; total time: 4.40
; plan length: 19
(wait )
(close sd4)
(open sd18)
(close cb4)
(open sd23)
(close cb5)
(open sd5)
(close cb2)
(close sd16)
(close sd10)
(open sd9)
(open sd12)
(open sd14)
(close sd13)
(open sd16)
(open sd4)
(close sd14)
(open sd1)
(close sd4)
