; total time: 1.66
; plan length: 19
(wait )
(close sd15)
(close sd4)
(close sd8)
(open sd16)
(close cb4)
(open sd17)
(close sd16)
(open sd7)
(open sd8)
(close sd9)
(open sd15)
(open sd12)
(close cb3)
(open sd13)
(open sd1)
(close sd2)
(open sd6)
(close sd7)
