diff --git a/astrobee/survey_manager/survey_planner/data/test_cases/README.md b/astrobee/survey_manager/survey_planner/data/test_cases/README.md
new file mode 100644
index 00000000..160b9afd
--- /dev/null
+++ b/astrobee/survey_manager/survey_planner/data/test_cases/README.md
@@ -0,0 +1,13 @@
+
+This folder contains informal test cases for `problem_generator.py` and `plan_survey.py`. The
+`*_config.yaml` test cases and the `generate.bash` script are precious source, and all other files
+were auto-generated from the test cases and committed so they could be compared to the output of
+future runs.
+
+To run the informal tests, call `generate.bash` in this folder, which will overwrite the committed
+version of the generated files, then run `git diff` to check for differences in the new outputs
+versus their committed version.
+
+Typically we don't expect any differences, but future code changes could change the expected output
+and that might not be an error. Observed changes require informed manual review of correctness. If
+the new output is correct, it should probably be committed.
diff --git a/astrobee/survey_manager/survey_planner/data/test_cases/completed1_config.yaml b/astrobee/survey_manager/survey_planner/data/test_cases/completed1_config.yaml
new file mode 100644
index 00000000..3d477d91
--- /dev/null
+++ b/astrobee/survey_manager/survey_planner/data/test_cases/completed1_config.yaml
@@ -0,0 +1,38 @@
+# Copyright (c) 2023, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking
+# platform" software is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+
+# Test case for marking goals completed. For goals with completed: true, we should see completed-x
+# and need-x predicates asserted in the problem_generator.py output, and those goals should not
+# result in any actions in the plan. This is a fairly minimal test case verifying we can mark both
+# panoramas and stereos as completed.
+
+goals:
+
+- {type: panorama, robot: bumble, order: 0, location: jem_bay4, completed: true}
+- {type: panorama, robot: bumble, order: 1, location: jem_bay3}
+- {type: stereo, robot: bumble, order: 4, trajectory: jem_bay1_to_bay3}
+
+- {type: panorama, robot: honey, order: 1, location: jem_bay7, completed: true}
+- {type: panorama, robot: honey, order: 2, location: jem_bay6}
+- {type: stereo, robot: honey, order: 4, trajectory: jem_bay7_to_bay4, completed: true}
+
+init:
+  bumble:
+    location: berth1
+  honey:
+    location: berth2
diff --git a/astrobee/survey_manager/survey_planner/data/test_cases/completed1_plan.pddl b/astrobee/survey_manager/survey_planner/data/test_cases/completed1_plan.pddl
new file mode 100644
index 00000000..4b233883
--- /dev/null
+++ b/astrobee/survey_manager/survey_planner/data/test_cases/completed1_plan.pddl
@@ -0,0 +1,14 @@
+; Solution Found
+0.000: (undock bumble berth1 jem_bay7 jem_bay6 jem_bay8) [30.000]
+30.001: (move bumble jem_bay7 jem_bay6 jem_bay5) [20.000]
+50.002: (move bumble jem_bay6 jem_bay5 jem_bay4) [20.000]
+70.003: (move bumble jem_bay5 jem_bay4 jem_bay3) [20.000]
+70.004: (undock honey berth2 jem_bay7 jem_bay6 jem_bay8) [30.000]
+90.004: (move bumble jem_bay4 jem_bay3 jem_bay2) [20.000]
+100.005: (move honey jem_bay7 jem_bay6 jem_bay5) [20.000]
+110.005: (panorama bumble o1 jem_bay3) [780.000]
+120.006: (panorama honey o2 jem_bay6) [780.000]
+890.006: (move bumble jem_bay3 jem_bay2 jem_bay1) [20.000]
+910.007: (move bumble jem_bay2 jem_bay1 jem_bay0) [20.000]
+930.008: (stereo bumble o4 jem_bay1 jem_bay4 jem_bay3 jem_bay5) [600.000]
+
diff --git a/astrobee/survey_manager/survey_planner/data/test_cases/completed1_plan.yaml b/astrobee/survey_manager/survey_planner/data/test_cases/completed1_plan.yaml
new file mode 100644
index 00000000..46a0bbbf
--- /dev/null
+++ b/astrobee/survey_manager/survey_planner/data/test_cases/completed1_plan.yaml
@@ -0,0 +1,115 @@
+- start_time_seconds: '0.000'
+  action:
+    type: undock
+    robot: bumble
+  duration_seconds: '30.000'
+- start_time_seconds: '30.001'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay7
+    to_name: jem_bay6
+    to_pos:
+    - 11.0
+    - -9.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '50.002'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay6
+    to_name: jem_bay5
+    to_pos:
+    - 11.0
+    - -8.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '70.003'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay5
+    to_name: jem_bay4
+    to_pos:
+    - 11.0
+    - -7.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '70.004'
+  action:
+    type: undock
+    robot: honey
+  duration_seconds: '30.000'
+- start_time_seconds: '90.004'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay4
+    to_name: jem_bay3
+    to_pos:
+    - 11.0
+    - -6.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '100.005'
+  action:
+    type: move
+    robot: honey
+    from_name: jem_bay7
+    to_name: jem_bay6
+    to_pos:
+    - 11.0
+    - -9.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '110.005'
+  action:
+    type: panorama
+    robot: bumble
+    location_name: jem_bay3
