diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_17.env b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.env
new file mode 100644
index 000000000..eebb84e53
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.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-17.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: 17
+  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_17.err b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.err
new file mode 100644
index 000000000..c0d69c3be
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.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': 17}
+# 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-17.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-17.pddl --stats --verbose -m 8192
+FINISHED CPU 64.02 MEM 33472 MAXMEM 7256404 STALE 1 MAXMEM_RSS 4820692
+<time name="ALL">63900</time>
+
diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_17.out b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.out
new file mode 100644
index 000000000..217efebcb
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_17.out
@@ -0,0 +1,237 @@
+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-17.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: tidybot
+Problem: test
+Parser: 75679 ground actions and 1103 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16  8.00 secs
+Goal: conjunctive
+Simplified: 35109 ground actions and 505 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 10.82 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 541 MB)
+Horizon 0: 505 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 178575 variables
+5 UNSAT (0 decisions 0 conflicts)
+Horizon 10: 356645 variables
+10 UNSAT (0 decisions 0 conflicts)
+Horizon 15: 534715 variables
+				Allocated 32 MB (total 957 MB)
+				Allocated 32 MB permanent (total 1107 MB)
+Horizon 20: 712785 variables
+				Allocated 32 MB permanent (total 1268 MB)
+Horizon 25: 890855 variables
+Horizon 30: 1068925 variables
+				Allocated 32 MB permanent (total 1590 MB)
+Horizon 35: 1246995 variables
+				Allocated 32 MB permanent (total 1782 MB)
+Horizon 40: 1425065 variables
+				Allocated 32 MB permanent (total 1986 MB)
+				Allocated 32 MB permanent (total 2018 MB)
+Horizon 45: 1603135 variables
+				Allocated 32 MB permanent (total 2231 MB)
+Horizon 50: 1781205 variables
+15 UNSAT (471 decisions 433 conflicts)
+				Allocated 32 MB permanent (total 2455 MB)
+				Allocated 32 MB permanent (total 2487 MB)
+Horizon 55: 1959275 variables
+				Allocated 32 MB permanent (total 2722 MB)
+Horizon 60: 2137345 variables
+				Allocated 32 MB permanent (total 2967 MB)
+				Allocated 32 MB permanent (total 2999 MB)
+Horizon 65: 2315415 variables
