diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_2.env b/m-mp/ipc-2011_tidybot-sequential-satisficing_2.env
new file mode 100644
index 000000000..07d1d48b7
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_2.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-2.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: 2
+  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_2.err b/m-mp/ipc-2011_tidybot-sequential-satisficing_2.err
new file mode 100644
index 000000000..1c54db057
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_2.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': 2}
+# 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-2.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-2.pddl --stats --verbose -m 8192
+FINISHED CPU 13.50 MEM 33472 MAXMEM 2704696 STALE 0 MAXMEM_RSS 1065840
+<time name="ALL">13390</time>
+
diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_2.out b/m-mp/ipc-2011_tidybot-sequential-satisficing_2.out
new file mode 100644
index 000000000..b1720b65a
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_2.out
@@ -0,0 +1,113 @@
+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-2.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: tidybot
+Problem: test
+Parser: 38489 ground actions and 762 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17  1.90 secs
+Goal: conjunctive
+Simplified: 14145 ground actions and 342 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.80 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 255 MB)
+Horizon 0: 342 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 72777 variables
+5 UNSAT (0 decisions 0 conflicts)
+Horizon 10: 145212 variables
+10 UNSAT (0 decisions 0 conflicts)
+Horizon 15: 217647 variables
+15 UNSAT (0 decisions 0 conflicts)
+Horizon 20: 290082 variables
+				Allocated 32 MB (total 718 MB)
+Horizon 25: 362517 variables
+				Allocated 32 MB permanent (total 950 MB)
+Horizon 30: 434952 variables
+Horizon 35: 507387 variables
+Horizon 40: 579822 variables
+				Allocated 32 MB permanent (total 1313 MB)
+Horizon 45: 652257 variables
+Horizon 50: 724692 variables
+				Allocated 32 MB permanent (total 1588 MB)
+Horizon 55: 797127 variables
+				Allocated 32 MB permanent (total 1748 MB)
+Horizon 60: 869562 variables
+Horizon 65: 941997 variables
+				Allocated 32 MB permanent (total 2048 MB)
+Horizon 70: 1014432 variables
+				Allocated 32 MB permanent (total 2221 MB)
+Horizon 75: 1086867 variables
+				Allocated 32 MB permanent (total 2398 MB)
+Horizon 80: 1159302 variables
+SAT (613 decisions 457 conflicts)
+PLAN FOUND: 45 steps
+STEP 0: unpark(pr2,xrel0,yrel0)
+STEP 1: base-right(pr2,x0,x1,y0)
+STEP 2: base-down(pr2,x1,y0,y1)
+STEP 3: grasp-cart-left(pr2,cart,x1,y1,x0)
+STEP 4.0: base-cart-up(pr2,cart,x1,y1,y0,x0,y1,y0)
+STEP 4.1: ungrasp-cart(pr2,cart)
+STEP 5: base-right(pr2,x1,x2,y0)
+STEP 6: base-right(pr2,x2,x3,y0)
+STEP 7: base-left(pr2,x3,x2,y0)
+STEP 8: base-left(pr2,x2,x1,y0)
+STEP 9: base-right(pr2,x1,x2,y0)
+STEP 10: base-down(pr2,x2,y0,y1)
+STEP 11: base-left(pr2,x2,x1,y1)
+STEP 12.0: base-up(pr2,x1,y1,y0)
+STEP 12.1: park(pr2)
+STEP 13: unpark(pr2,xrel0,yrel0)
+STEP 14: base-right(pr2,x1,x2,y0)
+STEP 15: base-down(pr2,x2,y0,y1)
+STEP 16.0: base-left(pr2,x2,x1,y1)
+STEP 16.1: park(pr2)
+STEP 17: gripper-down(pr2,x1,y1,xrel0,x1,yrel0,yrel1,y1,y2)
+STEP 18.0: get-down(pr2,x1,y1,xrel0,x1,yrel1,y2,object2,y3)
+STEP 18.1: gripper-left(pr2,x1,y1,xrel0,xrel-1,x1,x0,yrel1,y2)
+STEP 19.0: put-right(pr2,x1,y1,xrel-1,x0,yrel1,y2,object2,x1)
+STEP 19.1: gripper-up(pr2,x1,y1,xrel-1,x0,yrel1,yrel0,y2,y1)
+STEP 20: gripper-right(pr2,x1,y1,xrel-1,xrel0,x0,x1,yrel0,y1)
+STEP 21.0: get-down(pr2,x1,y1,xrel0,x1,yrel0,y1,object2,y2)
+STEP 21.1: unpark(pr2,xrel0,yrel0)
+STEP 22: base-right(pr2,x1,x2,y1)
+STEP 23: base-down(pr2,x2,y1,y2)
+STEP 24: base-right(pr2,x2,x3,y2)
+STEP 25: base-right(pr2,x3,x4,y2)
+STEP 26: base-right(pr2,x4,x5,y2)
+STEP 27: base-right(pr2,x5,x6,y2)
+STEP 28: base-right(pr2,x6,x7,y2)
+STEP 29: base-down(pr2,x7,y2,y3)
+STEP 30: base-down(pr2,x7,y3,y4)
+STEP 31: base-left(pr2,x7,x6,y4)
+STEP 32.0: base-left(pr2,x6,x5,y4)
+STEP 32.1: park(pr2)
+STEP 33: gripper-left(pr2,x5,y4,xrel0,xrel-1,x5,x4,yrel0,y4)
+STEP 34: put-right(pr2,x5,y4,xrel-1,x4,yrel0,y4,object2,x5)
+STEP 35: finish-object(object2,x5,y4) get-down(pr2,x5,y4,xrel-1,x4,yrel0,y4,object0,y5)
+STEP 36: gripper-down(pr2,x5,y4,xrel-1,x4,yrel0,yrel1,y4,y5)
+STEP 37: put-up(pr2,x5,y4,xrel-1,x4,yrel1,y5,object0,y4)
+STEP 38: finish-object(object0,x4,y4) get-right(pr2,x5,y4,xrel-1,x4,yrel1,y5,object1,x5)
+STEP 39: gripper-right(pr2,x5,y4,xrel-1,xrel0,x4,x5,yrel1,y5)
+STEP 40: put-left(pr2,x5,y4,xrel0,x5,yrel1,y5,object1,x4)
+STEP 41.0: finish-object(object1,x4,y5) get-up(pr2,x5,y4,xrel0,x5,yrel1,y5,object3,y4)
+STEP 41.1: gripper-right(pr2,x5,y4,xrel0,xrel1,x5,x6,yrel1,y5)
+STEP 42: put-left(pr2,x5,y4,xrel1,x6,yrel1,y5,object3,x5)
+STEP 43: finish-object(object3,x5,y5)
+55 actions in the plan.
+total time 12.92 preprocess 4.14 
+total size 2.543 GB
+max. learned clause length 44733
+t val conflicts decisions
+0 0 0 0
+5 0 0 0
+10 0 0 0
+15 0 0 0
+20 -1 780 841
+25 -1 720 828
+30 -1 660 815
+35 -1 600 816
+40 -1 540 679
+45 1 457 613
+