; total time: 5.91
; plan length: 15
(wait )
(open sd1)
(close sd4)
(open sd21)
(close sd23)
(open sd20)
(close sd16)
(open sd12)
(close sd27)
(open sd10)
(close sd6)
(open sd11)
(close sd12)
(open sd19)
(close cb5)
