBalancerMode: false
+    boundaryConditionType: position
+    boundarySmootherType: quintic
+    boundarySmootherTime: 0.5
+    boundaryCmAdjustment: false
+    boundaryCmAdjustmentTime: 1
+    waistHeightRelaxation: false
+    gravity: 9.8
+    dynamicsTimeRatio: 1
+Body:
+  "BodyMotionEngine":
+    updateJointVelocities: false
+  "EditableSceneBody":
+    editableSceneBodies:
+      -
+        bodyItem: 2
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+      -
+        bodyItem: 3
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+      -
+        bodyItem: 4
+        showCenterOfMass: false
+        showPpcom: false
+        showZmp: false
+    staticModelEditing: false
+  "KinematicFaultChecker":
+    checkJointPositions: true
+    angleMargin: 0
+    translationMargin: 0
+    checkJointVelocities: true
+    velocityLimitRatio: 100
+    targetJoints: all
+    checkSelfCollisions: true
+    onlyTimeBarRange: false
+OpenRTM:
+  "deleteUnmanagedRTCsOnStartingSimulation": false
+viewAreas:
+  -
+    type: embedded
+    tabs: true
+    contents:
+      type: splitter
+      orientation: horizontal
+      sizes: [ 310, 2195 ]
+      children:
+        -
+          type: splitter
+          orientation: vertical
+          sizes: [ 768, 767 ]
+          children:
+            -
+              type: pane
+              views: [ 2 ]
+              current: 2
+            -
+              type: pane
+              views: [ 1, 8 ]
+              current: 1
+        -
+          type: splitter
+          orientation: vertical
+          sizes: [ 1205, 330 ]
+          children:
+            -
+              type: splitter
+              orientation: horizontal
+              sizes: [ 449, 1740 ]
+              children:
+                -
+                  type: pane
+                  views: [ 6, 7, 0 ]
+                  current: 6
+                -
+                  type: pane
+                  views: [ 4 ]
+                  current: 4
+            -
+              type: pane
+              views: [ 3, 10 ]
+              current: 10
+layoutOfToolBars:
+  rows:
+    -
+      - { name: "FileBar", x: 0, priority: 0 }
+      - { name: "ScriptBar", x: 47, priority: 3 }
+      - { name: "TimeBar", x: 47, priority: 1 }
+      - { name: "SceneBar", x: 1455, priority: 2 }
+      - { name: "SimulationBar", x: 1464, priority: 0 }
diff --git a/hrpsys_choreonoid_tutorials/launch/hrp2jsk_choreonoid.launch b/hrpsys_choreonoid_tutorials/launch/hrp2jsk_choreonoid.launch
new file mode 100644
index 00000000..b9c50776
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/launch/hrp2jsk_choreonoid.launch
@@ -0,0 +1,48 @@
+<launch>
+  <arg name="ENVIRONMENT_YAML" default="$(find hrpsys_choreonoid)/config/flat.yaml" />
+  <arg name="LAUNCH_FOOTCOORDS" default="true" />
+
+  <!-- settings -->
+  <arg name="PROJECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSK_RH_LOAD_OBJ.cnoid" />
+  <arg name="SIMULATOR_NAME" default="HRP2JSK(Robot)0" />
+  <arg name="BRIDGE_SIMULATOR_NAME" default="RobotHardware_choreonoid0" />
+  <arg name="MODEL_FILE"     default="$(find hrp2_models)/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl"/>
+  <arg name="COLLADA_FILE"   default="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK_WH_SENSORS.urdf"/>
+  <arg name="CONF_FILE"      default="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK.conf"/>
+  <arg name="HRPSYS_PY_PKG"  default="hrpsys_choreonoid_tutorials"/>
+  <arg name="HRPSYS_PY_NAME" default="hrp2jsk_rh_setup.py" />
+  <arg name="CONTROLLER_CONFIG" default="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK_controller_config.yaml" />
+
+  <env name="CHOREONOID_ROBOT" value="HRP2JSK" /> <!-- for JAXONCustomizer -->
