; total time: 43.92
; plan length: 10
(wait-3-7)
(open-sd7-0)
(open-sd1-0)
(open-sd8-0)
(close-cb1-0)
(open-sd20-0)
(open-sd19-0)
(close-cb4-0)
(open-sd22-0)
(close-sd20-0)