+    location_pos:
+    - 11.0
+    - -6.0
+    - 4.8
+  duration_seconds: '780.000'
+- start_time_seconds: '120.006'
+  action:
+    type: panorama
+    robot: honey
+    location_name: jem_bay6
+    location_pos:
+    - 11.0
+    - -9.0
+    - 4.8
+  duration_seconds: '780.000'
+- start_time_seconds: '890.006'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay3
+    to_name: jem_bay2
+    to_pos:
+    - 11.0
+    - -5.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '910.007'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay2
+    to_name: jem_bay1
+    to_pos:
+    - 11.0
+    - -4.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '930.008'
+  action:
+    type: stereo
+    robot: bumble
+    fplan: ISAAC/jem_stereo_mapping_bay1_to_bay3
+    base_name: jem_bay1
+    bound_name: jem_bay4
+  duration_seconds: '600.000'
diff --git a/astrobee/survey_manager/survey_planner/data/test_cases/completed1_problem.pddl b/astrobee/survey_manager/survey_planner/data/test_cases/completed1_problem.pddl
new file mode 100644
index 00000000..2f20ee7f
--- /dev/null
+++ b/astrobee/survey_manager/survey_planner/data/test_cases/completed1_problem.pddl
@@ -0,0 +1,160 @@
+;; Auto-generated by problem_generator.py. Do not edit!
+;; Command was: src/survey_planner/problem_generator.py --config=data/survey_static.yaml,data/test_cases/completed1_config.yaml --output=data/test_cases/completed1_problem.pddl
+;; Working directory was: data/test_cases
+;; Problem template: ../../pddl/jem_survey_template.pddl
+;; Config 1: data/survey_static.yaml
+;; Config 2: data/test_cases/completed1_config.yaml
+
+(define (problem jem-survey)
+    (:domain survey-manager)
+    (:metric minimize (total-time))
+    (:objects
+        jem_bay0 jem_bay1 jem_bay2 jem_bay3 jem_bay4 jem_bay5 jem_bay6 jem_bay7 jem_bay8 berth1 berth2 - location
+        bumble honey - robot
+        o0 o1 o2 o3 o4 - order
+    )
+
+    (:goal
+        (and
+            (completed-panorama bumble o0 jem_bay4)
+            (completed-panorama bumble o1 jem_bay3)
+            (completed-stereo bumble o4 jem_bay1 jem_bay4)
+            (completed-panorama honey o1 jem_bay7)
+            (completed-panorama honey o2 jem_bay6)
+            (completed-stereo honey o4 jem_bay7 jem_bay4)
+        )
+    )
+
+    (:init
+        ;; === Static predicates ===
+        (move-connected jem_bay0 jem_bay1)
+        (move-connected jem_bay1 jem_bay0)
+        (move-connected jem_bay1 jem_bay2)
+        (move-connected jem_bay2 jem_bay1)
+        (move-connected jem_bay2 jem_bay3)
+        (move-connected jem_bay3 jem_bay2)
+        (move-connected jem_bay3 jem_bay4)
+        (move-connected jem_bay4 jem_bay3)
+        (move-connected jem_bay4 jem_bay5)
+        (move-connected jem_bay5 jem_bay4)
+        (move-connected jem_bay5 jem_bay6)
+        (move-connected jem_bay6 jem_bay5)
+        (move-connected jem_bay6 jem_bay7)
+        (move-connected jem_bay7 jem_bay6)
+        (move-connected jem_bay7 jem_bay8)
+        (move-connected jem_bay8 jem_bay7)
+        (location-real jem_bay1)
+        (location-real jem_bay2)
+        (location-real jem_bay3)
+        (location-real jem_bay4)
+        (location-real jem_bay5)
+        (location-real jem_bay6)
+        (location-real jem_bay7)
+        (dock-connected jem_bay7 berth1)
+        (dock-connected jem_bay7 berth2)
+        (robots-different bumble honey)
+        (robots-different honey bumble)
+        (locations-different jem_bay0 jem_bay1)
+        (locations-different jem_bay0 jem_bay2)
+        (locations-different jem_bay0 jem_bay3)
+        (locations-different jem_bay0 jem_bay4)
+        (locations-different jem_bay0 jem_bay5)
+        (locations-different jem_bay0 jem_bay6)
+        (locations-different jem_bay0 jem_bay7)
+        (locations-different jem_bay0 jem_bay8)
+        (locations-different jem_bay1 jem_bay0)
+        (locations-different jem_bay1 jem_bay2)
+        (locations-different jem_bay1 jem_bay3)
+        (locations-different jem_bay1 jem_bay4)
+        (locations-different jem_bay1 jem_bay5)
+        (locations-different jem_bay1 jem_bay6)
+        (locations-different jem_bay1 jem_bay7)
+        (locations-different jem_bay1 jem_bay8)
+        (locations-different jem_bay2 jem_bay0)
+        (locations-different jem_bay2 jem_bay1)
+        (locations-different jem_bay2 jem_bay3)
+        (locations-different jem_bay2 jem_bay4)
+        (locations-different jem_bay2 jem_bay5)
+        (locations-different jem_bay2 jem_bay6)
+        (locations-different jem_bay2 jem_bay7)
+        (locations-different jem_bay2 jem_bay8)
+        (locations-different jem_bay3 jem_bay0)
+        (locations-different jem_bay3 jem_bay1)
+        (locations-different jem_bay3 jem_bay2)
+        (locations-different jem_bay3 jem_bay4)
+        (locations-different jem_bay3 jem_bay5)
+        (locations-different jem_bay3 jem_bay6)
+        (locations-different jem_bay3 jem_bay7)
+        (locations-different jem_bay3 jem_bay8)
+        (locations-different jem_bay4 jem_bay0)