+				Allocated 32 MB permanent (total 3255 MB)
+				Allocated 32 MB permanent (total 3287 MB)
+Horizon 70: 2493485 variables
+				Allocated 32 MB permanent (total 3553 MB)
+				Allocated 32 MB permanent (total 3585 MB)
+Horizon 75: 2671555 variables
+				Allocated 32 MB permanent (total 3862 MB)
+				Allocated 32 MB permanent (total 3894 MB)
+Horizon 80: 2849625 variables
+				Allocated 32 MB permanent (total 4182 MB)
+				Allocated 32 MB permanent (total 4214 MB)
+				Allocated 32 MB permanent (total 4246 MB)
+Horizon 85: 3027695 variables
+				Allocated 32 MB permanent (total 4543 MB)
+				Allocated 32 MB permanent (total 4575 MB)
+Horizon 90: 3205765 variables
+				Allocated 32 MB permanent (total 4884 MB)
+				Allocated 32 MB permanent (total 4916 MB)
+				Allocated 32 MB permanent (total 4948 MB)
+Horizon 95: 3383835 variables
+				Allocated 32 MB (total 4980 MB)
+				Allocated 32 MB permanent (total 5299 MB)
+				Allocated 32 MB permanent (total 5331 MB)
+Horizon 100: 3561905 variables
+				Allocated 32 MB permanent (total 5660 MB)
+				Allocated 32 MB permanent (total 5692 MB)
+				Allocated 32 MB permanent (total 5724 MB)
+Horizon 105: 3739975 variables
+				Allocated 32 MB permanent (total 6064 MB)
+				Allocated 32 MB permanent (total 6096 MB)
+				Allocated 32 MB permanent (total 6128 MB)
+Horizon 110: 3918045 variables
+				Allocated 32 MB permanent (total 6479 MB)
+				Allocated 32 MB permanent (total 6511 MB)
+				Allocated 32 MB permanent (total 6543 MB)
+				Allocated 32 MB permanent (total 6575 MB)
+Horizon 115: 4096115 variables
+SAT (334 decisions 161 conflicts)
+PLAN FOUND: 105 steps
+STEP 0: unpark(pr2,xrel0,yrel0)
+STEP 1: grasp-cart-below(pr2,cart,x0,y0,y1)
+STEP 2: base-cart-right(pr2,cart,x0,x1,y0,x0,x1,y1)
+STEP 3: base-cart-right(pr2,cart,x1,x2,y0,x1,x2,y1)
+STEP 4.0: base-cart-left(pr2,cart,x2,x1,y0,x2,x1,y1)
+STEP 4.1: ungrasp-cart(pr2,cart)
+STEP 5: base-left(pr2,x1,x0,y0)
+STEP 6: base-down(pr2,x0,y0,y1)
+STEP 7: base-up(pr2,x0,y1,y0)
+STEP 8: base-down(pr2,x0,y0,y1)
+STEP 9: grasp-cart-right(pr2,cart,x0,y1,x1)
+STEP 10.0: base-cart-up(pr2,cart,x0,y1,y0,x1,y1,y0)
+STEP 10.1: ungrasp-cart(pr2,cart)
+STEP 11: base-down(pr2,x0,y0,y1)
+STEP 12: base-down(pr2,x0,y1,y2)
+STEP 13: base-down(pr2,x0,y2,y3)
+STEP 14: base-down(pr2,x0,y3,y4)
+STEP 15.0: base-down(pr2,x0,y4,y5)
+STEP 15.1: park(pr2)
+STEP 16: gripper-up(pr2,x0,y5,xrel0,x0,yrel0,yrel-1,y5,y4)
+STEP 17.0: get-right(pr2,x0,y5,xrel0,x0,yrel-1,y4,object2,x1)
+STEP 17.1: gripper-down(pr2,x0,y5,xrel0,x0,yrel-1,yrel0,y4,y5)
+STEP 18: gripper-down(pr2,x0,y5,xrel0,x0,yrel0,yrel1,y5,y6)
+STEP 19: gripper-up(pr2,x0,y5,xrel0,x0,yrel1,yrel0,y6,y5)
+STEP 20: unpark(pr2,xrel0,yrel0)
