(up f0 f2)
(board f2 p1)
(up f2 f3)
(board f3 p0)
(down f3 f0)
(depart f0 p1)
(board f0 p2)
(depart f0 p0)
(up f0 f4)
(depart f4 p2)
; cost = 10 (unit cost)
