I am in my home and I can take the following actions: ['[Close] <arg-0>', '[Drink] <arg-0>', '[Find] <arg-0>', '[Walk] <arg-0>', '[Grab] <arg-0>', '[Look at] <arg-0>', '[Look at short] <arg-0>', '[Look at long] <arg-0>', '[Open] <arg-0>', '[Point at] <arg-0>', '[Put] <arg-0> <arg-1>', '[Put in] <arg-0> <arg-1>', '[Put back] <arg-0>', '[Run] <arg-0>', '[Sit] <arg-0>', '[Stand up] ', '[Switch off] <arg-0>', '[Switch on] <arg-0>', '[Touch] <arg-0>', '[Turn to] <arg-0>', '[Watch] <arg-0>', '[Wipe] <arg-0>', '[PutOn] <arg-0>', '[PutOff] <arg-0>', '[Greet] <arg-0>', '[Drop] <arg-0>', '[Read] <arg-0>', '[Lie] <arg-0>', '[Pour] <arg-0> <arg-1>', '[Type] <arg-0>', '[Push] <arg-0>', '[Pull] <arg-0>', '[Move] <arg-0>', '[Wash] <arg-0>', '[Rinse] <arg-0>', '[Scrub] <arg-0>', '[Squeeze] <arg-0>', '[PlugIn] <arg-0>', '[PlugOut] <arg-0>', '[Cut] <arg-0>', '[Eat] <arg-0>', '[Sleep] ', '[WakeUp] ', '[Release] <arg-0>']

Situation 1:
I am in ['home_office']. The objects I can manipulate are ['filing_cabinet', 'controller', 'bowl', 'window', 'mat', 'cpuscreen', 'knifeblock', 'phone', 'ceilinglamp', 'pot', 'shoe_rack', 'keys', 'cd', 'teeth', 'dry_pasta', 'dishwasher', 'alcohol', 'rag', 'dresser', 'nightstand', 'cup', 'photoframe', 'pillow', 'sheets', 'keyboard', 'orchid', 'tooth_paste', 'freezer', 'after_shave', 'bookshelf', 'powersocket', 'light', 'home_office', 'clothes_socks', 'iron', 'bathroom_cabinet', 'shower', 'check', 'oven_mitts', 'clothes_hat', 'mousepad', 'detergent', 'curtain', 'wallshelf', 'closetdrawer', 'drawing', 'cupboard', 'soap', 'ceiling', 'food_food', 'door', 'table_cloth', 'oven', 'clothes_jacket', 'shoe-shine_kit', 'scrabble', 'thread', 'desk', 'measuring_cup', 'coffe_maker', 'food_carrot', 'tvstand', 'bathroom_counter', 'bedroom', 'dining_room', 'food_peanut_butter', 'toaster', 'razor', 'food_butter', 'hanger', 'coin', 'walllamp', 'mouse', 'tablelamp', 'instrument_guitar', 'bathroom', 'faucet', 'television', 'table', 'food_pizza', 'tray', 'cat', 'bag', 'novel', 'food_egg', 'stovefan', 'couch', 'kitchen_counter', 'cutting_board', 'chair', 'scissors', 'doorjamb', 'sink', 'dirt', 'toilet', 'mail', 'bed', 'microwave', 'crayon', 'character', 'computer', 'stereo', 'envelope', 'electric_shaver'].
Goal:
Relax on sofa
Hint:
sitting down after food shopping
Plan:
[WALK] <couch>
[FIND] <sheets>
[GRAB] <sheets>
[FIND] <pillow>
[GRAB] <pillow>
[SIT] <couch>
[PUTBACK] <sheets> <couch>
[PUTBACK] <pillow> <couch>
[GRAB] <sheets>
[PUTOBJBACK] <sheets>
[SLEEP]

Situation 2:
[QUESTION]