diff --git a/nlp.py b/nlp.py
index ace6de90d..9f7c68ed3 100644
--- a/nlp.py
+++ b/nlp.py
@@ -239,17 +239,17 @@ def __repr__(self):
 
 
 E_Chomsky = Grammar('E_Prob_Chomsky', # A Grammar in Chomsky Normal Form
-        Rules(
-           S='NP VP',
-           NP='Article Noun | Adjective Noun',
-           VP='Verb NP | Verb Adjective',
-        ),
-        Lexicon(
-           Article='the | a | an',
-           Noun='robot | sheep | fence',
-           Adjective='good | new | sad',
-           Verb='is | say | are'
-        ))
+                    Rules(
+                       S='NP VP',
+                       NP='Article Noun | Adjective Noun',
+                       VP='Verb NP | Verb Adjective',
+                    ),
+                    Lexicon(
+                       Article='the | a | an',
+                       Noun='robot | sheep | fence',
+                       Adjective='good | new | sad',
+                       Verb='is | say | are'
+                    ))
 
 E_Prob_Chomsky = ProbGrammar('E_Prob_Chomsky', # A Probabilistic Grammar in CNF
                              ProbRules(
@@ -263,7 +263,18 @@ def __repr__(self):
                                 Adjective='good [0.5] | new [0.2] | sad [0.3]',
                                 Verb='is [0.5] | say [0.3] | are [0.2]'
                              ))
-
+E_Prob_Chomsky_ = ProbGrammar('E_Prob_Chomsky_',
+                             ProbRules(
+                                S='NP VP [1]',
+                                NP='NP PP [0.4] | Noun Verb [0.6]',
+                                PP='Preposition NP [1]',
+                                VP='Verb NP [0.7] | VP PP [0.3]',
+                                ),
+                             ProbLexicon(
+                                Noun='astronomers [0.18] | eyes [0.32] | stars [0.32] | telescopes [0.18]',
+                                Verb='saw [0.5] | \'\' [0.5]',
+                                Preposition='with [1]'
+                                ))
 
 # ______________________________________________________________________________
 # Chart Parsing
diff --git a/planning.py b/planning.py
index e31c8b3a3..e67616b4a 100644
--- a/planning.py
+++ b/planning.py
@@ -26,7 +26,7 @@ def act(self, action):
         """
         Performs the action given as argument.
         Note that action is an Expr like expr('Remove(Glass, Table)') or expr('Eat(Sandwich)')
-        """
+        """       
         action_name = action.op
         args = action.args
         list_action = first(a for a in self.actions if a.name == action_name)
@@ -536,7 +536,7 @@ def double_tennis_problem():
             expr('Partner(B, A)')]
 
     def goal_test(kb):
-        required = [expr('Goal(Returned(Ball))'), expr('At(a, RightNet)'), expr('At(a, LeftNet)')]
+        required = [expr('Returned(Ball)'), expr('At(a, LeftNet)'), expr('At(a, RightNet)')]
         return all(kb.ask(q) is not False for q in required)
 
     # Actions
@@ -546,14 +546,14 @@ def goal_test(kb):
     precond_neg = []
     effect_add = [expr("Returned(Ball)")]
     effect_rem = []
-    hit = Action(expr("Hit(actor, Ball)"), [precond_pos, precond_neg], [effect_add, effect_rem])
+    hit = Action(expr("Hit(actor, Ball, loc)"), [precond_pos, precond_neg], [effect_add, effect_rem])
 
     # Go
     precond_pos = [expr("At(actor, loc)")]
     precond_neg = []
     effect_add = [expr("At(actor, to)")]
     effect_rem = [expr("At(actor, loc)")]
-    go = Action(expr("Go(actor, to)"), [precond_pos, precond_neg], [effect_add, effect_rem])
+    go = Action(expr("Go(actor, to, loc)"), [precond_pos, precond_neg], [effect_add, effect_rem])
 
     return PDDL(init, [hit, go], goal_test)
 
@@ -862,3 +862,17 @@ def goal_test(kb):
 
     return Problem(init, [add_engine1, add_engine2, add_wheels1, add_wheels2, inspect1, inspect2],
                    goal_test, [job_group1, job_group2], resources)
+
+
+def test_three_block_tower():
+    p = three_block_tower()
+    assert p.goal_test() is False
+    solution = [expr("MoveToTable(C, A)"),
+                expr("Move(B, Table, C)"),
+                expr("Move(A, Table, B)")]
+
+    for action in solution:
+        p.act(action)
+
+    assert p.goal_test()
+
diff --git a/tests/.pytest_cache/v/cache/lastfailed b/tests/.pytest_cache/v/cache/lastfailed
new file mode 100644
index 000000000..e69de29bb
diff --git a/tests/test_nlp.py b/tests/test_nlp.py
index 1d8320cdc..978685a4e 100644
--- a/tests/test_nlp.py
+++ b/tests/test_nlp.py
@@ -113,6 +113,11 @@ def test_CYK_parse():
     P = CYK_parse(words, grammar)
     assert len(P) == 52
 
+    grammar = nlp.E_Prob_Chomsky_
+    words = ['astronomers', 'saw', 'stars']
+    P = CYK_parse(words, grammar)
+    assert len(P) == 32
+
 
 # ______________________________________________________________________________
 # Data Setup
diff --git a/tests/test_planning.py b/tests/test_planning.py
index 2c355f54c..c10c0e9ba 100644
--- a/tests/test_planning.py
+++ b/tests/test_planning.py
@@ -62,7 +62,19 @@ def test_spare_tire():
 
     assert p.goal_test()
 
+def test_double_tennis():
+    p = double_tennis_problem()
+    assert p.goal_test() is False
+
+    solution = [expr("Go(A, RightBaseLine, LeftBaseLine)"),
+                expr("Hit(A, Ball, RightBaseLine)"),
+                expr("Go(A, LeftNet, RightBaseLine)")]
+
+    for action in solution:
+        p.act(action)
 
+    assert p.goal_test()
+    
 def test_three_block_tower():
     p = three_block_tower()
     assert p.goal_test() is False