+        (locations-different jem_bay4 jem_bay1)
+        (locations-different jem_bay4 jem_bay2)
+        (locations-different jem_bay4 jem_bay3)
+        (locations-different jem_bay4 jem_bay5)
+        (locations-different jem_bay4 jem_bay6)
+        (locations-different jem_bay4 jem_bay7)
+        (locations-different jem_bay4 jem_bay8)
+        (locations-different jem_bay5 jem_bay0)
+        (locations-different jem_bay5 jem_bay1)
+        (locations-different jem_bay5 jem_bay2)
+        (locations-different jem_bay5 jem_bay3)
+        (locations-different jem_bay5 jem_bay4)
+        (locations-different jem_bay5 jem_bay6)
+        (locations-different jem_bay5 jem_bay7)
+        (locations-different jem_bay5 jem_bay8)
+        (locations-different jem_bay6 jem_bay0)
+        (locations-different jem_bay6 jem_bay1)
+        (locations-different jem_bay6 jem_bay2)
+        (locations-different jem_bay6 jem_bay3)
+        (locations-different jem_bay6 jem_bay4)
+        (locations-different jem_bay6 jem_bay5)
+        (locations-different jem_bay6 jem_bay7)
+        (locations-different jem_bay6 jem_bay8)
+        (locations-different jem_bay7 jem_bay0)
+        (locations-different jem_bay7 jem_bay1)
+        (locations-different jem_bay7 jem_bay2)
+        (locations-different jem_bay7 jem_bay3)
+        (locations-different jem_bay7 jem_bay4)
+        (locations-different jem_bay7 jem_bay5)
+        (locations-different jem_bay7 jem_bay6)
+        (locations-different jem_bay7 jem_bay8)
+        (locations-different jem_bay8 jem_bay0)
+        (locations-different jem_bay8 jem_bay1)
+        (locations-different jem_bay8 jem_bay2)
+        (locations-different jem_bay8 jem_bay3)
+        (locations-different jem_bay8 jem_bay4)
+        (locations-different jem_bay8 jem_bay5)
+        (locations-different jem_bay8 jem_bay6)
+        (locations-different jem_bay8 jem_bay7)
+
+        ;; === Dynamic predicates ===
+        (robot-available bumble)
+        (robot-available honey)
+        (robot-at bumble berth1)
+        (robot-at honey berth2)
+        (location-available jem_bay0)
+        (location-available jem_bay1)
+        (location-available jem_bay2)
+        (location-available jem_bay3)
+        (location-available jem_bay4)
+        (location-available jem_bay5)
+        (location-available jem_bay6)
+        (location-available jem_bay7)
+        (location-available jem_bay8)
+        (completed-panorama bumble o0 jem_bay4)
+        (completed-panorama honey o1 jem_bay7)
+        (completed-stereo honey o4 jem_bay7 jem_bay4)
+        (need-stereo bumble o4 jem_bay1 jem_bay4)
+
+        ;; === Static numeric fluents ===
+        (= (order-identity o0) 0)
+        (= (order-identity o1) 1)
+        (= (order-identity o2) 2)
+        (= (order-identity o3) 3)
+        (= (order-identity o4) 4)
+
+        ;; === Dynamic numeric fluents ===
+        (= (robot-order bumble) -1)
+        (= (robot-order honey) -1)
+    )  ;; end :init
+)  ;; end problem
diff --git a/astrobee/survey_manager/survey_planner/data/test_cases/completed2_config.yaml b/astrobee/survey_manager/survey_planner/data/test_cases/completed2_config.yaml
new file mode 100644
index 00000000..63fc12f6
--- /dev/null
+++ b/astrobee/survey_manager/survey_planner/data/test_cases/completed2_config.yaml
@@ -0,0 +1,43 @@
+# Copyright (c) 2023, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking
+# platform" software is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+
+# Second test case for marking goals completed. This case is a copy of the baseline problem instance
+# to be used on ISS, but with the first few actions marked complete to simulate the system state if
+# a replan is needed partway through execution. Let's simulate the state at t=~1700 seconds when
+# each robot should have completed its first two panoramas.
+
+goals:
+
+- {type: panorama, robot: bumble, order: 0, location: jem_bay4, completed: true}
+- {type: panorama, robot: bumble, order: 1, location: jem_bay3, completed: true}
+- {type: panorama, robot: bumble, order: 2, location: jem_bay2}
+- {type: panorama, robot: bumble, order: 3, location: jem_bay1}
+- {type: stereo, robot: bumble, order: 4, trajectory: jem_bay1_to_bay3}
+- {type: robot_at, robot: bumble, location: berth1}
+
+- {type: panorama, robot: honey, order: 1, location: jem_bay7, completed: true}
+- {type: panorama, robot: honey, order: 2, location: jem_bay6, completed: true}
+- {type: panorama, robot: honey, order: 3, location: jem_bay5}
+- {type: stereo, robot: honey, order: 4, trajectory: jem_bay7_to_bay4}
+- {type: robot_at, robot: honey, location: berth2}
+
+init:
+  bumble:
+    location: jem_bay3
+  honey:
+    location: jem_bay6
diff --git a/astrobee/survey_manager/survey_planner/data/test_cases/completed2_plan.pddl b/astrobee/survey_manager/survey_planner/data/test_cases/completed2_plan.pddl
new file mode 100644
index 00000000..a6f6b5a9
--- /dev/null
+++ b/astrobee/survey_manager/survey_planner/data/test_cases/completed2_plan.pddl
@@ -0,0 +1,20 @@
+; Solution Found
