[
  {
    "task": "open both lids",
    "start": 0,
    "end": 234
  },
  {
    "task": "inspect both bins",
    "start": 235,
    "end": 288
  },
  {
    "task": "close both lids and reset arms",
    "start": 289,
    "end": 494
  },
  {
    "task": "wait; target bin is left",
    "start": 495,
    "end": 594
  },
  {
    "task": "open left bin",
    "start": 595,
    "end": 828
  }
]