diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index d6635599f..766fe138c 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -14,7 +14,7 @@ env:
   up_tamer_commit: "fba59b93ed7a85370f4bbf0dc5310bbeffce05b7"
   up_pyperplan_commit: "a24854213caf5038e1540e31613d24b93825fbb3"
   up_fast_downward_commit: "c60b6ab82cb8c3046cfd4782afe4d4c6071c4109"
-  up_enhsp_commit: "f689d3b65bed921bed35c61b468ca771ae6f54a2"
+  up_enhsp_commit: "36894fb546336e5e0814da517ff582cd7c67ef3c"
   up_fmap_commit: "f29e66c8483abcb8f17ff1c46a0745ee9b1e95fa"
 
 jobs:
diff --git a/unified_planning/test/examples/processes.py b/unified_planning/test/examples/processes.py
index 05fff6097..67f6a1e77 100644
--- a/unified_planning/test/examples/processes.py
+++ b/unified_planning/test/examples/processes.py
@@ -1,6 +1,5 @@
 from unified_planning.shortcuts import *
 from unified_planning.model.action import Process
-from unified_planning.io import PDDLReader, PDDLWriter
 
 
 on = Fluent("on")
diff --git a/unified_planning/test/pddl/car_nl/d.pddl b/unified_planning/test/pddl/car_nl/d.pddl
new file mode 100644
index 000000000..a262c7c37
--- /dev/null
+++ b/unified_planning/test/pddl/car_nl/d.pddl
@@ -0,0 +1,73 @@
+;; Enrico Scala (enricos83@gmail.com) and Miquel Ramirez (miquel.ramirez@gmail.com)
+(define
+    (domain car_nonlinear_mt_sc)
+
+    (:predicates
+        (engine_running)
+        (engine_stopped)
+    )
+
+    (:functions
+        (d)
+        (v)
+        (a)
+        (drag_coefficient)
+        (max_acceleration)
+        (min_acceleration)
+    )
+
+    (:action accelerate
+        :parameters ()
+        :precondition (and (< (a) (max_acceleration)) (engine_running) )
+        :effect (increase (a) 1.0)  ;;
+    )
+
+    (:action stop_car
+        :parameters ()
+        :precondition (and (> (v) -0.1) (< (v) 0.1) (= (a) 0.0) (engine_running))
+        :effect (and
+                        (assign (v) 0.0)
+                        (engine_stopped)
+                        (not (engine_running))
+                )
+
+    )
+
+    (:action start_car
+        :parameters ()
+        :precondition (engine_stopped)
+        :effect (and
+                    (engine_running)
+                    (not (engine_stopped))
+                )
+    )
+
+
+    (:action decelerate
+        :parameters ()
+        :precondition (and (> (a) (min_acceleration)) (engine_running))
+        :effect (decrease (a) 1.0) ;;
+    )
+
+    (:process displacement
+        :parameters ()
+        :precondition (and (engine_running) (> (v) 0))
+        :effect (increase (d) (* #t (v)))
+    )
+
+    (:process moving_acceleration
+        :parameters ()
+        :precondition (engine_running)
+        :effect (and
+                    (increase (v)  (* #t (a)) )   ;; velocity changes because of the acceleration
+        )
+    )
+    (:process drag_ahead
+        :parameters ()
+        :precondition (and (engine_running) (> (v) 0))
+        :effect (and
+                    (decrease (v)  (* #t (* (* (v) (v)) (drag_coefficient)  ) )  )  ;; velocity changes because of the acceleration
+        )
+    )
+
+)
diff --git a/unified_planning/test/pddl/car_nl/p.pddl b/unified_planning/test/pddl/car_nl/p.pddl
new file mode 100644
index 000000000..17ee7dc92
--- /dev/null
+++ b/unified_planning/test/pddl/car_nl/p.pddl
@@ -0,0 +1,24 @@
+;; Enrico Scala (enricos83@gmail.com) and Miquel Ramirez (miquel.ramirez@gmail.com)
+
+(define (problem instance_1_300_01_100)
+  (:domain car_nonlinear_mt_sc)
+
+  (:init
+    (= (d) 0.0)
+	(= (v) 0.0)
+	(engine_stopped)
+	(= (a) 0.0)
+	(= (max_acceleration) 1)
+	(= (min_acceleration) -1)
+	(= (drag_coefficient) 0.1)
+	(= (max_speed) 10.0)
+  )
+
+  (:goal
+    (and 
+	(>= (d) 29.5 )
+	(<= (d) 30.5 )
+	(engine_stopped)
+	)
+  )
+)