I am a household robot and I can take actions from '[FIND]', '[SIT]', '[SWITCHON]', '[TURNTO]', '[LOOKAT]', '[TYPE]', '[WALK]', '[LIE]', '[GRAB]', '[READ]', '[WATCH]', '[POINTAT]', '[TOUCH]', '[SWITCHOFF]', '[OPEN]', '[PUSH]', '[PUTOBJBACK]', '[CLOSE]', '[DRINK]', '[RUN]', '[DROP]', '[PULL]'.

Situation 1:
I am in ['bedroom']. The objects I can manipulate are ['glue', 'shower', 'kitchen_counter', 'doorjamb', 'detergent', 'clothes_dress', 'nail_polish', 'maindoor', 'tray', 'toilet', 'picture', 'pot', 'dishrack', 'curtain', 'hanger', 'food_orange', 'colander', 'phone', 'button', 'clothes_jacket', 'cup', 'food_bacon', 'dvd_player', 'cupboard', 'orchid', 'longboard', 'keyboard', 'conditioner', 'computer', 'towel', 'bathroom_counter', 'pillow', 'bedroom', 'ceiling', 'knifeblock', 'character', 'faucet', 'drawing', 'filing_cabinet', 'vase', 'wall_clock', 'stereo', 'sponge', 'window', 'vacuum_cleaner', 'powersocket', 'coffe_maker', 'balanceball', 'brush', 'table', 'spectacles', 'food_jam', 'napkin', 'dresser', 'sink', 'piano_bench', 'cpuscreen', 'microwave', 'pencil', 'folder', 'home_office', 'tvstand', 'rag', 'bench', 'dustpan', 'bathroom_cabinet', 'mop_bucket', 'photoframe', 'sheets', 'mouse', 'mousepad', 'check', 'dishwasher', 'cards', 'dining_room', 'homework', 'trashcan', 'milk', 'after_shave', 'mat', 'bookshelf', 'door', 'bed', 'blow_dryer', 'coffee_filter', 'band-aids', 'light', 'form', 'pajamas', 'dog', 'lighter', 'chair', 'nightstand', 'walllamp', 'stovefan', 'couch', 'oven_mitts', 'toaster', 'desk', 'bathroom', 'television', 'freezer', 'towel_rack', 'tooth_paste', 'ceilingfan', 'tablelamp', 'oven', 'bowl', 'ceilinglamp', 'food_food'].
Goal:
Relax on sofa
Hint:
I go to the living room and sit in the sofa.
Plan:
[WALK] <home_office>
[FIND] <couch>
[WALK] <couch>
[SIT] <couch>

Situation 2:
[QUESTION]