diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_6.env b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_6.env
new file mode 100644
index 000000000..6e9e5d312
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_6.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-6.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: tidybot-sequential-satisficing
+  instance: 6
+  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_tidybot-sequential-satisficing_6.err b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_6.err
new file mode 100644
index 000000000..80d507a7f
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_6.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': 6, '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/tidybot-sequential-satisficing/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-6.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
+# 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-6.pddl --stats --stats-iter --verbose -m 8192 -F 115 -T 115
+FINISHED CPU 36.59 MEM 33472 MAXMEM 1023204 STALE 0 MAXMEM_RSS 700304
+<time name="ALL">36540</time>
+
diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_6.out b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_6.out
new file mode 100644
index 000000000..f945f09fc
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_6.out
@@ -0,0 +1,164 @@
+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-6.pddlignoring --stats
+ignoring --stats-iter
+ignoring --verbose
+ -m 8192 -F 115 -T 115
+Domain: tidybot
+Problem: test
+Parser: 38501 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  2.29 secs
+Goal: conjunctive
+Simplified: 13826 ground actions and 340 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 1.89 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 251 MB)
+				Allocated 32 MB permanent (total 459 MB)
+Horizon 115: 1629430 variables
+				Allocated 32 MB (total 494 MB)
+				Allocated 32 MB (total 526 MB)
+				Allocated 32 MB (total 558 MB)
+				Allocated 32 MB (total 590 MB)
+				Allocated 32 MB (total 622 MB)
+				Allocated 32 MB (total 654 MB)
+				Allocated 32 MB (total 686 MB)
+				Allocated 32 MB (total 718 MB)
+				Allocated 32 MB (total 750 MB)
+SAT (0 ID 10207 decisions 5449 conflicts 1629430 variables)
+PLAN FOUND: 115 steps
+STEP 0: unpark(pr2,xrel0,yrel0)
+STEP 1.0: base-right(pr2,x0,x1,y0)
+STEP 1.1: park(pr2)
+STEP 2: gripper-right(pr2,x1,y0,xrel0,xrel1,x1,x2,yrel0,y0)
+STEP 3: gripper-left(pr2,x1,y0,xrel1,xrel0,x2,x1,yrel0,y0)
+STEP 4: unpark(pr2,xrel0,yrel0)
+STEP 5: base-right(pr2,x1,x2,y0)
+STEP 6: base-right(pr2,x2,x3,y0)
+STEP 7: base-right(pr2,x3,x4,y0)
+STEP 8: base-down(pr2,x4,y0,y1)
+STEP 9: base-down(pr2,x4,y1,y2)
+STEP 10.0: base-down(pr2,x4,y2,y3)
+STEP 10.1: park(pr2)
+STEP 11: get-right(pr2,x4,y3,xrel0,x4,yrel0,y3,object0,x5)
+STEP 12.0: put-up(pr2,x4,y3,xrel0,x4,yrel0,y3,object0,y2)
+STEP 12.1: unpark(pr2,xrel0,yrel0)
+STEP 13: base-up(pr2,x4,y3,y2) finish-object(object0,x4,y2)
+STEP 14: base-up(pr2,x4,y2,y1)
+STEP 15: base-up(pr2,x4,y1,y0)
+STEP 16: base-left(pr2,x4,x3,y0)
+STEP 17: base-left(pr2,x3,x2,y0)
+STEP 18: base-down(pr2,x2,y0,y1)
+STEP 19: base-down(pr2,x2,y1,y2)
+STEP 20: base-down(pr2,x2,y2,y3)
+STEP 21: base-up(pr2,x2,y3,y2)
+STEP 22: base-up(pr2,x2,y2,y1)
+STEP 23: base-up(pr2,x2,y1,y0)
+STEP 24: base-right(pr2,x2,x3,y0)
+STEP 25: base-right(pr2,x3,x4,y0)
+STEP 26: base-down(pr2,x4,y0,y1)
+STEP 27: base-up(pr2,x4,y1,y0)
+STEP 28: base-right(pr2,x4,x5,y0)
+STEP 29: base-right(pr2,x5,x6,y0)
+STEP 30: base-right(pr2,x6,x7,y0)
+STEP 31: base-down(pr2,x7,y0,y1)
+STEP 32: base-down(pr2,x7,y1,y2)
+STEP 33: base-down(pr2,x7,y2,y3)
