        # Step 5: Place the rubbish into the bin
        bin_pos = np.array(positions['bin'])
        print("[Plan Step 5] Placing rubbish into bin at:", bin_pos)
        obs, reward, done = place(env, task, target_pos=bin_pos)
        if done:
            print("[Plan] Task completed successfully! Reward:", reward)
        else:
            print("[Plan] Task ended without done=True. Final reward:", reward)