+0.000: (move bumble jem_bay3 jem_bay2 jem_bay1) [20.000]
+0.001: (move honey jem_bay6 jem_bay5 jem_bay4) [20.000]
+20.001: (panorama bumble o2 jem_bay2) [780.000]
+20.002: (panorama honey o3 jem_bay5) [780.000]
+800.002: (move bumble jem_bay2 jem_bay1 jem_bay0) [20.000]
+800.003: (move honey jem_bay5 jem_bay6 jem_bay7) [20.000]
+820.003: (panorama bumble o3 jem_bay1) [780.000]
+820.004: (move honey jem_bay6 jem_bay7 jem_bay8) [20.000]
+840.005: (stereo honey o4 jem_bay7 jem_bay4 jem_bay3 jem_bay5) [600.000]
+1440.006: (dock honey jem_bay7 berth2) [30.000]
+1600.004: (stereo bumble o4 jem_bay1 jem_bay4 jem_bay3 jem_bay5) [600.000]
+2200.005: (move bumble jem_bay1 jem_bay2 jem_bay3) [20.000]
+2220.006: (move bumble jem_bay2 jem_bay3 jem_bay4) [20.000]
+2240.007: (move bumble jem_bay3 jem_bay4 jem_bay5) [20.000]
+2260.008: (move bumble jem_bay4 jem_bay5 jem_bay6) [20.000]
+2280.009: (move bumble jem_bay5 jem_bay6 jem_bay7) [20.000]
+2300.010: (move bumble jem_bay6 jem_bay7 jem_bay8) [20.000]
+2320.011: (dock bumble jem_bay7 berth1) [30.000]
+
diff --git a/astrobee/survey_manager/survey_planner/data/test_cases/completed2_plan.yaml b/astrobee/survey_manager/survey_planner/data/test_cases/completed2_plan.yaml
new file mode 100644
index 00000000..5753c7a6
--- /dev/null
+++ b/astrobee/survey_manager/survey_planner/data/test_cases/completed2_plan.yaml
@@ -0,0 +1,179 @@
+- start_time_seconds: '0.000'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay3
+    to_name: jem_bay2
+    to_pos:
+    - 11.0
+    - -5.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '0.001'
+  action:
+    type: move
+    robot: honey
+    from_name: jem_bay6
+    to_name: jem_bay5
+    to_pos:
+    - 11.0
+    - -8.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '20.001'
+  action:
+    type: panorama
+    robot: bumble
+    location_name: jem_bay2
+    location_pos:
+    - 11.0
+    - -5.0
+    - 4.8
+  duration_seconds: '780.000'
+- start_time_seconds: '20.002'
+  action:
+    type: panorama
+    robot: honey
+    location_name: jem_bay5
+    location_pos:
+    - 11.0
+    - -8.0
+    - 4.8
+  duration_seconds: '780.000'
+- start_time_seconds: '800.002'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay2
+    to_name: jem_bay1
+    to_pos:
+    - 11.0
+    - -4.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '800.003'
+  action:
+    type: move
+    robot: honey
+    from_name: jem_bay5
+    to_name: jem_bay6
+    to_pos:
+    - 11.0
+    - -9.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '820.003'
+  action:
+    type: panorama
+    robot: bumble
+    location_name: jem_bay1
+    location_pos:
+    - 11.0
+    - -4.0
+    - 4.8
+  duration_seconds: '780.000'
+- start_time_seconds: '820.004'
+  action:
+    type: move
+    robot: honey
+    from_name: jem_bay6
+    to_name: jem_bay7
+    to_pos:
+    - 11.0
+    - -9.7
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '840.005'
+  action:
+    type: stereo
+    robot: honey
+    fplan: ISAAC/jem_stereo_mapping_bay7_to_bay4
+    base_name: jem_bay7
+    bound_name: jem_bay4
+  duration_seconds: '600.000'
+- start_time_seconds: '1440.006'
+  action:
+    type: dock
+    robot: honey
+    berth: berth2
+  duration_seconds: '30.000'
+- start_time_seconds: '1600.004'
+  action:
+    type: stereo
+    robot: bumble
+    fplan: ISAAC/jem_stereo_mapping_bay1_to_bay3
+    base_name: jem_bay1
+    bound_name: jem_bay4
+  duration_seconds: '600.000'
+- start_time_seconds: '2200.005'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay1
+    to_name: jem_bay2
+    to_pos:
+    - 11.0
+    - -5.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '2220.006'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay2
+    to_name: jem_bay3
+    to_pos:
+    - 11.0
+    - -6.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '2240.007'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay3
+    to_name: jem_bay4
+    to_pos:
+    - 11.0
+    - -7.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '2260.008'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay4
+    to_name: jem_bay5
+    to_pos:
+    - 11.0
+    - -8.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '2280.009'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay5
+    to_name: jem_bay6
+    to_pos:
+    - 11.0
+    - -9.0
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '2300.010'
+  action:
+    type: move
+    robot: bumble
+    from_name: jem_bay6
+    to_name: jem_bay7
+    to_pos:
+    - 11.0
+    - -9.7
+    - 4.8
+  duration_seconds: '20.000'
+- start_time_seconds: '2320.011'
+  action:
+    type: dock
+    robot: bumble
+    berth: berth1
+  duration_seconds: '30.000'
diff --git a/astrobee/survey_manager/survey_planner/data/test_cases/completed2_problem.pddl b/astrobee/survey_manager/survey_planner/data/test_cases/completed2_problem.pddl
new file mode 100644
index 00000000..9e2ee20a
--- /dev/null
+++ b/astrobee/survey_manager/survey_planner/data/test_cases/completed2_problem.pddl
@@ -0,0 +1,167 @@
+;; Auto-generated by problem_generator.py. Do not edit!
