OMG! There's a ''devil'', optically. I had to try at least 5 times, and was always short. At 1st, I was 2 short, then even more. HAHAHAH! Usually, on this kind of levels, I just look for half a minute and solve it 1st try.
It was clear to me by watching the board, that the upper part is given. From there, knowing that it needs to do the lower part within 20 steps, I had a feeling one path is shortest and it was the right one on first go! I was just very lucky...