; total time: 0.68
; plan length: 58
(up f0 f1)
(stop f1)
(up f1 f2)
(up f2 f5)
(stop f5)
(up f5 f6)
(stop f6)
(up f6 f12)
(stop f12)
(up f12 f18)
(stop f18)
(up f18 f23)
(stop f23)
(up f23 f28)
(stop f28)
(up f28 f29)
(stop f29)
(down f29 f2)
(up f2 f18)
(up f18 f22)
(stop f22)
(up f22 f23)
(stop f23)
(up f23 f24)
(stop f24)
(down f24 f2)
(up f2 f4)
(stop f4)
(up f4 f5)
(stop f5)
(up f5 f6)
(stop f6)
(up f6 f7)
(stop f7)
(up f7 f8)
(stop f8)
(up f8 f9)
(stop f9)
(up f9 f12)
(stop f12)
(up f12 f13)
(stop f13)
(up f13 f17)
(stop f17)
(up f17 f18)
(stop f18)
(up f18 f19)
(stop f19)
(up f19 f20)
(stop f20)
(up f20 f21)
(stop f21)
(up f21 f23)
(stop f23)
(down f23 f2)
(stop f2)
(up f2 f18)
(stop f18)