+  <env name="CUSTOMIZER_CONF_FILE" value="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKCustomizer.yaml"/> <!-- for JAXONCustomizer -->
+  <env name="EXTRA_CHOREONOID_OBJS" value="$(arg ENVIRONMENT_YAML)" />  <!-- for add_objects.py -->
+
+  <!-- hrpsys -->
+  <include file="$(find hrpsys_choreonoid)/launch/startup_choreonoid.launch" >
+    <!-- robot dependant settings -->
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="PROJECT_FILE"   value="$(arg PROJECT_FILE)" />
+    <arg name="MODEL_FILE"     value="$(arg MODEL_FILE)" />
+    <arg name="CONF_FILE"      value="$(arg CONF_FILE)"/>
+    <arg name="HRPSYS_PY_PKG"  value="$(arg HRPSYS_PY_PKG)"/>
+    <arg name="HRPSYS_PY_NAME" value="$(arg HRPSYS_PY_NAME)"/>
+  </include>
+
+  <!-- ros_bridge -->
+  <rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
+  <include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
+    <!-- robot dependant settings -->
+    <arg name="USE_ROBOTHARDWARE" value="true" />
+    <arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
+    <arg name="MODEL_FILE"     value="$(arg MODEL_FILE)" />
+    <arg name="COLLADA_FILE"   value="$(arg COLLADA_FILE)"/>
+    <arg name="CONF_FILE"      value="$(arg CONF_FILE)" />
+  </include>
+
+  <!-- additional ros_bridge -->
+  <include file="$(find jsk_footstep_controller)/launch/hrp2jsk_footcoords.launch"
+           if="$(arg LAUNCH_FOOTCOORDS)" />
+  <node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server"
+        if="$(arg LAUNCH_FOOTCOORDS)" />
+
+</launch>
diff --git a/hrpsys_choreonoid_tutorials/launch/hrp2jsknt_choreonoid.launch b/hrpsys_choreonoid_tutorials/launch/hrp2jsknt_choreonoid.launch
new file mode 100644
index 00000000..b72719c9
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/launch/hrp2jsknt_choreonoid.launch
@@ -0,0 +1,48 @@
+<launch>
+  <arg name="ENVIRONMENT_YAML" default="$(find hrpsys_choreonoid)/config/flat.yaml" />
+  <arg name="LAUNCH_FOOTCOORDS" default="true" />
+
+  <!-- settings -->
+  <arg name="PROJECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKNT_RH_LOAD_OBJ.cnoid" />
+  <arg name="SIMULATOR_NAME" default="HRP2JSKNT(Robot)0" />
+  <arg name="BRIDGE_SIMULATOR_NAME" default="RobotHardware_choreonoid0" />
+  <arg name="MODEL_FILE"     default="$(find hrp2_models)/HRP2JSKNT_WITH_3HAND_for_OpenHRP3/HRP2JSKNTmain.wrl"/>
+  <arg name="COLLADA_FILE"   default="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_WH_SENSORS.urdf"/>
+  <arg name="CONF_FILE"      default="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT.conf"/>
+  <arg name="HRPSYS_PY_PKG"  default="hrpsys_choreonoid_tutorials"/>
+  <arg name="HRPSYS_PY_NAME" default="hrp2jsknt_rh_setup.py" />
+  <arg name="CONTROLLER_CONFIG" default="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_controller_config.yaml" />
+
+  <env name="CHOREONOID_ROBOT" value="HRP2JSKNT" /> <!-- for JAXONCustomizer -->
+  <env name="CUSTOMIZER_CONF_FILE" value="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKNTCustomizer.yaml"/> <!-- for JAXONCustomizer -->
+  <env name="EXTRA_CHOREONOID_OBJS" value="$(arg ENVIRONMENT_YAML)" />  <!-- for add_objects.py -->
+
+  <!-- hrpsys -->
+  <include file="$(find hrpsys_choreonoid)/launch/startup_choreonoid.launch" >
+    <!-- robot dependant settings -->
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="PROJECT_FILE"   value="$(arg PROJECT_FILE)" />
+    <arg name="MODEL_FILE"     value="$(arg MODEL_FILE)" />
+    <arg name="CONF_FILE"      value="$(arg CONF_FILE)"/>
+    <arg name="HRPSYS_PY_PKG"  value="$(arg HRPSYS_PY_PKG)"/>
+    <arg name="HRPSYS_PY_NAME" value="$(arg HRPSYS_PY_NAME)"/>
+  </include>
+
