Running Choreonoid

$ cd ~
$ cd ~/ros2_ws
$ source install/setup.bash
$ ros2 run choreonoid_ros choreonoid ~/ros2_ws/src/choreonoid/ext/wrs-plugin/registration/registration_wrs2020.yaml --wrs-util ts1

Detail of YAML files

YAML file	Arguments	Description
registration_wrs2020.yaml	ts1	Load WRS2020 TS1 environment
registration_wrs2020.yaml	ts2	Load WRS2020 TS2 environment
registration_wrs2020.yaml	ts3	Load WRS2020 TS3 environment
registration_wrs2020.yaml	ts4	Load WRS2020 TS4 environment
registration_wrs2025.yaml	testrun	Load WRS2025 test run environment
registration_wrs2025.yaml	ps1	Load WRS2025 PS-1 environment
registration_wrs2025.yaml	ps2	Load WRS2025 PS-2 environment
registration_wrs2025.yaml	ps3	Load WRS2025 PS-3 environment
registration_wrs2025.yaml	ps4	Load WRS2025 PS-4 environment
registration_wrs2025.yaml	ps12	Load WRS2025 PS-12 environment
registration_wrs2025.yaml	ps34	Load WRS2025 PS-34 environment