; total time: 5.92
; plan length: 56
(up f0 f2)
(stop f2)
(down f2 f0)
(stop f0)
(up f0 f3)
(up f3 f8)
(up f8 f9)
(stop f9)
(down f9 f1)
(stop f1)
(up f1 f3)
(up f3 f11)
(stop f11)
(down f11 f3)
(up f3 f20)
(stop f20)
(down f20 f10)
(stop f10)
(down f10 f3)
(up f3 f21)
(stop f21)
(down f21 f3)
(up f3 f13)
(stop f13)
(down f13 f3)
(up f3 f8)
(stop f8)
(up f8 f14)
(stop f14)
(down f14 f3)
(stop f3)
(up f3 f5)
(up f5 f15)
(stop f15)
(down f15 f5)
(up f5 f8)
(stop f8)
(down f8 f5)
(up f5 f7)
(stop f7)
(down f7 f5)
(up f5 f16)
(stop f16)
(up f16 f17)
(stop f17)
(down f17 f5)
(up f5 f18)
(stop f18)
(down f18 f5)
(up f5 f16)
(stop f16)
(down f16 f5)
(up f5 f12)
(stop f12)
(down f12 f5)
(stop f5)
