; total time: 3.39
; plan length: 20
(wait )
(close sd6)
(open sd11)
(close sd12)
(open sd14)
(close sd15)
(open sd1)
(close cb1)
(open sd13)
(open sd10)
(close sd11)
(open sd6)
(close sd14)
(open sd8)
(close cb2)
(open sd2)
(open sd4)
(close sd1)
(open sd5)
(close sd4)
