; total time: 24.04
; plan length: 15
(wait )
(open sd21)
(close sd32)
(open sd20)
(close sd21)
(open sd8)
(close sd15)
(open sd19)
(close cb4)
(open sd11)
(close sd12)
(open sd17)
(close cb3)
(open sd9)
(close sd10)
