 State 0:
 State 1:
  wait(3)
  move(1,r)
 State 2:
  pick(1)
  wait(3)
 State 3:
  wait(3)
  move(1,d)
 State 4:
  wait(3)
  move(1,r)
 State 5:
  wait(3)
  move(1,d)
 State 6:
  wait(3)
  move(1,r)
 State 7:
  wait(3)
  move(1,d)
 State 8:
  wait(3)
  move(1,r)
 State 9:
  drop(1)
  wait(3)
