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In this paper, we propose a technique for obtaining information for a robot in a closed space to generate and reconstruct tasks using a 2D camera mounted on a ceiling. In this technique, behavior data, a basic unit of behavior, uses each piece of joint data from the motion that the robot performs after imitation learning. The robot uses the location data of the object in the image taken by a 2D camera to execute tasks. All reconstructed tasks are executed in a closed space in which the robot moves around. The proposed technique generates and reconstructs the behavior data of tasks to be executed in sequence based on the acquired location data. Based on experimental results, the proposed technique demonstrates a high success rate for task reconstruction.