; total time: 3.98
; plan length: 26
(up f0 f9)
(stop f9)
(down f9 f7)
(stop f7)
(down f7 f6)
(stop f6)
(up f6 f14)
(stop f14)
(down f14 f2)
(stop f2)
(up f2 f13)
(stop f13)
(down f13 f5)
(stop f5)
(down f5 f0)
(stop f0)
(up f0 f11)
(stop f11)
(up f11 f12)
(stop f12)
(down f12 f3)
(stop f3)
(up f3 f4)
(stop f4)
(up f4 f8)
(stop f8)
