diff --git a/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_5.env b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_5.env
new file mode 100644
index 000000000..566a9fd41
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_5.env
@@ -0,0 +1,42 @@
+command:
+- timeout
+- -m=9216000
+- -t=900
+- python3
+- /home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py
+- --domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/domain.pddl
+- /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/instances/instance-5.pddl
+- --stats
+- --stats-iter
+- --verbose
+- --print-call
+- -m 8192
+- --madagascar-Mp
+- -F 115
+- -T 115
+configuration:
+  fixedHorizon: true
+  id: m-mp-single-shot
+  instanceSets:
+  - rintanen-aij-2012-interesting
+  options:
+  - --stats
+  - --stats-iter
+  - --verbose
+  - --print-call
+  - -m 8192
+  - --madagascar-Mp
+exitCode: 0
+instance:
+  domain: barman-sequential-satisficing
+  instance: 5
+  ipc: ipc-2011
+  planLength: 115
+versions:
+  clingo: 5.2.2
+  fastDownward: 10997:847cdf0069cab0c8841a9958e783d1a7340fe2e9 (2017-11-02 15:10 +0100)
+  planner: f090434475c02dbccc3811039498f2a63a357ddc (2018-02-01 18:15:39 +0100)
+  plasp: 3.1.1
+  python: 3.6.3
+workingDirectory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+
diff --git a/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_5.err b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_5.err
new file mode 100644
index 000000000..bc9142984
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_5.err
@@ -0,0 +1,10 @@
+# configuration: {'id': 'm-mp-single-shot', 'options': ['--stats', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp'], 'instanceSets': ['rintanen-aij-2012-interesting'], 'fixedHorizon': True}
+# instance: {'ipc': 'ipc-2011', 'domain': 'barman-sequential-satisficing', 'instance': 5, 'planLength': 115}
+# command: ['timeout', '-m=9216000', '-t=900', 'python3', '/home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py', '--domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/instances/instance-5.pddl', '--stats', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp', '-F 115', '-T 115']
+# working directory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+# exit code: 0
+WARNING: will ignore action costs
+# planner call: /home/pluehne/Documents/ASP/madagascar/Mp /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/instances/instance-5.pddl --stats --stats-iter --verbose -m 8192 -F 115 -T 115
+FINISHED CPU 0.65 MEM 33472 MAXMEM 387792 STALE 0 MAXMEM_RSS 62928
+<time name="ALL">640</time>
+
diff --git a/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_5.out b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_5.out
new file mode 100644
index 000000000..892db4b8b
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_5.out
@@ -0,0 +1,242 @@
+Madagascar 0.99999 01/02/2018 14:46:04 amd64 1-core (no VSIDS)
+Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/barman-sequential-satisficing/instances/instance-5.pddlignoring --stats
+ignoring --stats-iter
+ignoring --verbose
+ -m 8192 -F 115 -T 115
+Domain: barman
+Problem: prob
+Parser: 2276 ground actions and 391 state variables
+Invariants: 0 1 2 3  0.02 secs
+Goal: conjunctive
+Simplified: 1420 ground actions and 267 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.02 secs (max SCC size 264)
+Plan type: E-step
+				Allocated 32 MB permanent (total 131 MB)
+Horizon 115: 303522 variables
+				Allocated 32 MB (total 259 MB)
+SAT (0 ID 1432 decisions 653 conflicts 303522 variables)
+PLAN FOUND: 115 steps
+STEP 0: grasp(right,shot11)
+STEP 1.0: fill-shot(shot11,ingredient3,right,left,dispenser3)
+STEP 1.1: grasp(left,shot7)
+STEP 2.0: pour-shot-to-clean-shaker(shot11,ingredient3,shaker1,right,l0,l1)
+STEP 2.1: leave(right,shot11)
+STEP 3.0: fill-shot(shot7,ingredient4,left,right,dispenser4)
+STEP 3.1: grasp(right,shaker1)
+STEP 4.0: pour-shot-to-used-shaker(shot7,ingredient4,shaker1,left,l1,l2)
+STEP 4.1: leave(left,shot7)
+STEP 5.0: shake(cocktail7,ingredient3,ingredient4,shaker1,right,left)
+STEP 5.1: grasp(left,shot6)
+STEP 6: pour-shaker-to-shot(cocktail7,shot1,right,shaker1,l2,l1)
+STEP 7.0: empty-shaker(right,shaker1,cocktail7,l1,l0)
+STEP 7.1: leave(right,shaker1)
+STEP 8.0: fill-shot(shot6,ingredient1,left,right,dispenser1)
+STEP 8.1: grasp(right,shaker1) leave(left,shot6)
+STEP 9.0: clean-shaker(right,left,shaker1)
+STEP 9.1: grasp(left,shot6) leave(right,shaker1)
+STEP 10.0: grasp(right,shot10) pour-shot-to-clean-shaker(shot6,ingredient1,shaker1,left,l0,l1)
+STEP 10.1: leave(left,shot6)
+STEP 11.0: fill-shot(shot10,ingredient4,right,left,dispenser4)
+STEP 11.1: grasp(left,shaker1)
+STEP 12.0: pour-shot-to-used-shaker(shot10,ingredient4,shaker1,right,l1,l2)
+STEP 12.1: leave(right,shot10)
+STEP 13: shake(cocktail9,ingredient1,ingredient4,shaker1,left,right)
+STEP 14: pour-shaker-to-shot(cocktail9,shot2,left,shaker1,l2,l1)
+STEP 15: empty-shaker(left,shaker1,cocktail9,l1,l0)
+STEP 16.0: clean-shaker(left,right,shaker1)
+STEP 16.1: grasp(right,shot11) leave(left,shaker1)
+STEP 17: clean-shot(shot11,ingredient3,right,left)
+STEP 18.0: fill-shot(shot11,ingredient1,right,left,dispenser1)
+STEP 18.1: grasp(left,shot5) leave(right,shot11)
+STEP 19.0: fill-shot(shot5,ingredient3,left,right,dispenser3)
+STEP 19.1: grasp(right,shaker1) leave(left,shot5)
+STEP 20: grasp(left,shot11) leave(right,shaker1)
+STEP 21.0: grasp(right,shot5) pour-shot-to-clean-shaker(shot11,ingredient1,shaker1,left,l0,l1)
+STEP 21.1: leave(left,shot11)
+STEP 22.0: grasp(left,shot11) pour-shot-to-used-shaker(shot5,ingredient3,shaker1,right,l1,l2)
+STEP 22.1: leave(right,shot5)
+STEP 23.0: refill-shot(shot11,ingredient1,left,right,dispenser1)
+STEP 23.1: grasp(right,shaker1) leave(left,shot11)
+STEP 24: shake(cocktail1,ingredient3,ingredient1,shaker1,right,left)