+  <!-- ros_bridge -->
+  <rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
+  <include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
+    <!-- robot dependant settings -->
+    <arg name="USE_ROBOTHARDWARE" value="true" />
+    <arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
+    <arg name="MODEL_FILE"     value="$(arg MODEL_FILE)" />
+    <arg name="COLLADA_FILE"   value="$(arg COLLADA_FILE)"/>
+    <arg name="CONF_FILE"      value="$(arg CONF_FILE)" />
+  </include>
+
+  <!-- additional ros_bridge -->
+  <include file="$(find jsk_footstep_controller)/launch/hrp2jsk_footcoords.launch"
+           if="$(arg LAUNCH_FOOTCOORDS)" />
+  <node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server"
+        if="$(arg LAUNCH_FOOTCOORDS)" />
+
+</launch>
diff --git a/hrpsys_choreonoid_tutorials/launch/hrp2jsknts_choreonoid.launch b/hrpsys_choreonoid_tutorials/launch/hrp2jsknts_choreonoid.launch
new file mode 100644
index 00000000..07f68010
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/launch/hrp2jsknts_choreonoid.launch
@@ -0,0 +1,61 @@
+<launch>
+  <arg name="ENVIRONMENT_YAML" default="$(find hrpsys_choreonoid)/config/flat.yaml" />
+  <arg name="LAUNCH_FOOTCOORDS" default="true" />
+  <arg name="USE_VISION" default="true" />
+
+  <!-- settings -->
+  <arg name="PROJECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKNTS_RH_LOAD_OBJ.cnoid" />
+  <arg name="SIMULATOR_NAME" default="HRP2JSKNTS(Robot)0" />
+  <arg name="BRIDGE_SIMULATOR_NAME" default="RobotHardware_choreonoid0" />
+  <arg name="MODEL_FILE"     default="$(find hrp2_models)/HRP2JSKNTS_WITH_3HAND_for_OpenHRP3/HRP2JSKNTSmain.wrl"/>
+  <arg name="COLLADA_FILE"   default="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_WH_SENSORS.urdf"/>
+  <arg name="CONF_FILE"      default="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.conf"/>
+  <arg name="HRPSYS_PY_PKG"  default="hrpsys_choreonoid_tutorials"/>
+  <arg name="HRPSYS_PY_NAME" default="hrp2jsknts_rh_setup.py" />
+  <arg name="CONTROLLER_CONFIG" default="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_controller_config.yaml" />
+
+  <env name="CHOREONOID_ROBOT" value="HRP2JSKNTS" /> <!-- for JAXONCustomizer -->
+  <env name="CUSTOMIZER_CONF_FILE" value="$(find hrpsys_choreonoid_tutorials)/config/HRP2JSKNTSCustomizer.yaml"/> <!-- for JAXONCustomizer -->
+  <env name="EXTRA_CHOREONOID_OBJS" value="$(arg ENVIRONMENT_YAML)" />  <!-- for add_objects.py -->
+
+  <!-- hrpsys -->
+  <include file="$(find hrpsys_choreonoid)/launch/startup_choreonoid.launch" >
+    <!-- robot dependant settings -->
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="PROJECT_FILE"   value="$(arg PROJECT_FILE)" />
+    <arg name="MODEL_FILE"     value="$(arg MODEL_FILE)" />
+    <arg name="CONF_FILE"      value="$(arg CONF_FILE)"/>
+    <arg name="HRPSYS_PY_PKG"  value="$(arg HRPSYS_PY_PKG)"/>
+    <arg name="HRPSYS_PY_NAME" value="$(arg HRPSYS_PY_NAME)"/>
+  </include>
+
+  <!-- ros_bridge -->
+  <rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
+  <include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
+    <!-- robot dependant settings -->
+    <arg name="USE_ROBOTHARDWARE" value="true" />
+    <arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
+    <arg name="MODEL_FILE"     value="$(arg MODEL_FILE)" />
+    <arg name="COLLADA_FILE"   value="$(arg COLLADA_FILE)"/>
+    <arg name="CONF_FILE"      value="$(arg CONF_FILE)" />
+  </include>
+
+  <!-- additional ros_bridge -->
+  <rosparam>
+    footcoords:
+        invert_odom_init: false
+  </rosparam>
+  <include file="$(find jsk_footstep_controller)/launch/hrp2jsk_footcoords.launch"
+           if="$(arg LAUNCH_FOOTCOORDS)" />
