diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_10.env b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_10.env
new file mode 100644
index 000000000..04eda9b8c
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_10.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/tidybot-sequential-satisficing/domain.pddl
+- /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-10.pddl
+- --stats
+- --stats-iter
+- --verbose
+- --print-call
+- -m 8192
+- --madagascar-Mp
+- -F 60
+- -T 60
+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: tidybot-sequential-satisficing
+  instance: 10
+  ipc: ipc-2011
+  planLength: 60
+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_tidybot-sequential-satisficing_10.err b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_10.err
new file mode 100644
index 000000000..9b757a152
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_10.err
@@ -0,0 +1,9 @@
+# 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': 'tidybot-sequential-satisficing', 'instance': 10, 'planLength': 60}
+# 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', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp', '-F 60', '-T 60']
+# working directory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+# exit code: 0
+# planner call: /home/pluehne/Documents/ASP/madagascar/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 --stats-iter --verbose -m 8192 -F 60 -T 60
+FINISHED CPU 17.55 MEM 33472 MAXMEM 940844 STALE 1 MAXMEM_RSS 674372
+<time name="ALL">17540</time>
+
diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_10.out b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_10.out
new file mode 100644
index 000000000..7ff1080c8
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_10.out
@@ -0,0 +1,119 @@
+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/tidybot-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-10.pddlignoring --stats
+ignoring --stats-iter
+ignoring --verbose
+ -m 8192 -F 60 -T 60
+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  4.85 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 4.47 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 347 MB)
+Horizon 60: 1317899 variables
+				Allocated 32 MB (total 543 MB)
+				Allocated 32 MB (total 575 MB)
+SAT (0 ID 2335 decisions 1467 conflicts 1317899 variables)
+PLAN FOUND: 60 steps
+STEP 0: unpark(pr2,xrel0,yrel0)
+STEP 1: base-right(pr2,x0,x1,y0)
+STEP 2.0: base-right(pr2,x1,x2,y0)
+STEP 2.1: park(pr2)
+STEP 3: unpark(pr2,xrel0,yrel0)
+STEP 4: base-down(pr2,x2,y0,y1)
+STEP 5: base-down(pr2,x2,y1,y2)
+STEP 6.0: base-down(pr2,x2,y2,y3)
+STEP 6.1: park(pr2)
+STEP 7: gripper-right(pr2,x2,y3,xrel0,xrel1,x2,x3,yrel0,y3)
+STEP 8: gripper-left(pr2,x2,y3,xrel1,xrel0,x3,x2,yrel0,y3)
+STEP 9: unpark(pr2,xrel0,yrel0)
+STEP 10: base-right(pr2,x2,x3,y3)
+STEP 11: base-right(pr2,x3,x4,y3)
+STEP 12: base-right(pr2,x4,x5,y3)
+STEP 13: base-right(pr2,x5,x6,y3)
+STEP 14: base-down(pr2,x6,y3,y4)
+STEP 15.0: base-down(pr2,x6,y4,y5)
+STEP 15.1: park(pr2)
+STEP 16: gripper-down(pr2,x6,y5,xrel0,x6,yrel0,yrel1,y5,y6)
