; total time: 3.82
; plan length: 23
(wait )
(close sd4)
(close sd13)
(open sd17)
(close cb4)
(open sd18)
(close sd17)
(open sd5)
(close cb2)
(open sd23)
(open sd13)
(close cb5)
(close sd16)
(open sd12)
(open sd14)
(close sd13)
(open sd16)
(open sd4)
(close sd14)
(open sd9)
(close sd10)
(open sd1)
(close cb1)
