diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_3.env b/m-mp/ipc-2011_tidybot-sequential-satisficing_3.env
new file mode 100644
index 000000000..46e4b83e3
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_3.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-3.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: 3
+  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_3.err b/m-mp/ipc-2011_tidybot-sequential-satisficing_3.err
new file mode 100644
index 000000000..38f152ecd
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_3.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': 3}
+# 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-3.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-3.pddl --stats --verbose -m 8192
+FINISHED CPU 7.00 MEM 33472 MAXMEM 1534672 STALE 0 MAXMEM_RSS 567396
+<time name="ALL">6900</time>
+
diff --git a/m-mp/ipc-2011_tidybot-sequential-satisficing_3.out b/m-mp/ipc-2011_tidybot-sequential-satisficing_3.out
new file mode 100644
index 000000000..070fd9a74
--- /dev/null
+++ b/m-mp/ipc-2011_tidybot-sequential-satisficing_3.out
@@ -0,0 +1,95 @@
+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-3.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: tidybot
+Problem: test
+Parser: 38082 ground actions and 760 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15  2.19 secs
+Goal: conjunctive
+Simplified: 15807 ground actions and 337 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.18 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 274 MB)
+Horizon 0: 337 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 81057 variables
+5 UNSAT (0 decisions 0 conflicts)
+Horizon 10: 161777 variables
+				Allocated 32 MB (total 556 MB)
+10 UNSAT (30 decisions 29 conflicts)
+Horizon 15: 242497 variables
+Horizon 20: 323217 variables
+Horizon 25: 403937 variables
+				Allocated 32 MB permanent (total 979 MB)
+Horizon 30: 484657 variables
+Horizon 35: 565377 variables
+				Allocated 32 MB permanent (total 1236 MB)
+Horizon 40: 646097 variables
+SAT (148 decisions 83 conflicts)
+PLAN FOUND: 35 steps
+STEP 0: gripper-down(pr2,x0,y0,xrel0,x0,yrel0,yrel1,y0,y1)
+STEP 1: gripper-up(pr2,x0,y0,xrel0,x0,yrel1,yrel0,y1,y0)
+STEP 2: unpark(pr2,xrel0,yrel0)
+STEP 3: base-right(pr2,x0,x1,y0)
+STEP 4: base-right(pr2,x1,x2,y0)
+STEP 5: base-down(pr2,x2,y0,y1)
+STEP 6: base-down(pr2,x2,y1,y2)
+STEP 7.0: base-right(pr2,x2,x3,y2)
+STEP 7.1: park(pr2)
+STEP 8.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1)
+STEP 8.1: gripper-down(pr2,x3,y2,xrel0,x3,yrel0,yrel1,y2,y3)
+STEP 9: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
+STEP 10.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1)
+STEP 10.1: gripper-down(pr2,x3,y2,xrel0,x3,yrel0,yrel1,y2,y3)
+STEP 11: get-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4)
+STEP 12.0: put-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4)
+STEP 12.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
+STEP 13.0: get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object0,y1)
+STEP 13.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
+STEP 14.0: put-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object0,y1)
+STEP 14.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3)
+STEP 15: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3)
+STEP 16.0: get-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object1,y4)
+STEP 16.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
+STEP 17: gripper-up(pr2,x3,y2,xrel0,x3,yrel0,yrel-1,y2,y1)
+STEP 18: gripper-down(pr2,x3,y2,xrel0,x3,yrel-1,yrel0,y1,y2)
+STEP 19.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object1,y1)
+STEP 19.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
+STEP 20.0: get-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object0,y1)
+STEP 20.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3)
+STEP 21: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3)
+STEP 22.0: put-down(pr2,x3,y2,xrel0,x3,yrel1,y3,object0,y4)
+STEP 22.1: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
+STEP 23.0: finish-object(object0,x3,y4) get-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object1,y1)
+STEP 23.1: gripper-right(pr2,x3,y2,xrel0,xrel1,x3,x4,yrel0,y2)
+STEP 24.0: put-up(pr2,x3,y2,xrel1,x4,yrel0,y2,object1,y1)
+STEP 24.1: gripper-down(pr2,x3,y2,xrel1,x4,yrel0,yrel1,y2,y3)
+STEP 25.0: finish-object(object1,x4,y1) get-down(pr2,x3,y2,xrel1,x4,yrel1,y3,object3,y4)
+STEP 25.1: gripper-left(pr2,x3,y2,xrel1,xrel0,x4,x3,yrel1,y3)
+STEP 26: gripper-up(pr2,x3,y2,xrel0,x3,yrel1,yrel0,y3,y2)
+STEP 27.0: put-up(pr2,x3,y2,xrel0,x3,yrel0,y2,object3,y1)
+STEP 27.1: unpark(pr2,xrel0,yrel0)
+STEP 28.0: base-down(pr2,x3,y2,y3) finish-object(object3,x3,y1)
+STEP 28.1: park(pr2)
+STEP 29: gripper-right(pr2,x3,y3,xrel0,xrel1,x3,x4,yrel0,y3)
+STEP 30: gripper-down(pr2,x3,y3,xrel1,x4,yrel0,yrel1,y3,y4)
+STEP 31.0: get-down(pr2,x3,y3,xrel1,x4,yrel1,y4,object2,y5)
+STEP 31.1: gripper-up(pr2,x3,y3,xrel1,x4,yrel1,yrel0,y4,y3)
+STEP 32: put-down(pr2,x3,y3,xrel1,x4,yrel0,y3,object2,y4)
+STEP 33: finish-object(object2,x4,y4)
+53 actions in the plan.
+total time 6.56 preprocess 4.78 
+total size 1.427 GB
+max. learned clause length 25827
+t val conflicts decisions
+0 0 0 0
+5 0 0 0
+10 0 29 30
+15 -1 361 419
+20 -1 300 367
+25 -1 243 381
+30 -1 180 259
+35 1 83 148
+