Task: move rag from tub to back of toilet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.5           0.902          -0.75          0              270            0
   1  Candle             -1.254         1.087          0.784          0              180            0              33
   2  SoapBar            -2.496         0.081          0.502          0              0              0              18
   3  SoapBar            -2.890         0.182          -1.584         0              0              0              28
   4  SprayBottle        -2.541         0.082          0.567          0              0              0              18
   5  Towel              -0.490         1.367          0.902          0              180            0              27
   6  Candle             -1.777         0.122          0.696          0              0              0              20
   7  HandTowel          -3.096         1.587          0.744          0              270            0              31
   8  SoapBar            -2.049         0.081          0.760          0              0              0              21
   9  ToiletPaper        -1.416         0.816          0.665          0              90             270            32
  10  Cloth              0.488          0.034          0.118          0              270            0              29
  11  ToiletPaper        -0.865         1.041          0.945          329.623        0              0              33
  12  SprayBottle        -2.004         0.082          0.825          0              0              0              21
  13  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  14  SoapBottle         -2.813         0.083          0.760          0              0              0              16
  15  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  16  Cabinet            -3.094         0.390          0.421          0              0              0
  17  CounterTop         -2.298         0.953          0.689          0              0              0
  18  Cabinet            -2.305         0.415          0.425          0              0              0
  19  Bathtub            0.286          0.290          -0.077         0              0              0
  20  Cabinet            -1.496         0.415          0.425          0              0              0
  21  Cabinet            -2.286         0.390          0.421          0              0              0
  22  Sink               -1.924         0.930          0.675          0              180            0
  23  Faucet             -1.922         1.015          0.887          0              0              0
  24  Mirror             -2.306         1.526          1.001          0              0              0
  25  Faucet             -2.681         1.015          0.887          0              0              0
  26  LightSwitch        -1.389         1.263          -1.693         0              0              0
  27  TowelHolder        -0.490         1.353          1.009          0              180            0
  28  GarbageCan         -2.857         0.016          -1.487         0              0              0
  29  BathtubBasin       0.349          0.023          -0.135         0              270            0
  30  SinkBasin          -1.908         0.961          0.669          0              180            0
  31  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  32  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  33  Toilet             -1.054         0.001          0.552          0              270            0
  34  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  35  Faucet             0.270          0.670          0.906          0              0              0
  36  SinkBasin          -2.666         0.961          0.669          0              180            0
  37  Sink               -2.681         0.930          0.675          0              180            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: turn around, walk across room to tub | STEP 2: pick up the purple rag that is in the tub | STEP 3: turn around to face the toilet | STEP 4: put the rag on the back of the toilet | END