Han: 3PO! You tell that slime-bucket he'll get no such pleasure from us!
Luke: Jabba, this is your last chance. Free us or die.
Jabba: Move him into position.
A guard goes up to Luke. Luke nods at Lando and cues R2 to ready his lightsaber.
Jabba: Put him in!
The guard forces Luke off the plank. Luke jumps off, grabs the plank, and flips up into the air, grabbing and igniting his lightsaber and swinging away at the guards.