+STEP 21.0: base-right(pr2,x0,x1,y5)
+STEP 21.1: park(pr2)
+STEP 22.0: put-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4)
+STEP 22.1: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel0,y5)
+STEP 23.0: get-down(pr2,x1,y5,xrel1,x2,yrel0,y5,object3,y6)
+STEP 23.1: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5)
+STEP 24: gripper-down(pr2,x1,y5,xrel0,x1,yrel0,yrel1,y5,y6)
+STEP 25: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel1,y6)
+STEP 26.0: put-right(pr2,x1,y5,xrel1,x2,yrel1,y6,object3,x3)
+STEP 26.1: gripper-up(pr2,x1,y5,xrel1,x2,yrel1,yrel0,y6,y5)
+STEP 27: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5)
+STEP 28: gripper-down(pr2,x1,y5,xrel0,x1,yrel0,yrel1,y5,y6)
+STEP 29: gripper-right(pr2,x1,y5,xrel0,xrel1,x1,x2,yrel1,y6)
+STEP 30: gripper-up(pr2,x1,y5,xrel1,x2,yrel1,yrel0,y6,y5)
+STEP 31: gripper-up(pr2,x1,y5,xrel1,x2,yrel0,yrel-1,y5,y4)
+STEP 32: gripper-down(pr2,x1,y5,xrel1,x2,yrel-1,yrel0,y4,y5)
+STEP 33: gripper-left(pr2,x1,y5,xrel1,xrel0,x2,x1,yrel0,y5)
+STEP 34: unpark(pr2,xrel0,yrel0)
+STEP 35: base-down(pr2,x1,y5,y6)
+STEP 36.0: base-down(pr2,x1,y6,y7)
+STEP 36.1: park(pr2)
+STEP 37.0: get-down(pr2,x1,y7,xrel0,x1,yrel0,y7,object0,y8)
+STEP 37.1: gripper-right(pr2,x1,y7,xrel0,xrel1,x1,x2,yrel0,y7)
+STEP 38.0: put-up(pr2,x1,y7,xrel1,x2,yrel0,y7,object0,y6)
+STEP 38.1: gripper-left(pr2,x1,y7,xrel1,xrel0,x2,x1,yrel0,y7)
+STEP 39: finish-object(object0,x2,y6) unpark(pr2,xrel0,yrel0)
+STEP 40.0: base-up(pr2,x1,y7,y6)
+STEP 40.1: park(pr2)
+STEP 41: gripper-left(pr2,x1,y6,xrel0,xrel-1,x1,x0,yrel0,y6)
+STEP 42: gripper-right(pr2,x1,y6,xrel-1,xrel0,x0,x1,yrel0,y6)
+STEP 43: unpark(pr2,xrel0,yrel0)
+STEP 44.0: base-up(pr2,x1,y6,y5)
+STEP 44.1: park(pr2)
+STEP 45.0: get-up(pr2,x1,y5,xrel0,x1,yrel0,y5,object2,y4)
+STEP 45.1: unpark(pr2,xrel0,yrel0)
+STEP 46: base-right(pr2,x1,x2,y5)
+STEP 47: base-right(pr2,x2,x3,y5)
+STEP 48: base-right(pr2,x3,x4,y5)
+STEP 49: base-right(pr2,x4,x5,y5)
+STEP 50.0: base-right(pr2,x5,x6,y5)
+STEP 50.1: park(pr2)
+STEP 51: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel0,y5)
+STEP 52: gripper-down(pr2,x6,y5,xrel-1,x5,yrel0,yrel1,y5,y6)
+STEP 53: gripper-up(pr2,x6,y5,xrel-1,x5,yrel1,yrel0,y6,y5)
+STEP 54: gripper-up(pr2,x6,y5,xrel-1,x5,yrel0,yrel-1,y5,y4)
+STEP 55.0: put-up(pr2,x6,y5,xrel-1,x5,yrel-1,y4,object2,y3)
+STEP 55.1: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel-1,y4)
+STEP 56.0: get-up(pr2,x6,y5,xrel0,x6,yrel-1,y4,object1,y3)
+STEP 56.1: gripper-left(pr2,x6,y5,xrel0,xrel-1,x6,x5,yrel-1,y4)
+STEP 57: gripper-right(pr2,x6,y5,xrel-1,xrel0,x5,x6,yrel-1,y4)
+STEP 58.0: put-up(pr2,x6,y5,xrel0,x6,yrel-1,y4,object1,y3)
+STEP 58.1: gripper-down(pr2,x6,y5,xrel0,x6,yrel-1,yrel0,y4,y5)
