; total time: 4.61
; plan length: 18
(wait )
(open sd18)
(open sd14)
(close sd2)
(close cb4)
(open sd5)
(close cb2)
(open sd23)
(close sd13)
(open sd22)
(close cb6)
(open sd16)
(close sd17)
(open sd15)
(close cb5)
(open sd26)
(open sd30)
(close cb9)
