; total time: 7.35
; plan length: 17
(wait )
(close sd8)
(close sd18)
(close sd14)
(open sd23)
(close cb6)
(open sd21)
(close cb5)
(open sd5)
(close cb2)
(open sd30)
(close cb8)
(open sd32)
(close sd30)
(open sd24)
(open sd17)
(close sd23)
