We don't need a robot to do it for us, we need an environment that teaches us to do ourselves because we should. A better arrangement would be for the pi to li

We don't need a robot to do it for us, we need an environment that teaches us to do ourselves because we should. A better arrangement would be for the pi to light a simple led lamp over the bin it is supposed to go in, and let the human learn to do it themselves from habit. Otherwise it is an impressive engineering project you put forth.