We propose a method for generating robot motions based on simple commands given by humans. Large language models (LLMs) are generic models that can be used to generate robot motion procedures for various tasks. However, they often output errors, such as specifying inappropriate procedures or tools, or they select tools that are difficult for robots to grasp. For example, the LLM suggests using a spoon or a whisk when scooping hot water. In this study, we address these problems by setting the function of tools, such as “scoop” or “stir,” and by utilizing the robot’s physical features. We also generate a robot motion trajectory based on a motion template. A comparison between the proposed method and a method that does not take into account the physical features of the robot confirmed that our method had a higher task success rate and was able to select tools that were easier for the robot to operate.