How many seconds to grab a gear and place it

I was wondering what is the average time to grab a gear, then place it on the peg. My team takes about 20 secs. meaning that we can only put 7 gears on.

i want the time it takes to go to the retrieval zone and then place it on the gear on the peg

I’d imagine that defense will play a pretty big part in this. I think it’s hard to estimate based on practice field cycling. Even quals will be a very different situation than when it comes to elimination matches.