Vast information on human being is available on the Internet; however only little information on robots is available. We believe that having ambient intelligence provides helpful information for robots. This is one of the main factors for realizing service robots that work in daily life environments. In this paper, we propose a data structure used for describing the environmental information in order to enable a robotic system to execute door closing tasks. The effectiveness of the proposed system is experimentally confirmed using a door status detection sensor module, which we developed, and a humanoid robot HRP-2.