+STEP 25: pour-shaker-to-shot(cocktail1,shot4,right,shaker1,l2,l1)
+STEP 26: empty-shaker(right,shaker1,cocktail1,l1,l0)
+STEP 27.0: clean-shaker(right,left,shaker1)
+STEP 27.1: grasp(left,shot11) leave(right,shaker1)
+STEP 28.0: grasp(right,shot5) pour-shot-to-clean-shaker(shot11,ingredient1,shaker1,left,l0,l1)
+STEP 28.1: leave(left,shot11)
+STEP 29.0: refill-shot(shot5,ingredient3,right,left,dispenser3)
+STEP 29.1: grasp(left,shaker1)
+STEP 30.0: pour-shot-to-used-shaker(shot5,ingredient3,shaker1,right,l1,l2)
+STEP 30.1: leave(right,shot5)
+STEP 31.0: shake(cocktail6,ingredient3,ingredient1,shaker1,left,right)
+STEP 31.1: grasp(right,shot11)
+STEP 32.0: pour-shaker-to-shot(cocktail6,shot3,left,shaker1,l2,l1)
+STEP 32.1: leave(left,shaker1)
+STEP 33: clean-shot(shot11,ingredient1,right,left)
+STEP 34.0: fill-shot(shot11,ingredient3,right,left,dispenser3)
+STEP 34.1: grasp(left,shaker1) leave(right,shot11)
+STEP 35.0: empty-shaker(left,shaker1,cocktail6,l1,l0) grasp(right,shot9)
+STEP 35.1: leave(left,shaker1)
+STEP 36.0: fill-shot(shot9,ingredient2,right,left,dispenser2)
+STEP 36.1: grasp(left,shot5) leave(right,shot9)
+STEP 37.0: clean-shot(shot5,ingredient3,left,right)
+STEP 37.1: grasp(right,shaker1) leave(left,shot5)
+STEP 38.0: clean-shaker(right,left,shaker1)
+STEP 38.1: leave(right,shaker1)
+STEP 39: grasp(left,shaker1) grasp(right,shot11)
+STEP 40.0: pour-shot-to-clean-shaker(shot11,ingredient3,shaker1,right,l0,l1)
+STEP 40.1: leave(right,shot11)
+STEP 41: grasp(right,shot9)
+STEP 42.0: pour-shot-to-used-shaker(shot9,ingredient2,shaker1,right,l1,l2)
+STEP 42.1: leave(right,shot9)
+STEP 43.0: shake(cocktail5,ingredient2,ingredient3,shaker1,left,right)
+STEP 43.1: grasp(right,shot11)
+STEP 44.0: pour-shaker-to-shot(cocktail5,shot5,left,shaker1,l2,l1)
+STEP 44.1: leave(left,shaker1)
+STEP 45.0: clean-shot(shot11,ingredient3,right,left)
+STEP 45.1: grasp(left,shaker1)
+STEP 46.0: empty-shaker(left,shaker1,cocktail5,l1,l0)
+STEP 46.1: leave(left,shaker1)
+STEP 47.0: fill-shot(shot11,ingredient2,right,left,dispenser2)
+STEP 47.1: grasp(left,shot10) leave(right,shot11)
+STEP 48.0: clean-shot(shot10,ingredient4,left,right)
+STEP 48.1: grasp(right,shot8) leave(left,shot10)
+STEP 49.0: fill-shot(shot8,ingredient3,right,left,dispenser3)
+STEP 49.1: grasp(left,shaker1) leave(right,shot8)
+STEP 50.0: clean-shaker(left,right,shaker1)
+STEP 50.1: grasp(right,shot11) leave(left,shaker1)
+STEP 51.0: grasp(left,shot8) pour-shot-to-clean-shaker(shot11,ingredient2,shaker1,right,l0,l1)
+STEP 51.1: leave(right,shot11)
+STEP 52.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot8,ingredient3,shaker1,left,l1,l2)
+STEP 52.1: leave(left,shot8)
+STEP 53.0: shake(cocktail4,ingredient2,ingredient3,shaker1,right,left)
+STEP 53.1: leave(right,shaker1)
+STEP 54: grasp(left,shaker1) grasp(right,shot6)
+STEP 55: leave(left,shaker1)
+STEP 56.0: clean-shot(shot6,ingredient1,right,left)