+  <node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server"
+        if="$(arg LAUNCH_FOOTCOORDS)" />
+
+  <!-- vision setting -->
+  <arg name="VISION_CONNECT_FILE" default="$(find hrpsys_choreonoid_tutorials)/launch/hrp2jsknts_vision_connect.launch" />
+  <group if="$(arg USE_VISION)">
+    <include file="$(arg VISION_CONNECT_FILE)" >
+      <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    </include>
+  </group>
+
+</launch>
diff --git a/hrpsys_choreonoid_tutorials/launch/hrp2jsknts_vision_connect.launch b/hrpsys_choreonoid_tutorials/launch/hrp2jsknts_vision_connect.launch
new file mode 100644
index 00000000..b7d55db5
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/launch/hrp2jsknts_vision_connect.launch
@@ -0,0 +1,83 @@
+<launch>
+  <arg name="SIMULATOR_NAME" default="HRP2JSKNTS(Robot)0" />
+  <arg name="OUTPUT" default="log"/>
+  <arg name="nameserver" default="localhost" />
+  <arg name="corbaport" default="15005" />
+  <arg name="periodic_rate" default="200" />
+
+  <arg name="openrtm_args" default='-o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"' />
+
+  <env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
+  <env name="LANG" value="C" />
+  <env name="ORBgiopMaxMsgSize" value="2147483648" />
+  <env name="RTC_CONNECTION_CHECK_ONCE" value="true" />
+
+  <node name="rtmlaunch_vision_connect" pkg="openrtm_tools"
+        type="rtmlaunch.py"
+        args="$(find hrpsys_choreonoid_tutorials)/launch/hrp2jsknts_vision_connect.launch"
+        output="$(arg OUTPUT)"/>
+
+  <node pkg="hrpsys_ros_bridge" name="HEAD"
+        type="ImageSensorROSBridge"
+        output="$(arg OUTPUT)" args="$(arg openrtm_args)" ns="camera_remote/rgb">
+    <param name="frame_id" value="camera_rgb_optical_frame" />
+    <!-- fieldOfView in WRML defines fov in Y direction.
+             | (height/2 / tan(fovY/2)           0             width/2 |
+         K = |          0             (height/2 / tan(fovY/2) height/2 |
+             |          0                       0                1     | -->
+    <rosparam param="camera_param_K">[500, 0, 319.5,  0, 500, 239.5,  0, 0, 1]</rosparam>
+    <rosparam param="camera_param_P">[500, 0, 319.5, 0,  0, 500, 239.5, 0,  0, 0, 1, 0]</rosparam>
+    <rtconnect from="HRP2JSKNTS(Robot)0.rtc:HEAD_CAMERA"
+               to="HEAD.rtc:timedImage" />
+    <rtactivate component="HEAD.rtc" />
+    <remap from="image_raw" to="image_rect_color" />
+  </node>
+  <node name="camera_remote_image_rect_relay"
+        pkg="topic_tools" type="relay"
+        args="camera_remote/rgb/image_rect_color camera_remote/rgb/image_rect" />
+
+  <node pkg="hrpsys_ros_bridge" name="pointcloud_bridge"
+        type="PointCloudROSBridge"
+        output="$(arg OUTPUT)" args="$(arg openrtm_args)" ns="camera_remote/depth_registered">
+    <param name="frame_id" value="camera_depth_optical_frame" />
+    <param name="publish_depth" value="true" />
+    <param name="transformed_camera_frame" value="true" />
+    <remap from="depth" to="image_raw"/>
+    <remap from="points" to="points_org"/>
+    <rtconnect from="HRP2JSKNTS(Robot)0.rtc:HEAD_DEPTH"
+               to="PointCloudROSBridge0.rtc:points" />
+    <rtactivate component="PointCloudROSBridge0.rtc" />
+  </node>
+
+  <node pkg="nodelet" type="nodelet" name="pointcloud_bridge_points_passthrough" args="standalone pcl/PassThrough" ns="camera_remote/depth_registered">
+    <remap from="~input" to="points_org"/>
+    <remap from="~output" to="points"/>
+    <rosparam>
+      filter_field_name: z
+      filter_limit_min: 0.5 # depth camera cannot see too close area. `frontClipDistance` cannot be used for this purpose because camera sees through within `frontClipDistance`.
