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 ['dining_room']. The objects I can manipulate are ['bookshelf', 'pasta', 'cpuscreen', 'mat', 'sink', 'cup', 'pot', 'hanger', 'keyboard', 'cutting_board', 'couch', 'home_office', 'mousepad', 'diary', 'nightstand', 'tray', 'food_carrot', 'napkin', 'toilet', 'console', 'powersocket', 'tablelamp', 'newspaper', 'knife', 'blender', 'bed', 'spoon', 'tooth_paste', 'microwave', 'bedroom', 'character', 'light', 'tea_bag', 'food_bacon', 'table', 'oven', 'food_egg', 'toaster', 'filing_cabinet', 'plate', 'stereo', 'fork', 'wallshelf', 'kitchen_counter', 'drawing', 'juice', 'water_glass', 'folder', 'tvstand', 'comb', 'pajamas', 'freezer', 'ice', 'walllamp', 'curtain', 'dishwasher', 'bathroom_cabinet', 'broom', 'chair', 'bathroom_counter', 'scissors', 'cupboard', 'faucet', 'shaving_cream', 'coffee', 'computer', 'desk', 'dining_room', 'closetdrawer', 'shower', 'clothes_underwear', 'pillow', 'bathroom', 'controller', 'coin', 'orchid', 'deck_of_cards', 'dresser', 'door', 'sponge', 'microphone', 'photoframe', 'candle', 'stovefan', 'mouse', 'television', 'ceiling', 'towel_rack', 'dog', 'box', 'doorjamb', 'check', 'oil', 'alcohol', 'coffe_maker', 'novel', 'food_food', 'phone', 'button', 'ceilinglamp'].
Goal:
Relax on sofa
Hint:
Drink a glass of water in the sofa
Plan:
[WALK] <home_office>
[WALK] <couch>
[FIND] <couch>
[SIT] <couch>
[FIND] <water_glass>
[GRAB] <water_glass>
[DRINK] <water_glass>

Situation 2:
[QUESTION]