; total time: 1.90
; plan length: 22
(wait )
(close sd7)
(open sd1)
(close sd3)
(close cb1)
(open sd16)
(close cb4)
(open sd5)
(open sd8)
(close cb2)
(open sd9)
(close sd8)
(open sd3)
(open sd10)
(close sd9)
(open sd2)
(close sd3)
(open sd7)
(close sd5)
(open sd20)
(open sd18)
(close sd7)