+STEP 59: unpark(pr2,xrel0,yrel0)
+STEP 60.0: base-up(pr2,x6,y5,y4)
+STEP 60.1: park(pr2)
+STEP 61: gripper-left(pr2,x6,y4,xrel0,xrel-1,x6,x5,yrel0,y4)
+STEP 62.0: get-up(pr2,x6,y4,xrel-1,x5,yrel0,y4,object2,y3)
+STEP 62.1: gripper-right(pr2,x6,y4,xrel-1,xrel0,x5,x6,yrel0,y4)
+STEP 63: unpark(pr2,xrel0,yrel0)
+STEP 64: base-up(pr2,x6,y4,y3)
+STEP 65: base-up(pr2,x6,y3,y2)
+STEP 66.0: base-left(pr2,x6,x5,y2)
+STEP 66.1: park(pr2)
+STEP 67: put-right(pr2,x5,y2,xrel0,x5,yrel0,y2,object2,x6)
+STEP 68: finish-object(object2,x6,y2) gripper-down(pr2,x5,y2,xrel0,x5,yrel0,yrel1,y2,y3)
+STEP 69.0: get-right(pr2,x5,y2,xrel0,x5,yrel1,y3,object1,x6)
+STEP 69.1: gripper-up(pr2,x5,y2,xrel0,x5,yrel1,yrel0,y3,y2)
+STEP 70.0: put-down(pr2,x5,y2,xrel0,x5,yrel0,y2,object1,y3)
+STEP 70.1: unpark(pr2,xrel0,yrel0)
+STEP 71.0: base-right(pr2,x5,x6,y2) finish-object(object1,x5,y3)
+STEP 71.1: park(pr2)
+STEP 72: gripper-down(pr2,x6,y2,xrel0,x6,yrel0,yrel1,y2,y3)
+STEP 73: gripper-up(pr2,x6,y2,xrel0,x6,yrel1,yrel0,y3,y2)
+STEP 74: unpark(pr2,xrel0,yrel0)
+STEP 75: base-down(pr2,x6,y2,y3)
+STEP 76: base-down(pr2,x6,y3,y4)
+STEP 77: base-left(pr2,x6,x5,y4)
+STEP 78: base-down(pr2,x5,y4,y5)
+STEP 79.0: base-left(pr2,x5,x4,y5)
+STEP 79.1: park(pr2)
+STEP 80: gripper-down(pr2,x4,y5,xrel0,x4,yrel0,yrel1,y5,y6)
+STEP 81.0: get-left(pr2,x4,y5,xrel0,x4,yrel1,y6,object3,x3)
+STEP 81.1: gripper-right(pr2,x4,y5,xrel0,xrel1,x4,x5,yrel1,y6)
+STEP 82: gripper-up(pr2,x4,y5,xrel1,x5,yrel1,yrel0,y6,y5)
+STEP 83: gripper-up(pr2,x4,y5,xrel1,x5,yrel0,yrel-1,y5,y4)
+STEP 84: gripper-down(pr2,x4,y5,xrel1,x5,yrel-1,yrel0,y4,y5)
+STEP 85: gripper-up(pr2,x4,y5,xrel1,x5,yrel0,yrel-1,y5,y4)
+STEP 86: gripper-down(pr2,x4,y5,xrel1,x5,yrel-1,yrel0,y4,y5)
+STEP 87: gripper-left(pr2,x4,y5,xrel1,xrel0,x5,x4,yrel0,y5)
+STEP 88: unpark(pr2,xrel0,yrel0)
+STEP 89.0: base-right(pr2,x4,x5,y5)
+STEP 89.1: park(pr2)
+STEP 90: gripper-up(pr2,x5,y5,xrel0,x5,yrel0,yrel-1,y5,y4)
+STEP 91: gripper-down(pr2,x5,y5,xrel0,x5,yrel-1,yrel0,y4,y5)
+STEP 92: unpark(pr2,xrel0,yrel0)
+STEP 93: base-right(pr2,x5,x6,y5)
+STEP 94.0: base-up(pr2,x6,y5,y4)
+STEP 94.1: park(pr2)
+STEP 95: put-up(pr2,x6,y4,xrel0,x6,yrel0,y4,object3,y3)
+STEP 96: finish-object(object3,x6,y3)
+128 actions in the plan.
+total time 62.61 preprocess 20.14 
+total size 6.884 GB
+max. learned clause length 176324
+t val conflicts decisions
+0 0 0 0
+5 0 0 0
+10 0 0 0
+15 0 433 471
+20 -1 1200 1341
+25 -1 1143 1426
+30 -1 1020 1307
+35 -1 960 1343
+40 -1 840 1215
+45 -1 781 1199
+50 -1 720 1141
+55 -1 660 1107
+60 -1 601 1045
+65 -1 541 891
+70 -1 481 790
+75 -1 420 740
+80 -1 420 706
+85 -1 362 639
+90 -1 360 638
+95 -1 301 484
+100 -1 240 419
+105 1 161 334
+