; total time: 36.88
; plan length: 150
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(axiom)
(fixpoint)
(axiom)
(axiom)
(fixpoint)
(wait)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(open cb5)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(close sd4)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(open sd9)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(close cb2)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(open sd18)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(open sd20)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(open sd16)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(close cb4)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(close sd7)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(open sd10)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(close sd9)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(open sd2)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(close sd3)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(open sd1)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(fixpoint)
(close cb1)
(axiom)
(axiom)
(axiom)
(axiom)
(axiom)
(fixpoint)
(axiom)
(axiom)
(fixpoint)
(axiom)
(axiom)
(fixpoint)
