diff --git a/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_4.env b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_4.env
new file mode 100644
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+++ b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_4.env
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+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-4.pddl
+- --stats
+- --stats-iter
+- --verbose
+- --print-call
+- -m 8192
+- --madagascar-Mp
+- -F 90
+- -T 90
+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: 4
+  ipc: ipc-2011
+  planLength: 90
+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_4.err b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_4.err
new file mode 100644
index 000000000..71e2c8315
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+++ b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_4.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': 4, 'planLength': 90}
+# 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-4.pddl', '--stats', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp', '-F 90', '-T 90']
+# 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-4.pddl --stats --stats-iter --verbose -m 8192 -F 90 -T 90
+FINISHED CPU 3.17 MEM 33472 MAXMEM 378828 STALE 0 MAXMEM_RSS 63448
+<time name="ALL">3100</time>
+
diff --git a/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_4.out b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_4.out
new file mode 100644
index 000000000..5469a6426
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_barman-sequential-satisficing_4.out
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+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-4.pddlignoring --stats
+ignoring --stats-iter
+ignoring --verbose
+ -m 8192 -F 90 -T 90
+Domain: barman
+Problem: prob
+Parser: 1968 ground actions and 337 state variables
+Invariants: 0 1 2 3  0.02 secs
+Goal: conjunctive
+Simplified: 1230 ground actions and 234 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.02 secs (max SCC size 240)
+Plan type: E-step
+				Allocated 32 MB permanent (total 130 MB)
+Horizon 90: 205974 variables
+				Allocated 32 MB (total 251 MB)
+SAT (0 ID 22956 decisions 10517 conflicts 205974 variables)
+PLAN FOUND: 90 steps
+STEP 0: grasp(right,shot10)
+STEP 1.0: fill-shot(shot10,ingredient4,right,left,dispenser4)
+STEP 1.1: grasp(left,shot5)
+STEP 2.0: pour-shot-to-clean-shaker(shot10,ingredient4,shaker1,right,l0,l1)
+STEP 2.1: leave(right,shot10)
+STEP 3.0: fill-shot(shot5,ingredient2,left,right,dispenser2)
+STEP 3.1: grasp(right,shaker1)
+STEP 4.0: pour-shot-to-used-shaker(shot5,ingredient2,shaker1,left,l1,l2)
+STEP 4.1: leave(left,shot5)
+STEP 5.0: shake(cocktail5,ingredient2,ingredient4,shaker1,right,left)
+STEP 5.1: grasp(left,shot9)
+STEP 6.0: pour-shaker-to-shot(cocktail5,shot1,right,shaker1,l2,l1)
+STEP 6.1: leave(right,shaker1)
+STEP 7.0: fill-shot(shot9,ingredient2,left,right,dispenser2)
+STEP 7.1: grasp(right,shaker1) leave(left,shot9)
+STEP 8.0: empty-shaker(right,shaker1,cocktail5,l1,l0) grasp(left,shot10)
+STEP 8.1: leave(right,shaker1)
+STEP 9.0: refill-shot(shot10,ingredient4,left,right,dispenser4)
+STEP 9.1: grasp(right,shot7) leave(left,shot10)
+STEP 10.0: fill-shot(shot7,ingredient3,right,left,dispenser3)
+STEP 10.1: grasp(left,shaker1) leave(right,shot7)
+STEP 11.0: clean-shaker(left,right,shaker1)
+STEP 11.1: grasp(right,shot7) leave(left,shaker1)
+STEP 12.0: grasp(left,shot10) pour-shot-to-clean-shaker(shot7,ingredient3,shaker1,right,l0,l1)
+STEP 12.1: leave(right,shot7)