+      filter_limit_max: 10.0
+    </rosparam>
+  </node>
+
+  <node pkg="hrpsys_choreonoid" name="ground_truth_bridge"
+        type="TransformROSBridge"
+        output="$(arg OUTPUT)" args="$(arg openrtm_args)" >
+    <!-- set rtc name by ros_name -->
+    <param name="use_ros_name" value="true" />
+
+    <remap from="odom" to="/ground_truth_odom" />
+    <param name="rate" value="100.0" />
+    <param name="publish_odom" value="true" />
+    <param name="initial_relative" value="false" />
+
+    <param name="publish_tf" value="true" />
+    <param name="invert_tf"  value="true" />
+    <param name="tf_frame"        value="BODY" />
+    <param name="tf_parent_frame" value="choreonoid_origin" />
+
+    <rtconnect from="HRP2JSKNTS(Robot)0.rtc:WAIST"
+               to="ground_truth_bridge.rtc:TformIn" />
+    <rtactivate component="ground_truth_bridge.rtc" />
+  </node>
+
+</launch>
diff --git a/hrpsys_choreonoid_tutorials/scripts/hrp2jsk_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/hrp2jsk_rh_setup.py
new file mode 100755
index 00000000..4219a43c
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/scripts/hrp2jsk_rh_setup.py
@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+from hrpsys_choreonoid_tutorials.hrp2_choreonoid_hrpsys_config import *
+
+if __name__ == '__main__':
+    hcf = JSKHRP2ChoreonoidHrpsysConfigurator("HRP2JSK")
+    if len(sys.argv) > 2 :
+        hcf.init(sys.argv[1], sys.argv[2])
+        hcf.startABSTIMP()
+    elif len(sys.argv) > 1 :
+        hcf.init(sys.argv[1])
+        hcf.startABSTIMP()
+    else :
+        hcf.init()
diff --git a/hrpsys_choreonoid_tutorials/scripts/hrp2jsknt_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/hrp2jsknt_rh_setup.py
new file mode 100755
index 00000000..47613892
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/scripts/hrp2jsknt_rh_setup.py
@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+from hrpsys_choreonoid_tutorials.hrp2_choreonoid_hrpsys_config import *
+
+if __name__ == '__main__':
+    hcf = JSKHRP2ChoreonoidHrpsysConfigurator("HRP2JSKNT")
+    if len(sys.argv) > 2 :
+        hcf.init(sys.argv[1], sys.argv[2])
+        hcf.startABSTIMP()
+    elif len(sys.argv) > 1 :
+        hcf.init(sys.argv[1])
+        hcf.startABSTIMP()
+    else :
+        hcf.init()
diff --git a/hrpsys_choreonoid_tutorials/scripts/hrp2jsknts_rh_setup.py b/hrpsys_choreonoid_tutorials/scripts/hrp2jsknts_rh_setup.py
new file mode 100755
index 00000000..8bca2513
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/scripts/hrp2jsknts_rh_setup.py
@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+from hrpsys_choreonoid_tutorials.hrp2_choreonoid_hrpsys_config import *
+
+if __name__ == '__main__':
+    hcf = JSKHRP2ChoreonoidHrpsysConfigurator("HRP2JSKNTS")
+    if len(sys.argv) > 2 :
+        hcf.init(sys.argv[1], sys.argv[2])
+        hcf.startABSTIMP()
+    elif len(sys.argv) > 1 :
+        hcf.init(sys.argv[1])
+        hcf.startABSTIMP()
+    else :
+        hcf.init()
diff --git a/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/hrp2_choreonoid_hrpsys_config.py b/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/hrp2_choreonoid_hrpsys_config.py
new file mode 100755
index 00000000..733cdf04
--- /dev/null
+++ b/hrpsys_choreonoid_tutorials/src/hrpsys_choreonoid_tutorials/hrp2_choreonoid_hrpsys_config.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python
+
+from hrpsys_ros_bridge_tutorials.hrp2_hrpsys_config import *
+
+class JSKHRP2ChoreonoidHrpsysConfigurator(JSKHRP2HrpsysConfigurator):
+    def waitForRobotHardware(self, robotname="Robot"):
+        '''!@brief
+        Wait for RobotHardware is exists and activated.
