  Humans exhibit incredibly high levels of multi-modal understanding -
combining visual cues with read, or heard knowledge comes easy to us and allows
for very accurate interaction with the surrounding environment. Various
simulation environments focus on providing data for tasks related to scene
understanding, question answering, space exploration, visual navigation. In
this work, we are providing a solution to encompass both, visual and
behavioural aspects of simulation in a new environment for learning interactive
reasoning in manipulation setup. SAMPLE-HD environment allows to generate
various scenes composed of small household objects, to procedurally generate
language instructions for manipulation, and to generate ground truth paths
serving as training data.