+STEP 56.1: grasp(left,shaker1) leave(right,shot6)
+STEP 57.0: grasp(right,shot11) pour-shaker-to-shot(cocktail4,shot6,left,shaker1,l2,l1)
+STEP 57.1: leave(left,shaker1)
+STEP 58.0: clean-shot(shot11,ingredient2,right,left)
+STEP 58.1: grasp(left,shot7) leave(right,shot11)
+STEP 59.0: clean-shot(shot7,ingredient4,left,right)
+STEP 59.1: grasp(right,shaker1) leave(left,shot7)
+STEP 60.0: empty-shaker(right,shaker1,cocktail4,l1,l0) grasp(left,shot10)
+STEP 60.1: leave(right,shaker1)
+STEP 61.0: fill-shot(shot10,ingredient1,left,right,dispenser1)
+STEP 61.1: grasp(right,shot11) leave(left,shot10)
+STEP 62.0: fill-shot(shot11,ingredient2,right,left,dispenser2)
+STEP 62.1: grasp(left,shot10) leave(right,shot11)
+STEP 63: grasp(right,shaker1) leave(left,shot10)
+STEP 64.0: clean-shaker(right,left,shaker1)
+STEP 64.1: grasp(left,shot10) leave(right,shaker1)
+STEP 65.0: grasp(right,shaker1) pour-shot-to-clean-shaker(shot10,ingredient1,shaker1,left,l0,l1)
+STEP 65.1: leave(left,shot10)
+STEP 66: grasp(left,shot11)
+STEP 67.0: pour-shot-to-used-shaker(shot11,ingredient2,shaker1,left,l1,l2)
+STEP 67.1: leave(left,shot11)
+STEP 68.0: shake(cocktail2,ingredient2,ingredient1,shaker1,right,left)
+STEP 68.1: grasp(left,shot8)
+STEP 69: pour-shaker-to-shot(cocktail2,shot7,right,shaker1,l2,l1)
+STEP 70.0: empty-shaker(right,shaker1,cocktail2,l1,l0)
+STEP 70.1: leave(right,shaker1)
+STEP 71.0: clean-shot(shot8,ingredient3,left,right)
+STEP 71.1: grasp(right,shot10) leave(left,shot8)
+STEP 72: clean-shot(shot10,ingredient1,right,left)
+STEP 73.0: fill-shot(shot10,ingredient3,right,left,dispenser3)
+STEP 73.1: grasp(left,shot11) leave(right,shot10)
+STEP 74.0: refill-shot(shot11,ingredient2,left,right,dispenser2)
+STEP 74.1: grasp(right,shot8) leave(left,shot11)
+STEP 75.0: fill-shot(shot8,ingredient1,right,left,dispenser1)
+STEP 75.1: grasp(left,shaker1) leave(right,shot8)
+STEP 76.0: clean-shaker(left,right,shaker1)
+STEP 76.1: grasp(right,shot8) leave(left,shaker1)
+STEP 77.0: grasp(left,shot10) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,right,l0,l1)
+STEP 77.1: leave(right,shot8)
+STEP 78.0: empty-shot(left,shot10,ingredient3) grasp(right,shot11)
+STEP 78.1: leave(left,shot10)
+STEP 79.0: grasp(left,shot8) pour-shot-to-used-shaker(shot11,ingredient2,shaker1,right,l1,l2)
+STEP 79.1: leave(right,shot11)
+STEP 80.0: clean-shot(shot8,ingredient1,left,right)
+STEP 80.1: grasp(right,shaker1) leave(left,shot8)
+STEP 81.0: shake(cocktail8,ingredient1,ingredient2,shaker1,right,left)
+STEP 81.1: grasp(left,shot11)
+STEP 82.0: leave(left,shot11) pour-shaker-to-shot(cocktail8,shot8,right,shaker1,l2,l1)
+STEP 82.1: leave(right,shaker1)
+STEP 83: grasp(right,shot10)
+STEP 84.0: clean-shot(shot10,ingredient3,right,left)
+STEP 84.1: grasp(left,shaker1) leave(right,shot10)
+STEP 85.0: pour-shaker-to-shot(cocktail8,shot10,left,shaker1,l1,l0)
+STEP 85.1: leave(left,shaker1)
