; total time: 9.41
; plan length: 16
(wait )
(close sd18)
(close sd14)
(open sd23)
(close cb6)
(open sd21)
(close sd20)
(open sd5)
(close sd4)
(open sd30)
(close cb8)
(open sd32)
(close sd30)
(open sd24)
(open sd17)
(close sd23)
