; total time: 11.52
; plan length: 15
(wait )
(open sd21)
(close sd8)
(open sd6)
(close sd7)
(open sd20)
(close cb6)
(open sd4)
(close cb2)
(open sd12)
(open sd16)
(open sd10)
(close sd15)
(open sd14)
(close sd12)
