; total time: 12.56
; plan length: 31
(wait )
(close sd15)
(close sd6)
(close sd31)
(open sd28)
(close cb5)
(close sd5)
(open sd10)
(close sd30)
(close sd11)
(open sd3)
(close cb1)
(open sd32)
(open sd31)
(close cb6)
(open sd12)
(open sd34)
(close sd32)
(open sd11)
(open sd37)
(close sd31)
(close sd12)
(open sd4)
(open sd14)
(open sd16)
(close cb3)
(open sd18)
(open sd17)
(close sd16)
(open sd12)
(close sd17)
