diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_10.env b/m-mp/ipc-2011_tidybot-sequential-satisficing_10.env
new file mode 100644
index 000000000..5975fde9c
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_10.env
@@ -0,0 +1,39 @@
+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/tidybot-sequential-satisficing/domain.pddl
+- /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-10.pddl
+- --stats
+- --verbose
+- --print-call
+- -m 8192
+- --madagascar-Mp
+configuration:
+  id: m-mp
+  instanceSets:
+  - lpnmr-easy-instances
+  - lpnmr-hard-instances
+  - lpnmr-first-plan-not-serializable
+  - rintanen-aij-2012
+  options:
+  - --stats
+  - --verbose
+  - --print-call
+  - -m 8192
+  - --madagascar-Mp
+exitCode: 0
+instance:
+  domain: tidybot-sequential-satisficing
+  instance: 10
+  ipc: ipc-2011
+versions:
+  clingo: 5.2.2
+  fastDownward: 10997:847cdf0069cab0c8841a9958e783d1a7340fe2e9 (2017-11-02 15:10 +0100)
+  planner: 398fcb36ad9c5a23a8c35820fb4b021802dbc349 (2017-11-30 17:03:27 +0100)
+  plasp: 3.1.1
+  python: 3.6.3
+workingDirectory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+
diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_10.err b/m-mp/ipc-2011_tidybot-sequential-satisficing_10.err
new file mode 100644
index 000000000..20cba303a
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_10.err
@@ -0,0 +1,9 @@
+# configuration: {'id': 'm-mp', 'options': ['--stats', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp'], 'instanceSets': ['lpnmr-easy-instances', 'lpnmr-hard-instances', 'lpnmr-first-plan-not-serializable', 'rintanen-aij-2012']}
+# instance: {'ipc': 'ipc-2011', 'domain': 'tidybot-sequential-satisficing', 'instance': 10}
+# 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/tidybot-sequential-satisficing/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-10.pddl', '--stats', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp']
+# working directory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+# exit code: 0
+# planner call: Mp /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-10.pddl --stats --verbose -m 8192
+FINISHED CPU 21.85 MEM 0 MAXMEM 3330376 STALE 1 MAXMEM_RSS 1654676
+<time name="ALL">21800</time>
+
diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_10.out b/m-mp/ipc-2011_tidybot-sequential-satisficing_10.out
new file mode 100644
index 000000000..b01a71bd2
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_10.out
@@ -0,0 +1,142 @@
+Madagascar 0.99999 25/02/2015 09:46:27 amd64 1-core (no VSIDS)
+Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-10.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: tidybot
+Problem: test
+Parser: 54878 ground actions and 926 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18  4.73 secs
+Goal: conjunctive
+Simplified: 21539 ground actions and 419 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 4.18 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 347 MB)
+Horizon 0: 419 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 110209 variables
+5 UNSAT (0 decisions 0 conflicts)
+Horizon 10: 219999 variables
+10 UNSAT (0 decisions 0 conflicts)
+Horizon 15: 329789 variables
+15 UNSAT (0 decisions 0 conflicts)
+Horizon 20: 439579 variables
+				Allocated 32 MB (total 835 MB)
+				Allocated 32 MB permanent (total 976 MB)
+Horizon 25: 549369 variables
+Horizon 30: 659159 variables
+				Allocated 32 MB permanent (total 1245 MB)
+Horizon 35: 768949 variables
+Horizon 40: 878739 variables
+				Allocated 32 MB permanent (total 1540 MB)
+Horizon 45: 988529 variables
+				Allocated 32 MB permanent (total 1714 MB)
+Horizon 50: 1098319 variables
+				Allocated 32 MB permanent (total 1893 MB)
+Horizon 55: 1208109 variables
+				Allocated 32 MB permanent (total 2080 MB)
+Horizon 60: 1317899 variables
+				Allocated 32 MB permanent (total 2272 MB)
+Horizon 65: 1427689 variables
+				Allocated 32 MB permanent (total 2472 MB)
+Horizon 70: 1537479 variables
+				Allocated 32 MB permanent (total 2677 MB)
+Horizon 75: 1647269 variables
