; total time: 14.43
; plan length: 28
(up f0 f2)
(stop f2)
(up f2 f14)
(stop f14)
(down f14 f7)
(stop f7)
(up f7 f16)
(stop f16)
(down f16 f9)
(stop f9)
(up f9 f17)
(stop f17)
(up f17 f18)
(stop f18)
(down f18 f6)
(stop f6)
(up f6 f19)
(stop f19)
(down f19 f4)
(stop f4)
(up f4 f5)
(stop f5)
(down f5 f0)
(stop f0)
(up f0 f15)
(stop f15)
(up f15 f19)
(stop f19)