+STEP 86: grasp(left,shot11) grasp(right,shaker1)
+STEP 87.0: empty-shaker(right,shaker1,cocktail8,l0,l0)
+STEP 87.1: leave(right,shaker1)
+STEP 88: clean-shot(shot11,ingredient2,left,right)
+STEP 89.0: fill-shot(shot11,ingredient1,left,right,dispenser1)
+STEP 89.1: grasp(right,shot9) leave(left,shot11)
+STEP 90.0: clean-shot(shot9,ingredient2,right,left)
+STEP 90.1: leave(right,shot9)
+STEP 91: grasp(left,shot9)
+STEP 92.0: fill-shot(shot9,ingredient2,left,right,dispenser2)
+STEP 92.1: grasp(right,shaker1) leave(left,shot9)
+STEP 93.0: clean-shaker(right,left,shaker1)
+STEP 93.1: grasp(left,shot9) leave(right,shaker1)
+STEP 94.0: grasp(right,shot11) pour-shot-to-clean-shaker(shot9,ingredient2,shaker1,left,l0,l1)
+STEP 94.1: leave(left,shot9)
+STEP 95.0: grasp(left,shaker1) pour-shot-to-used-shaker(shot11,ingredient1,shaker1,right,l1,l2)
+STEP 95.1: leave(right,shot11)
+STEP 96.0: shake(cocktail8,ingredient1,ingredient2,shaker1,left,right)
+STEP 96.1: grasp(right,shot11) leave(left,shaker1)
+STEP 97.0: refill-shot(shot11,ingredient1,right,left,dispenser1)
+STEP 97.1: grasp(left,shot9)
+STEP 98: empty-shot(right,shot11,ingredient1) leave(left,shot9)
+STEP 99.0: clean-shot(shot11,ingredient1,right,left)
+STEP 99.1: grasp(left,shaker1) leave(right,shot11)
+STEP 100: empty-shaker(left,shaker1,cocktail8,l2,l0)
+STEP 101.0: clean-shaker(left,right,shaker1)
+STEP 101.1: grasp(right,shot11) leave(left,shaker1)
+STEP 102.0: fill-shot(shot11,ingredient2,right,left,dispenser2)
+STEP 102.1: grasp(left,shot9) leave(right,shot11)
+STEP 103: clean-shot(shot9,ingredient2,left,right)
+STEP 104.0: fill-shot(shot9,ingredient3,left,right,dispenser3)
+STEP 104.1: grasp(right,shot11) leave(left,shot9)
+STEP 105: pour-shot-to-clean-shaker(shot11,ingredient2,shaker1,right,l0,l1)
+STEP 106: clean-shot(shot11,ingredient2,right,left)
+STEP 107.0: fill-shot(shot11,ingredient1,right,left,dispenser1)
+STEP 107.1: grasp(left,shaker1)
+STEP 108.0: leave(left,shaker1) pour-shot-to-used-shaker(shot11,ingredient1,shaker1,right,l1,l2)
+STEP 108.1: leave(right,shot11)
+STEP 109: grasp(left,shot9) grasp(right,shaker1)
+STEP 110.0: empty-shot(left,shot9,ingredient3)
+STEP 110.1: leave(left,shot9)
+STEP 111.0: shake(cocktail3,ingredient1,ingredient2,shaker1,right,left)
+STEP 111.1: grasp(left,shot9) leave(right,shaker1)
+STEP 112.0: clean-shot(shot9,ingredient3,left,right)
+STEP 112.1: grasp(right,shaker1)
+STEP 113: pour-shaker-to-shot(cocktail3,shot9,right,shaker1,l2,l1)
+258 actions in the plan.
+Cost of the plan is 465.
+
+
+# statistics in YAML format
+---
+runtime:
+  total: 0.33 # [s]
+  preprocessing: 0.05 # [s]
+maxLearnedClauseLength: 9789
+groundActions:
+  afterParsing: 2276
+  afterPreprocessing: 1420
+stateVariables:
+  afterParsing: 391
+  afterPreprocessing: 267
+stronglyConnectedComponents:
+  maxSize: 264
+plan:
+  found: true
+  length: 115
+  actions: 258
+iterations:
+...
+