(up f0 f1)
(board f1 p0)
(up f1 f3)
(board f3 p2)
(up f3 f4)
(board f4 p1)
(down f4 f0)
(depart f0 p1)
(depart f0 p2)
(depart f0 p0)
; cost = 10 (unit cost)