+STEP 34: base-right(pr2,x7,x8,y3)
+STEP 35: base-down(pr2,x8,y3,y4)
+STEP 36: base-down(pr2,x8,y4,y5)
+STEP 37: base-left(pr2,x8,x7,y5)
+STEP 38: base-left(pr2,x7,x6,y5)
+STEP 39: base-left(pr2,x6,x5,y5)
+STEP 40.0: base-down(pr2,x5,y5,y6)
+STEP 40.1: park(pr2)
+STEP 41.0: get-right(pr2,x5,y6,xrel0,x5,yrel0,y6,object1,x6)
+STEP 41.1: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel0,y6)
+STEP 42: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel0,y6)
+STEP 43: unpark(pr2,xrel0,yrel0)
+STEP 44.0: base-left(pr2,x5,x4,y6)
+STEP 44.1: park(pr2)
+STEP 45: gripper-left(pr2,x4,y6,xrel0,xrel-1,x4,x3,yrel0,y6)
+STEP 46.0: put-left(pr2,x4,y6,xrel-1,x3,yrel0,y6,object1,x2)
+STEP 46.1: gripper-up(pr2,x4,y6,xrel-1,x3,yrel0,yrel-1,y6,y5)
+STEP 47: finish-object(object1,x2,y6) gripper-down(pr2,x4,y6,xrel-1,x3,yrel-1,yrel0,y5,y6)
+STEP 48: gripper-right(pr2,x4,y6,xrel-1,xrel0,x3,x4,yrel0,y6)
+STEP 49: unpark(pr2,xrel0,yrel0)
+STEP 50: base-left(pr2,x4,x3,y6)
+STEP 51.0: base-up(pr2,x3,y6,y5)
+STEP 51.1: park(pr2)
+STEP 52: gripper-left(pr2,x3,y5,xrel0,xrel-1,x3,x2,yrel0,y5)
+STEP 53: gripper-up(pr2,x3,y5,xrel-1,x2,yrel0,yrel-1,y5,y4)
+STEP 54.0: get-left(pr2,x3,y5,xrel-1,x2,yrel-1,y4,object2,x1)
+STEP 54.1: gripper-down(pr2,x3,y5,xrel-1,x2,yrel-1,yrel0,y4,y5)
+STEP 55: gripper-right(pr2,x3,y5,xrel-1,xrel0,x2,x3,yrel0,y5)
+STEP 56: unpark(pr2,xrel0,yrel0)
+STEP 57: base-left(pr2,x3,x2,y5)
+STEP 58: base-up(pr2,x2,y5,y4)
+STEP 59: base-up(pr2,x2,y4,y3)
+STEP 60: base-up(pr2,x2,y3,y2)
+STEP 61: base-up(pr2,x2,y2,y1)
+STEP 62.0: base-up(pr2,x2,y1,y0)
+STEP 62.1: park(pr2)
+STEP 63: unpark(pr2,xrel0,yrel0)
+STEP 64.0: base-right(pr2,x2,x3,y0)
+STEP 64.1: park(pr2)
+STEP 65: unpark(pr2,xrel0,yrel0)
+STEP 66.0: base-right(pr2,x3,x4,y0)
+STEP 66.1: park(pr2)
+STEP 67: gripper-right(pr2,x4,y0,xrel0,xrel1,x4,x5,yrel0,y0)
+STEP 68: gripper-down(pr2,x4,y0,xrel1,x5,yrel0,yrel1,y0,y1)
+STEP 69.0: put-down(pr2,x4,y0,xrel1,x5,yrel1,y1,object2,y2)
+STEP 69.1: gripper-left(pr2,x4,y0,xrel1,xrel0,x5,x4,yrel1,y1)
+STEP 70: finish-object(object2,x5,y2) gripper-up(pr2,x4,y0,xrel0,x4,yrel1,yrel0,y1,y0)
+STEP 71: unpark(pr2,xrel0,yrel0)
+STEP 72: base-left(pr2,x4,x3,y0)
+STEP 73: base-left(pr2,x3,x2,y0)
+STEP 74: base-down(pr2,x2,y0,y1)
+STEP 75: base-down(pr2,x2,y1,y2)
+STEP 76: base-down(pr2,x2,y2,y3)
+STEP 77.0: base-down(pr2,x2,y3,y4)
+STEP 77.1: park(pr2)
+STEP 78: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
+STEP 79: gripper-left(pr2,x2,y4,xrel0,xrel-1,x2,x1,yrel1,y5)
+STEP 80.0: get-down(pr2,x2,y4,xrel-1,x1,yrel1,y5,object3,y6)
+STEP 80.1: gripper-up(pr2,x2,y4,xrel-1,x1,yrel1,yrel0,y5,y4)
+STEP 81: gripper-right(pr2,x2,y4,xrel-1,xrel0,x1,x2,yrel0,y4)
+STEP 82: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
+STEP 83: gripper-up(pr2,x2,y4,xrel0,x2,yrel1,yrel0,y5,y4)
+STEP 84: unpark(pr2,xrel0,yrel0)
+STEP 85: base-up(pr2,x2,y4,y3)
+STEP 86: base-up(pr2,x2,y3,y2)
+STEP 87: base-up(pr2,x2,y2,y1)
+STEP 88: base-up(pr2,x2,y1,y0)
+STEP 89: base-right(pr2,x2,x3,y0)
+STEP 90: base-right(pr2,x3,x4,y0)
+STEP 91: base-down(pr2,x4,y0,y1)
+STEP 92: base-down(pr2,x4,y1,y2)
+STEP 93.0: base-right(pr2,x4,x5,y2)
+STEP 93.1: park(pr2)
+STEP 94: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object3,y3)
+STEP 95: finish-object(object3,x5,y3)
+115 actions in the plan.
+
+
+# statistics in YAML format
+---
+runtime:
+  total: 36.07 # [s]
+  preprocessing: 4.60 # [s]
+maxLearnedClauseLength: 151488
+groundActions:
+  afterParsing: 38501
+  afterPreprocessing: 13826
+stateVariables:
+  afterParsing: 762
+  afterPreprocessing: 340
+stronglyConnectedComponents:
+  maxSize: 10
+plan:
+  found: true
+  length: 115
+  actions: 115
+iterations:
+...
+