; total time: 1.61
; plan length: 19
(wait )
(close sd15)
(close sd4)
(close sd8)
(open sd16)
(close cb4)
(open sd17)
(close sd16)
(open sd7)
(open sd8)
(close sd9)
(open sd3)
(open sd1)
(close sd2)
(open sd13)
(close sd3)
(open sd12)
(open sd6)
(close sd7)