+;; Command was: src/survey_planner/problem_generator.py --config=data/survey_static.yaml,data/test_cases/completed2_config.yaml --output=data/test_cases/completed2_problem.pddl
+;; Working directory was: data/test_cases
+;; Problem template: ../../pddl/jem_survey_template.pddl
+;; Config 1: data/survey_static.yaml
+;; Config 2: data/test_cases/completed2_config.yaml
+
+(define (problem jem-survey)
+    (:domain survey-manager)
+    (:metric minimize (total-time))
+    (:objects
+        jem_bay0 jem_bay1 jem_bay2 jem_bay3 jem_bay4 jem_bay5 jem_bay6 jem_bay7 jem_bay8 berth1 berth2 - location
+        bumble honey - robot
+        o0 o1 o2 o3 o4 - order
+    )
+
+    (:goal
+        (and
+            (completed-panorama bumble o0 jem_bay4)
+            (completed-panorama bumble o1 jem_bay3)
+            (completed-panorama bumble o2 jem_bay2)
+            (completed-panorama bumble o3 jem_bay1)
+            (completed-stereo bumble o4 jem_bay1 jem_bay4)
+            (robot-at bumble berth1)
+            (completed-panorama honey o1 jem_bay7)
+            (completed-panorama honey o2 jem_bay6)
+            (completed-panorama honey o3 jem_bay5)
+            (completed-stereo honey o4 jem_bay7 jem_bay4)
+            (robot-at honey berth2)
+        )
+    )
+
+    (:init
+        ;; === Static predicates ===
+        (move-connected jem_bay0 jem_bay1)
+        (move-connected jem_bay1 jem_bay0)
+        (move-connected jem_bay1 jem_bay2)
+        (move-connected jem_bay2 jem_bay1)
+        (move-connected jem_bay2 jem_bay3)
+        (move-connected jem_bay3 jem_bay2)
+        (move-connected jem_bay3 jem_bay4)
+        (move-connected jem_bay4 jem_bay3)
+        (move-connected jem_bay4 jem_bay5)
+        (move-connected jem_bay5 jem_bay4)
+        (move-connected jem_bay5 jem_bay6)
+        (move-connected jem_bay6 jem_bay5)
+        (move-connected jem_bay6 jem_bay7)
+        (move-connected jem_bay7 jem_bay6)
+        (move-connected jem_bay7 jem_bay8)
+        (move-connected jem_bay8 jem_bay7)
+        (location-real jem_bay1)
+        (location-real jem_bay2)
+        (location-real jem_bay3)
+        (location-real jem_bay4)
+        (location-real jem_bay5)
+        (location-real jem_bay6)
+        (location-real jem_bay7)
+        (dock-connected jem_bay7 berth1)
+        (dock-connected jem_bay7 berth2)
+        (robots-different bumble honey)
+        (robots-different honey bumble)
+        (locations-different jem_bay0 jem_bay1)
+        (locations-different jem_bay0 jem_bay2)
+        (locations-different jem_bay0 jem_bay3)
+        (locations-different jem_bay0 jem_bay4)
+        (locations-different jem_bay0 jem_bay5)
+        (locations-different jem_bay0 jem_bay6)
+        (locations-different jem_bay0 jem_bay7)
+        (locations-different jem_bay0 jem_bay8)
+        (locations-different jem_bay1 jem_bay0)
+        (locations-different jem_bay1 jem_bay2)
+        (locations-different jem_bay1 jem_bay3)
+        (locations-different jem_bay1 jem_bay4)
+        (locations-different jem_bay1 jem_bay5)
+        (locations-different jem_bay1 jem_bay6)
+        (locations-different jem_bay1 jem_bay7)
+        (locations-different jem_bay1 jem_bay8)
+        (locations-different jem_bay2 jem_bay0)
+        (locations-different jem_bay2 jem_bay1)
+        (locations-different jem_bay2 jem_bay3)
+        (locations-different jem_bay2 jem_bay4)
+        (locations-different jem_bay2 jem_bay5)
+        (locations-different jem_bay2 jem_bay6)
+        (locations-different jem_bay2 jem_bay7)
+        (locations-different jem_bay2 jem_bay8)
+        (locations-different jem_bay3 jem_bay0)
+        (locations-different jem_bay3 jem_bay1)
+        (locations-different jem_bay3 jem_bay2)
+        (locations-different jem_bay3 jem_bay4)
+        (locations-different jem_bay3 jem_bay5)
+        (locations-different jem_bay3 jem_bay6)
+        (locations-different jem_bay3 jem_bay7)
+        (locations-different jem_bay3 jem_bay8)
+        (locations-different jem_bay4 jem_bay0)
+        (locations-different jem_bay4 jem_bay1)
+        (locations-different jem_bay4 jem_bay2)
+        (locations-different jem_bay4 jem_bay3)
+        (locations-different jem_bay4 jem_bay5)
+        (locations-different jem_bay4 jem_bay6)
+        (locations-different jem_bay4 jem_bay7)
+        (locations-different jem_bay4 jem_bay8)
+        (locations-different jem_bay5 jem_bay0)
+        (locations-different jem_bay5 jem_bay1)
+        (locations-different jem_bay5 jem_bay2)
+        (locations-different jem_bay5 jem_bay3)
+        (locations-different jem_bay5 jem_bay4)
+        (locations-different jem_bay5 jem_bay6)
+        (locations-different jem_bay5 jem_bay7)
+        (locations-different jem_bay5 jem_bay8)
+        (locations-different jem_bay6 jem_bay0)
+        (locations-different jem_bay6 jem_bay1)
+        (locations-different jem_bay6 jem_bay2)
+        (locations-different jem_bay6 jem_bay3)
+        (locations-different jem_bay6 jem_bay4)
+        (locations-different jem_bay6 jem_bay5)
+        (locations-different jem_bay6 jem_bay7)