+
+        @param robotname str: name of RobotHardware component.
+        '''
+        self.rh = None
+        timeout_count = 0
+        # wait for simulator or RobotHardware setup which sometime takes a long time
+        while self.rh == None and timeout_count < 10:  # <- time out limit
+            if timeout_count > 0: # do not sleep initial loop
+                time.sleep(1);
+            self.rh = rtm.findRTC("RobotHardware_choreonoid0")
+            print(self.configurator_name + "wait for %s : %s ( timeout %d < 10)" % ( robotname, self.rh, timeout_count))
+            if self.rh and self.rh.isActive() == None:  # just in case rh is not ready...
+                self.rh = None
+            timeout_count += 1
+
+        if not self.rh:
+            print(self.configurator_name + "Could not find RobotHardware_choreonoid0")
+            if self.ms:
+                print(self.configurator_name + "Candidates are .... " + str([x.name()  for x in self.ms.get_components()]))
+            print(self.configurator_name + "Exitting.... " + robotname)
+            exit(1)
+
+        print(self.configurator_name + "findComps -> RobotHardware_choreonoid0 : %s isActive? = %s " % (self.rh,  self.rh.isActive()))
+
+        # wait for simulator or RobotHardware setup which sometime takes a long time
+        self.rh_choreonoid = None
+        while self.rh_choreonoid == None and timeout_count < 10:  # <- time out limit
+            if timeout_count > 0: # do not sleep initial loop
+                time.sleep(1);
+            self.rh_choreonoid = rtm.findRTC(robotname)
+            print(self.configurator_name + "wait for %s : %s ( timeout %d < 10)" % ( robotname, self.rh_choreonoid, timeout_count))
+            if self.rh_choreonoid and self.rh_choreonoid.isActive() == None:  # just in case rh is not ready...
+                self.rh_choreonoid = None
+            timeout_count += 1
+
+        if not self.rh_choreonoid:
+            print(self.configurator_name + "Could not find " + robotname)
+            if self.ms:
+                print(self.configurator_name + "Candidates are .... " + str([x.name()  for x in self.ms.get_components()]))
+            print(self.configurator_name + "Exitting.... " + robotname)
+            exit(1)
+
+        print(self.configurator_name + "findComps -> %s : %s isActive? = %s " % (robotname, self.rh_choreonoid,  self.rh_choreonoid.isActive()))
+
+    def activateComps(self):
+        stash_rh = self.rh
+        self.rh = self.rh_choreonoid
+        HrpsysConfigurator.activateComps(self)
+        self.rh = stash_rh
+
+    def startABSTIMP (self):
+        if self.ROBOT_NAME == "HRP2JSKNT" or self.ROBOT_NAME == "HRP2JSKNTS":
+            self.el_svc.setServoErrorLimit("RARM_JOINT7", sys.float_info.max)
+            self.el_svc.setServoErrorLimit("LARM_JOINT7", sys.float_info.max)
+            self.rh_svc.servo("RARM_JOINT7",OpenHRP.RobotHardwareService.SWITCH_OFF)
+            self.rh_svc.servo("LARM_JOINT7",OpenHRP.RobotHardwareService.SWITCH_OFF)
+            self.rh_svc.setServoGainPercentage("RLEG_JOINT6", 30.0)
+            self.rh_svc.setServoGainPercentage("LLEG_JOINT6", 30.0)
+            for j in dict(self.Groups)["rhand"] + dict(self.Groups)["lhand"]:
+                self.el_svc.setServoErrorLimit(j, sys.float_info.max)
+                self.rh_svc.setServoErrorLimit(j, 0.0)
+
+        self.startAutoBalancer()
+        self.seq_svc.setJointAngles(self.hrp2ResetPose(), 1.0)
+        if self.ROBOT_NAME == "HRP2JSKNT" or self.ROBOT_NAME == "HRP2JSKNTS":
+            self.seq_svc.setJointAnglesOfGroup("rhand", [0, 0, 0, 0, 0, 0], 1.0)
+            self.seq_svc.setJointAnglesOfGroup("lhand", [0, 0, 0, 0, 0, 0], 1.0)
+        self.ic_svc.startImpedanceController("larm")
+        self.ic_svc.startImpedanceController("rarm")
+        self.startStabilizer()