This is a well phrased question that should be in Industrial Engineering. But there is always an optimum set of procedures for virtually any task. The first step is to realize that.
Things to consider:
Answers these questions, for your situation, and then add in any of your own variables. But just knowing all the variables makes the answer easier. Use a piece of paper and start listing ways to get this task accomplished, when your list covers all the items; start another list and finally count the steps of each list.
Take the lists and measure the distances from one step to the next, add the distances and use the one that has the least distances to travel. The results will be close to the optimal but add in the energy it takes to accomplish each step.
Have fun with the problem, you are on your way to understanding one of the jobs of an Industrial Engineer.
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