+        (locations-different jem_bay6 jem_bay8)
+        (locations-different jem_bay7 jem_bay0)
+        (locations-different jem_bay7 jem_bay1)
+        (locations-different jem_bay7 jem_bay2)
+        (locations-different jem_bay7 jem_bay3)
+        (locations-different jem_bay7 jem_bay4)
+        (locations-different jem_bay7 jem_bay5)
+        (locations-different jem_bay7 jem_bay6)
+        (locations-different jem_bay7 jem_bay8)
+        (locations-different jem_bay8 jem_bay0)
+        (locations-different jem_bay8 jem_bay1)
+        (locations-different jem_bay8 jem_bay2)
+        (locations-different jem_bay8 jem_bay3)
+        (locations-different jem_bay8 jem_bay4)
+        (locations-different jem_bay8 jem_bay5)
+        (locations-different jem_bay8 jem_bay6)
+        (locations-different jem_bay8 jem_bay7)
+
+        ;; === Dynamic predicates ===
+        (robot-available bumble)
+        (robot-available honey)
+        (robot-at bumble jem_bay3)
+        (robot-at honey jem_bay6)
+        (location-available berth1)
+        (location-available berth2)
+        (location-available jem_bay0)
+        (location-available jem_bay1)
+        (location-available jem_bay2)
+        (location-available jem_bay4)
+        (location-available jem_bay5)
+        (location-available jem_bay7)
+        (location-available jem_bay8)
+        (completed-panorama bumble o0 jem_bay4)
+        (completed-panorama bumble o1 jem_bay3)
+        (completed-panorama honey o1 jem_bay7)
+        (completed-panorama honey o2 jem_bay6)
+        (need-stereo bumble o4 jem_bay1 jem_bay4)
+        (need-stereo honey o4 jem_bay7 jem_bay4)
+
+        ;; === Static numeric fluents ===
+        (= (order-identity o0) 0)
+        (= (order-identity o1) 1)
+        (= (order-identity o2) 2)
+        (= (order-identity o3) 3)
+        (= (order-identity o4) 4)
+
+        ;; === Dynamic numeric fluents ===
+        (= (robot-order bumble) -1)
+        (= (robot-order honey) -1)
+    )  ;; end :init
+)  ;; end problem
diff --git a/astrobee/survey_manager/survey_planner/data/test_cases/generate.bash b/astrobee/survey_manager/survey_planner/data/test_cases/generate.bash
new file mode 100755
index 00000000..f5ad8b99
--- /dev/null
+++ b/astrobee/survey_manager/survey_planner/data/test_cases/generate.bash
@@ -0,0 +1,46 @@
+#!/bin/bash
+
+# Copyright (c) 2023, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking
+# platform" software is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+
+# DESCRIPTION
+# Regenerate outputs from *_config.yaml test cases.
+
+set -eu -o pipefail
+
+THIS_FILE=$(readlink -f "$0")
+THIS_DIR=$(dirname "${THIS_FILE}")
+
+SURVEY_PLANNER_DIR=$(readlink -f "${THIS_DIR}/../..")
+PDDL_DIR="${SURVEY_PLANNER_DIR}/pddl"
+DATA_DIR="${SURVEY_PLANNER_DIR}/data"
+CASES_DIR="${DATA_DIR}/test_cases"
+cd "${THIS_DIR}"
+
+TEST_CASES=(completed1 completed2)
+
+set -x
+for i in "${TEST_CASES[@]}"; do
+    { echo -e "\n=== $i ==="; } 2> /dev/null
+    rosrun survey_planner problem_generator.py "--config=${DATA_DIR}/survey_static.yaml,${CASES_DIR}/${i}_config.yaml" "--output=${CASES_DIR}/${i}_problem.pddl"
+    # Try to eliminate variation in problem.pddl due to embedding different local install paths in the output.
+    perl -i -ple "s:${SURVEY_PLANNER_DIR}/::g;" "${CASES_DIR}/${i}_problem.pddl"
+    rosrun survey_planner plan_survey.py "${PDDL_DIR}/domain_survey.pddl" "${CASES_DIR}/${i}_problem.pddl" > "${CASES_DIR}/${i}_plan.pddl"
+    { echo "[plan_survey.py stdout redirected to ${CASES_DIR}/${i}_plan.pddl]"; } 2> /dev/null
+    rosrun survey_planner plan_interpreter.py "--plan=${CASES_DIR}/${i}_plan.pddl" "--plot=${CASES_DIR}/${i}_plot.png" "--output=${CASES_DIR}/${i}_plan.yaml"
+done
diff --git a/astrobee/survey_manager/survey_planner/src/mypy.ini b/astrobee/survey_manager/survey_planner/src/survey_planner/mypy.ini
similarity index 100%
rename from astrobee/survey_manager/survey_planner/src/mypy.ini
rename to astrobee/survey_manager/survey_planner/src/survey_planner/mypy.ini
diff --git a/astrobee/survey_manager/survey_planner/src/survey_planner/plan_survey.py b/astrobee/survey_manager/survey_planner/src/survey_planner/plan_survey.py
index 9c2879ee..ba3671a4 100755
--- a/astrobee/survey_manager/survey_planner/src/survey_planner/plan_survey.py
+++ b/astrobee/survey_manager/survey_planner/src/survey_planner/plan_survey.py
@@ -22,6 +22,7 @@
     List,
     NamedTuple,
     Optional,
+    Set,
     Tuple,
     Type,
     TypeVar,
@@ -45,6 +46,7 @@
 ExecutionTrace = List["TraceEvent"]
 OrderName = str  # Names PDDL object of type order
 PddlExpression = Any  # Actually a pp.ParseResults. But 'Any' satisfies mypy.
+PddlPredicate = Any  # More specific than PddlExpression, same from mypy perspective.
 PddlActionName = str  # Names PDDL action
 T = TypeVar("T")  # So we can assign parametric types below
 PddlTypeName = str  # Names PDDL object type
@@ -285,7 +287,7 @@ class SimState:
     trace: ExecutionTrace = field(default_factory=list)
     "Trace of timestamped actions executed so far in the sim."
 