+STEP 17: gripper-up(pr2,x6,y5,xrel0,x6,yrel1,yrel0,y6,y5)
+STEP 18: unpark(pr2,xrel0,yrel0)
+STEP 19: base-down(pr2,x6,y5,y6)
+STEP 20.0: base-left(pr2,x6,x5,y6)
+STEP 20.1: park(pr2)
+STEP 21: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
+STEP 22.0: get-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object0,x3)
+STEP 22.1: gripper-up(pr2,x5,y6,xrel-1,x4,yrel0,yrel-1,y6,y5)
+STEP 23.0: put-left(pr2,x5,y6,xrel-1,x4,yrel-1,y5,object0,x3)
+STEP 23.1: gripper-down(pr2,x5,y6,xrel-1,x4,yrel-1,yrel0,y5,y6)
+STEP 24: finish-object(object0,x3,y5) gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
+STEP 25: unpark(pr2,xrel0,yrel0)
+STEP 26: base-left(pr2,x5,x4,y6)
+STEP 27.0: base-right(pr2,x4,x5,y6)
+STEP 27.1: park(pr2)
+STEP 28: gripper-right(pr2,x5,y6,xrel0,xrel1,x5,x6,yrel0,y6)
+STEP 29.0: get-right(pr2,x5,y6,xrel1,x6,yrel0,y6,object1,x7)
+STEP 29.1: gripper-left(pr2,x5,y6,xrel1,xrel0,x6,x5,yrel0,y6)
+STEP 30: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
+STEP 31.0: put-left(pr2,x5,y6,xrel-1,x4,yrel0,y6,object1,x3)
+STEP 31.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
+STEP 32: finish-object(object1,x3,y6) gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
+STEP 33: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
+STEP 34: unpark(pr2,xrel0,yrel0)
+STEP 35: base-up(pr2,x5,y6,y5)
+STEP 36: base-right(pr2,x5,x6,y5)
+STEP 37.0: base-up(pr2,x6,y5,y4)
+STEP 37.1: park(pr2)
+STEP 38: gripper-up(pr2,x6,y4,xrel0,x6,yrel0,yrel-1,y4,y3)
+STEP 39: gripper-down(pr2,x6,y4,xrel0,x6,yrel-1,yrel0,y3,y4)
+STEP 40: unpark(pr2,xrel0,yrel0)
+STEP 41: base-up(pr2,x6,y4,y3)
+STEP 42: base-left(pr2,x6,x5,y3)
+STEP 43.0: base-left(pr2,x5,x4,y3)
+STEP 43.1: park(pr2)
+STEP 44.0: get-up(pr2,x4,y3,xrel0,x4,yrel0,y3,object2,y2)
+STEP 44.1: unpark(pr2,xrel0,yrel0)
+STEP 45: base-right(pr2,x4,x5,y3)
+STEP 46.0: base-right(pr2,x5,x6,y3)
+STEP 46.1: park(pr2)
+STEP 47.0: put-right(pr2,x6,y3,xrel0,x6,yrel0,y3,object2,x7)
+STEP 47.1: gripper-left(pr2,x6,y3,xrel0,xrel-1,x6,x5,yrel0,y3)
+STEP 48: gripper-up(pr2,x6,y3,xrel-1,x5,yrel0,yrel-1,y3,y2)
+STEP 49: get-up(pr2,x6,y3,xrel-1,x5,yrel-1,y2,object3,y1)
+STEP 50.0: put-left(pr2,x6,y3,xrel-1,x5,yrel-1,y2,object3,x4)
+STEP 50.1: gripper-right(pr2,x6,y3,xrel-1,xrel0,x5,x6,yrel-1,y2)
+STEP 51: finish-object(object3,x4,y2) gripper-down(pr2,x6,y3,xrel0,x6,yrel-1,yrel0,y2,y3)
+STEP 52.0: get-right(pr2,x6,y3,xrel0,x6,yrel0,y3,object2,x7)
+STEP 52.1: unpark(pr2,xrel0,yrel0)
+STEP 53: base-down(pr2,x6,y3,y4)
+STEP 54.0: base-down(pr2,x6,y4,y5)
+STEP 54.1: park(pr2)
+STEP 55: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5)
+STEP 56: put-left(pr2,x6,y5,xrel-1,x5,yrel0,y5,object2,x4)
+STEP 57: finish-object(object2,x4,y5)
+78 actions in the plan.
+
+
+# statistics in YAML format
+---
+runtime:
+  total: 17.07 # [s]
+  preprocessing: 10.07 # [s]
+maxLearnedClauseLength: 192464
+groundActions:
+  afterParsing: 54878
+  afterPreprocessing: 21539
+stateVariables:
+  afterParsing: 926
+  afterPreprocessing: 419
+stronglyConnectedComponents:
+  maxSize: 10
+plan:
+  found: true
+  length: 60
+  actions: 78
+iterations:
+...
+