; total time: 4.19
; plan length: 15
(wait )
(close sd5)
(open sd13)
(close sd14)
(open sd10)
(close cb3)
(open sd18)
(close sd19)
(open sd17)
(close cb5)
(open sd3)
(open sd5)
(close sd4)
(open sd7)
(close sd5)
