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I managed to finish it in 7 commands, but that last turn is wonky as hell so don't be surprised if it doesn't work out the first time.

a 5
r 4
w 6.5
l 6.3
r 5.4
a 7
l 8

Very nice! It sucks that the physics isn't deterministic, so doesn't work out every time, but not sure what I can do about that... Anyway, I got to see it working on the third attempt, and that was cool. 7 must surely be the minimum possible :)