Recently, a lot of industrial robots are used in factories. However, finishing robot systems are not widely used yet because the use of force control robot is difficult. In this study, we develop environment and task motion framework for finishing robot system. We formalize work information and software on environment and task motion framework technology. We place information on tools, works, and objects in the working environment required from a finishing robot system, separately. Information is retrieved from the working environment when it is necessary. A finishing robot system generates robot motion programs automatically by using information obtained from environments. Therefore we can realize finishing robot system that is easy to use for users.