+STEP 13.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot10,ingredient4,shaker1,left,l1,l2)
+STEP 13.1: leave(left,shot10)
+STEP 14: shake(cocktail7,ingredient3,ingredient4,shaker1,right,left)
+STEP 15: pour-shaker-to-shot(cocktail7,shot2,right,shaker1,l2,l1)
+STEP 16: empty-shaker(right,shaker1,cocktail7,l1,l0)
+STEP 17.0: clean-shaker(right,left,shaker1)
+STEP 17.1: grasp(left,shot6) leave(right,shaker1)
+STEP 18.0: fill-shot(shot6,ingredient3,left,right,dispenser3)
+STEP 18.1: grasp(right,shot9) leave(left,shot6)
+STEP 19.0: grasp(left,shot6) pour-shot-to-clean-shaker(shot9,ingredient2,shaker1,right,l0,l1)
+STEP 19.1: leave(right,shot9)
+STEP 20.0: grasp(right,shaker1) pour-shot-to-used-shaker(shot6,ingredient3,shaker1,left,l1,l2)
+STEP 20.1: leave(left,shot6)
+STEP 21.0: shake(cocktail6,ingredient2,ingredient3,shaker1,right,left)
+STEP 21.1: grasp(left,shot8)
+STEP 22: pour-shaker-to-shot(cocktail6,shot3,right,shaker1,l2,l1)
+STEP 23.0: empty-shaker(right,shaker1,cocktail6,l1,l0)
+STEP 23.1: leave(right,shaker1)
+STEP 24.0: fill-shot(shot8,ingredient1,left,right,dispenser1)
+STEP 24.1: grasp(right,shaker1) leave(left,shot8)
+STEP 25.0: clean-shaker(right,left,shaker1)
+STEP 25.1: grasp(left,shot8) leave(right,shaker1)
+STEP 26.0: grasp(right,shot7) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
+STEP 26.1: leave(left,shot8)
+STEP 27.0: refill-shot(shot7,ingredient3,right,left,dispenser3)
+STEP 27.1: grasp(left,shaker1)
+STEP 28.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
+STEP 28.1: leave(right,shot7)
+STEP 29.0: shake(cocktail2,ingredient1,ingredient3,shaker1,left,right)
+STEP 29.1: grasp(right,shot10)
+STEP 30: pour-shaker-to-shot(cocktail2,shot4,left,shaker1,l2,l1)
+STEP 31.0: empty-shaker(left,shaker1,cocktail2,l1,l0)
+STEP 31.1: leave(left,shaker1)
+STEP 32.0: refill-shot(shot10,ingredient4,right,left,dispenser4)
+STEP 32.1: grasp(left,shot8) leave(right,shot10)
+STEP 33.0: refill-shot(shot8,ingredient1,left,right,dispenser1)
+STEP 33.1: grasp(right,shaker1) leave(left,shot8)
+STEP 34.0: clean-shaker(right,left,shaker1)
+STEP 34.1: leave(right,shaker1)
+STEP 35: grasp(left,shaker1) grasp(right,shot10)
+STEP 36: empty-shot(right,shot10,ingredient4) leave(left,shaker1)
+STEP 37.0: clean-shot(shot10,ingredient4,right,left)
+STEP 37.1: grasp(left,shot8) leave(right,shot10)
+STEP 38.0: grasp(right,shaker1) pour-shot-to-clean-shaker(shot8,ingredient1,shaker1,left,l0,l1)
+STEP 38.1: leave(left,shot8)
+STEP 39: grasp(left,shot10) leave(right,shaker1)
+STEP 40.0: fill-shot(shot10,ingredient4,left,right,dispenser4)
+STEP 40.1: grasp(right,shot7) leave(left,shot10)
+STEP 41.0: refill-shot(shot7,ingredient3,right,left,dispenser3)
+STEP 41.1: grasp(left,shot5) leave(right,shot7)
+STEP 42.0: clean-shot(shot5,ingredient2,left,right)
+STEP 42.1: grasp(right,shaker1) leave(left,shot5)
+STEP 43: leave(right,shaker1)
+STEP 44: grasp(left,shaker1) grasp(right,shot7)
+STEP 45.0: pour-shot-to-used-shaker(shot7,ingredient3,shaker1,right,l1,l2)
+STEP 45.1: leave(right,shot7)
+STEP 46: shake(cocktail1,ingredient1,ingredient3,shaker1,left,right)
+STEP 47: pour-shaker-to-shot(cocktail1,shot5,left,shaker1,l2,l1)
+STEP 48: empty-shaker(left,shaker1,cocktail1,l1,l0)
+STEP 49.0: clean-shaker(left,right,shaker1)
+STEP 49.1: grasp(right,shot10) leave(left,shaker1)
+STEP 50.0: grasp(left,shot6) pour-shot-to-clean-shaker(shot10,ingredient4,shaker1,right,l0,l1)
+STEP 50.1: leave(right,shot10)
+STEP 51.0: refill-shot(shot6,ingredient3,left,right,dispenser3)