+				Allocated 32 MB permanent (total 2890 MB)
+				Allocated 32 MB permanent (total 2922 MB)
+Horizon 80: 1757059 variables
+SAT (407 decisions 251 conflicts)
+PLAN FOUND: 60 steps
+STEP 0: unpark(pr2,xrel0,yrel0)
+STEP 1: base-right(pr2,x0,x1,y0)
+STEP 2: base-right(pr2,x1,x2,y0)
+STEP 3: base-right(pr2,x2,x3,y0)
+STEP 4: base-right(pr2,x3,x4,y0)
+STEP 5: base-right(pr2,x4,x5,y0)
+STEP 6: base-right(pr2,x5,x6,y0)
+STEP 7.0: base-down(pr2,x6,y0,y1)
+STEP 7.1: park(pr2)
+STEP 8.0: get-left(pr2,x6,y1,xrel0,x6,yrel0,y1,object3,x5)
+STEP 8.1: gripper-up(pr2,x6,y1,xrel0,x6,yrel0,yrel-1,y1,y0)
+STEP 9: gripper-left(pr2,x6,y1,xrel0,xrel-1,x6,x5,yrel-1,y0)
+STEP 10: gripper-down(pr2,x6,y1,xrel-1,x5,yrel-1,yrel0,y0,y1)
+STEP 11.0: put-left(pr2,x6,y1,xrel-1,x5,yrel0,y1,object3,x4)
+STEP 11.1: gripper-right(pr2,x6,y1,xrel-1,xrel0,x5,x6,yrel0,y1)
+STEP 12: unpark(pr2,xrel0,yrel0)
+STEP 13: base-down(pr2,x6,y1,y2)
+STEP 14: base-down(pr2,x6,y2,y3)
+STEP 15: base-down(pr2,x6,y3,y4)
+STEP 16.0: base-down(pr2,x6,y4,y5)
+STEP 16.1: park(pr2)
+STEP 17: gripper-down(pr2,x6,y5,xrel0,x6,yrel0,yrel1,y5,y6)
+STEP 18: gripper-up(pr2,x6,y5,xrel0,x6,yrel1,yrel0,y6,y5)
+STEP 19: unpark(pr2,xrel0,yrel0)
+STEP 20: base-left(pr2,x6,x5,y5)
+STEP 21.0: base-down(pr2,x5,y5,y6)
+STEP 21.1: park(pr2)
+STEP 22: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
+STEP 23.0: get-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object0,x3)
+STEP 23.1: gripper-up(pr2,x5,y6,xrel-1,x4,yrel0,yrel-1,y6,y5)
+STEP 24.0: put-left(pr2,x5,y6,xrel-1,x4,yrel-1,y5,object0,x3)
+STEP 24.1: gripper-down(pr2,x5,y6,xrel-1,x4,yrel-1,yrel0,y5,y6)
+STEP 25: finish-object(object0,x3,y5) gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
+STEP 26: gripper-right(pr2,x5,y6,xrel0,xrel1,x5,x6,yrel0,y6)
+STEP 27.0: get-right(pr2,x5,y6,xrel1,x6,yrel0,y6,object1,x7)
+STEP 27.1: gripper-left(pr2,x5,y6,xrel1,xrel0,x6,x5,yrel0,y6)
+STEP 28: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
+STEP 29.0: put-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object1,x3)
+STEP 29.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
+STEP 30: finish-object(object1,x3,y6) unpark(pr2,xrel0,yrel0)
+STEP 31: base-up(pr2,x5,y6,y5)
+STEP 32: base-right(pr2,x5,x6,y5)
+STEP 33: base-up(pr2,x6,y5,y4)
+STEP 34.0: base-up(pr2,x6,y4,y3)
+STEP 34.1: park(pr2)
+STEP 35: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3)
+STEP 36: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel0,y3)
+STEP 37: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3)
+STEP 38: gripper-up(pr2,x6,y3,xrel-1,x5,yrel0,yrel-1,y3,y2)
+STEP 39.0: get-left(pr2,x6,y3,xrel-1,x5,yrel-1,y2,object2,x4)
+STEP 39.1: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel-1,y2)
+STEP 40: gripper-down(pr2,x6,y3,xrel0,x6,yrel-1,yrel0,y2,y3)
+STEP 41: unpark(pr2,xrel0,yrel0)
+STEP 42: base-down(pr2,x6,y3,y4)
+STEP 43.0: base-down(pr2,x6,y4,y5)
+STEP 43.1: park(pr2)
+STEP 44: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5)
+STEP 45.0: put-left(pr2,x6,y5,xrel-1,x5,yrel0,y5,object2,x4)
+STEP 45.1: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel0,y5)
+STEP 46: finish-object(object2,x4,y5) unpark(pr2,xrel0,yrel0)
+STEP 47.0: base-down(pr2,x6,y5,y6)
+STEP 47.1: park(pr2)
+STEP 48: unpark(pr2,xrel0,yrel0)
+STEP 49: base-up(pr2,x6,y6,y5)
+STEP 50: base-up(pr2,x6,y5,y4)
+STEP 51: base-up(pr2,x6,y4,y3)
+STEP 52: base-left(pr2,x6,x5,y3)
+STEP 53.0: base-left(pr2,x5,x4,y3)
+STEP 53.1: park(pr2)
+STEP 54: gripper-up(pr2,x4,y3,xrel0,x4,yrel0,yrel-1,y3,y2)
+STEP 55.0: get-up(pr2,x4,y3,xrel0,x4,yrel-1,y2,object3,y1)
+STEP 55.1: gripper-left(pr2,x4,y3,xrel0,xrel-1,x4,x3,yrel-1,y2)
+STEP 56: put-right(pr2,x4,y3,xrel-1,x3,yrel-1,y2,object3,x4)
+STEP 57: finish-object(object3,x4,y2)
+77 actions in the plan.
+total time 21.21 preprocess 9.57 
+total size 3.140 GB
+max. learned clause length 72981
+t val conflicts decisions
+0 0 0 0
+5 0 0 0
+10 0 0 0
+15 0 0 0
+20 -1 782 860
+25 -1 722 891
+30 -1 660 944
+35 -1 600 740
+40 -1 540 731
+45 -1 481 700
+50 -1 421 633
+55 -1 360 503
+60 1 251 407
+