-    completed: Dict[Any, bool] = field(default_factory=dict)
+    completed: Set[str] = field(default_factory=set)
     "Tracks completion status for actions that subclass MarkCompleteAction."
 
     events: PriorityQueue[PendingEvent] = field(default_factory=PriorityQueue)
@@ -325,29 +327,40 @@ class MarkCompleteAction(Action):
     order: OrderName
     "Propagates goal ordering constraint from problem instance. Required by PDDL model."
 
+    def get_completed_predicate(self) -> str:
+        "Return the completed-x predicate asserted when this action is completed."
+        return repr(self).replace("(", "(completed-", 1)
+
     def end(self, sim_state: SimState) -> None:
         super().end(sim_state)
-        sim_state.completed[repr(self)] = True
+        sim_state.completed.add(self.get_completed_predicate())
 
     def is_complete(self, sim_state: SimState) -> bool:
         """
         Return True if this action has been completed in `sim_state`.
         """
-        return sim_state.completed.get(repr(self), False)
+        return self.get_completed_predicate() in sim_state.completed
 
 
 def get_collision_check_locations(
-    from_pos: LocationName, to_pos: LocationName
+    from_pos: LocationName, to_pos: LocationName, include_to_pos: bool = True
 ) -> List[str]:
     """
-    Return neighbors of `to_pos` that are distinct from `from_pos` and are flying locations. A move
-    is invalid if one of these collision check locations is reserved by another robot. The PDDL
-    models of some actions also require collision check locations to be specified as arguments.
+    Return locations that need to be checked for collision avoidance purposes prior to moving to
+    `to_pos`. Locations include `to_pos` itself and neighbors of `to_pos` that are distinct from
+    `from_pos` and are flying locations. If another robot has reserved any of these locations the
+    move is invalid.
+
+    :param include_to_pos: If False, don't include `to_pos` in the result. This is handy
+      for filling in move action "check" arguments that conform to the PDDL planning model.
     """
     to_ind = CONFIG.location_lookup[to_pos]
     to_neighbors_ind = CONFIG.neighbors[to_ind]
     to_neighbors = [CONFIG.locations[n] for n in to_neighbors_ind]
-    return [n for n in to_neighbors if is_location_flying(n) and n != from_pos]
+    result = [n for n in to_neighbors if is_location_flying(n) and n != from_pos]
+    if include_to_pos:
+        result.append(to_pos)
+    return result
 
