; total time: 1.69
; plan length: 15
(wait )
(close sd4)
(close sd15)
(open sd1)
(close sd2)
(open sd12)
(open sd6)
(close cb3)
(open sd3)
(open sd16)
(close cb4)
(open sd13)
(close sd3)
(open sd17)
(close sd16)
