; total time: 8.03
; plan length: 27
(wait )
(close sd17)
(close sd28)
(close sd19)
(close sd8)
(open sd23)
(close cb5)
(close sd4)
(open sd9)
(open sd16)
(close cb4)
(open sd21)
(open sd19)
(close sd16)
(open sd27)
(open sd29)
(close sd23)
(close sd11)
(open sd13)
(open sd5)
(open sd6)
(close cb2)
(open sd7)
(close sd6)
(open sd14)
(open sd8)
(close sd7)
