A non-transitory computer-readable storage medium storing a computer program controls a processor to execute (a) processing of recognizing a worker motion from an image of one or more worker motions captured by an imaging apparatus, (b) processing of recognizing hand and finger positions in a specific hand and finger motion when the worker motion contains the specific hand and finger motion, (c) processing of recognizing a position of a workpiece after work, and (d) processing of generating a control program for a robot using the worker motion, the hand and finger positions, and the position of the workpiece.