; total time: 1.63
; plan length: 18
(wait )
(close sd7)
(close sd11)
(wait )
(open sd18)
(open sd16)
(close cb4)
(close sd3)
(open sd1)
(close cb1)
(open sd11)
(close cb3)
(open sd10)
(open sd20)
(open sd12)
(close sd6)
(open sd2)
(close sd12)
