; total time: 3.59
; plan length: 15
(wait )
(open sd29)
(close cb5)
(open sd23)
(close sd24)
(open sd22)
(close sd23)
(open sd21)
(close cb4)
(open sd12)
(close sd2)
(open sd10)
(close sd11)
(open sd7)
(close sd9)