+STEP 51.1: grasp(right,shot9)
+STEP 52: leave(right,shot9) pour-shot-to-used-shaker(shot6,ingredient3,shaker1,left,l1,l2)
+STEP 53.0: clean-shot(shot6,ingredient3,left,right)
+STEP 53.1: grasp(right,shaker1) leave(left,shot6)
+STEP 54.0: shake(cocktail4,ingredient3,ingredient4,shaker1,right,left)
+STEP 54.1: grasp(left,shot7)
+STEP 55.0: pour-shaker-to-shot(cocktail4,shot6,right,shaker1,l2,l1)
+STEP 55.1: leave(right,shaker1)
+STEP 56.0: clean-shot(shot7,ingredient3,left,right)
+STEP 56.1: grasp(right,shot10) leave(left,shot7)
+STEP 57: clean-shot(shot10,ingredient4,right,left)
+STEP 58.0: fill-shot(shot10,ingredient3,right,left,dispenser3)
+STEP 58.1: grasp(left,shaker1) leave(right,shot10)
+STEP 59: empty-shaker(left,shaker1,cocktail4,l1,l0)
+STEP 60.0: clean-shaker(left,right,shaker1)
+STEP 60.1: grasp(right,shot10) leave(left,shaker1)
+STEP 61.0: grasp(left,shot9) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,right,l0,l1)
+STEP 61.1: leave(right,shot10)
+STEP 62.0: refill-shot(shot9,ingredient2,left,right,dispenser2)
+STEP 62.1: grasp(right,shaker1)
+STEP 63.0: pour-shot-to-used-shaker(shot9,ingredient2,shaker1,left,l1,l2)
+STEP 63.1: leave(left,shot9)
+STEP 64.0: shake(cocktail3,ingredient3,ingredient2,shaker1,right,left)
+STEP 64.1: grasp(left,shot10)
+STEP 65: pour-shaker-to-shot(cocktail3,shot7,right,shaker1,l2,l1)
+STEP 66.0: empty-shaker(right,shaker1,cocktail3,l1,l0)
+STEP 66.1: leave(right,shaker1)
+STEP 67.0: refill-shot(shot10,ingredient3,left,right,dispenser3)
+STEP 67.1: grasp(right,shaker1) leave(left,shot10)
+STEP 68.0: clean-shaker(right,left,shaker1)
+STEP 68.1: grasp(left,shot10) leave(right,shaker1)
+STEP 69.0: grasp(right,shot9) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,left,l0,l1)
+STEP 69.1: leave(left,shot10)
+STEP 70: refill-shot(shot9,ingredient2,right,left,dispenser2)
+STEP 71: pour-shot-to-used-shaker(shot9,ingredient2,shaker1,right,l1,l2)
+STEP 72.0: refill-shot(shot9,ingredient2,right,left,dispenser2)
+STEP 72.1: grasp(left,shot10) leave(right,shot9)
+STEP 73.0: clean-shot(shot10,ingredient3,left,right)
+STEP 73.1: grasp(right,shaker1) leave(left,shot10)
+STEP 74.0: shake(cocktail6,ingredient2,ingredient3,shaker1,right,left)
+STEP 74.1: grasp(left,shot10)
+STEP 75.0: empty-shaker(right,shaker1,cocktail6,l2,l0)
+STEP 75.1: leave(right,shaker1)
+STEP 76.0: fill-shot(shot10,ingredient3,left,right,dispenser3)
+STEP 76.1: grasp(right,shaker1) leave(left,shot10)
+STEP 77.0: clean-shaker(right,left,shaker1)
+STEP 77.1: grasp(left,shot10) leave(right,shaker1)
+STEP 78.0: grasp(right,shot9) pour-shot-to-clean-shaker(shot10,ingredient3,shaker1,left,l0,l1)
+STEP 78.1: leave(left,shot10)
+STEP 79: leave(right,shot9)
+STEP 80: grasp(right,shot8)
+STEP 81: refill-shot(shot8,ingredient1,right,left,dispenser1)
+STEP 82: pour-shot-to-used-shaker(shot8,ingredient1,shaker1,right,l1,l2)
+STEP 83.0: clean-shot(shot8,ingredient1,right,left)
+STEP 83.1: grasp(left,shaker1) leave(right,shot8)
+STEP 84: shake(cocktail8,ingredient1,ingredient3,shaker1,left,right)
+STEP 85: pour-shaker-to-shot(cocktail8,shot8,left,shaker1,l2,l1)
+188 actions in the plan.
+Cost of the plan is 368.
+
+
+# statistics in YAML format
+---
+runtime:
+  total: 2.84 # [s]
+  preprocessing: 0.05 # [s]
+maxLearnedClauseLength: 8261
+groundActions:
+  afterParsing: 1968
+  afterPreprocessing: 1230
+stateVariables:
+  afterParsing: 337
+  afterPreprocessing: 234
+stronglyConnectedComponents:
+  maxSize: 240
+plan:
+  found: true
+  length: 90
+  actions: 188
+iterations:
+...
+