 State 0:
 State 1:
  move(1,r) move(2,l)
 State 2:
  move(1,r) move(2,l)
 State 3:
  move(1,d) move(2,l)
 State 4:
  move(1,d) move(2,l)
 State 5:
  move(1,d) move(2,l)
 State 6:
  pick(1)
  move(2,l)
 State 7:
  move(1,d) move(2,d)
 State 8:
  pick(2)
  move(1,r)
 State 9:
  move(1,r) move(2,d)
 State 10:
  move(1,r) move(2,d)
 State 11:
  move(1,r) move(2,d)
 State 12:
  drop(1)
  move(2,r)
 State 13:
  wait(1)
  move(2,r)
 State 14:
  drop(2)
  wait(1)
