; total time: 24.84
; plan length: 17
(wait )
(open sd21)
(close sd32)
(open sd20)
(close sd21)
(open sd13)
(close sd15)
(open sd17)
(close cb3)
(open sd8)
(close sd13)
(open sd19)
(close cb4)
(open sd9)
(close sd10)
(open sd11)
(close sd12)
