; total time: 4.43
; plan length: 15
(wait )
(open sd12)
(close cb3)
(open sd13)
(close sd12)
(open sd6)
(close sd7)
(open sd1)
(close cb1)
(open sd28)
(open sd30)
(close sd2)
(open sd27)
(open sd32)
(close sd28)
