; total time: 2.69
; plan length: 45
(up f0 f3)
(stop f3)
(up f3 f20)
(down f20 f4)
(stop f4)
(up f4 f21)
(stop f21)
(down f21 f20)
(down f20 f14)
(stop f14)
(down f14 f2)
(stop f2)
(up f2 f20)
(down f20 f9)
(stop f9)
(up f9 f14)
(stop f14)
(up f14 f20)
(down f20 f4)
(stop f4)
(up f4 f20)
(down f20 f11)
(stop f11)
(down f11 f10)
(stop f10)
(up f10 f20)
(down f20 f12)
(stop f12)
(up f12 f20)
(stop f20)
(down f20 f7)
(up f7 f13)
(stop f13)
(down f13 f7)
(up f7 f18)
(stop f18)
(down f18 f7)
(down f7 f0)
(stop f0)
(up f0 f1)
(stop f1)
(up f1 f7)
(stop f7)
(up f7 f11)
(stop f11)