 
 def get_collision_reason(
@@ -383,11 +396,13 @@ class AbstractMoveAction(Action):
     to: LocationName
     "The location the robot should move to."
 
-    def get_collision_check_locations(self) -> List[str]:
+    def get_collision_check_locations(self, include_to_pos: bool = True) -> List[str]:
         """
         Return collision check locations for this move action.
         """
-        return get_collision_check_locations(self.from_pos, self.to)
+        return get_collision_check_locations(
+            self.from_pos, self.to, include_to_pos=include_to_pos
+        )
 
     def get_pddl_args(self) -> List[Any]:
         return [self.robot, self.from_pos, self.to]
@@ -433,7 +448,10 @@ class MoveAction(AbstractMoveAction):
 
     def get_pddl_args(self) -> List[Any]:
         # One check location argument is required for move
-        return super().get_pddl_args() + self.get_collision_check_locations()[:1]
+        return (
+            super().get_pddl_args()
+            + self.get_collision_check_locations(include_to_pos=False)[:1]
+        )
 
     def invalid_reason(self, sim_state: SimState) -> str:
         super_reason = super().invalid_reason(sim_state)
@@ -465,7 +483,10 @@ class UndockAction(AbstractMoveAction):
 
     def get_pddl_args(self) -> List[Any]:
         # Two check location arguments are required for undock
-        return super().get_pddl_args() + self.get_collision_check_locations()[:2]
+        return (
+            super().get_pddl_args()
+            + self.get_collision_check_locations(include_to_pos=False)[:2]
+        )
 
     def invalid_reason(self, sim_state: SimState) -> str:
         super_reason = super().invalid_reason(sim_state)
@@ -507,9 +528,20 @@ class StereoAction(MarkCompleteAction):
 
     def get_pddl_args(self) -> List[Any]:
         # Two collision check arguments are required for stereo action
-        check_locs = get_collision_check_locations(self.base, self.bound)[:2]
+        check_locs = get_collision_check_locations(
+            self.base, self.bound, include_to_pos=False
+        )[:2]
         return [self.robot, self.order, self.base, self.bound] + check_locs
 
+    def get_completed_predicate(self) -> str:
+        # Unlike the panorama action, where the completed-panorama predicate takes exactly the same
+        # arguments as the action, for the completed-stereo predicate we don't include the collision
+        # check arguments.
+        args_str = " ".join(
+            ["completed-stereo", self.robot, self.order, self.base, self.bound]
+        )
+        return f"({args_str})"
+
     def invalid_reason(self, sim_state: SimState) -> str:
         robot_state = sim_state.robot_states[self.robot]
         if robot_state.pos != self.base:
@@ -573,7 +605,7 @@ class RobotExecState:
 
     status: RobotStatus = "INIT"
     """
-    Execution states of the robot. DONE = completed all goals, BLOCKED = the next action to perform
+    Execution status of the robot. DONE = completed all goals, BLOCKED = the next action to perform
     is not (yet) valid, ACTIVE = robot is actively working on a goal.
     """
 
@@ -750,7 +782,7 @@ def get_completing_action(self) -> MarkCompleteAction:
         raise NotImplementedError()  # Note: Can't mark as @abstractmethod due to mypy limitation
 
     def __repr__(self) -> str:
-        return repr(self.get_completing_action()).replace("(", "(completed-", 1)
+        return self.get_completing_action().get_completed_predicate()
 
     def is_complete(self, exec_state: ExecState) -> bool:
         return self.get_completing_action().is_complete(exec_state.sim_state)
@@ -910,7 +942,10 @@ def filter_none(seq: Iterable[Optional[T]]) -> List[T]:
 def get_objects_by_type(
     problem: PddlExpression,
 ) -> Dict[PddlTypeName, List[PddlObjectName]]:
-    "Return robot names parsed from PDDL problem instance."
+    """
+    Return mapping from PDDL type name to a list of object instances of that type, parsed from
+    `problem`.
+    """
     (objects_clause,) = [e for e in problem[2:] if e[0] == ":objects"]
     # object_decls example: ["foo", "bar", "-", "int", "baz", "-", "float"]
     object_decls = list(objects_clause[1:])
@@ -943,15 +978,26 @@ def get_robot_goals(problem: PddlExpression) -> Dict[RobotName, List[Goal]]:
     return robot_goals
 
 
+def get_init_predicates(problem: PddlExpression) -> List[PddlPredicate]:
+    "Return the predicates in the initial state of `problem`."
+    # Example problem snippet:
+    # (define (problem jem-survey)
+    #  ... other clauses ...
+    #  (:init (pred1 arg1 arg2) (pred2 arg1 arg2)))
+    #
+    # We want to return the list of predicates in the :init clause.
+    (init_clause,) = [e for e in problem[2:] if e[0] == ":init"]
+    return init_clause[1:]
+
+
 def get_robot_states(problem: PddlExpression) -> Dict[RobotName, RobotState]:
     """
-    Return a mapping of robot name to robot state parsed from `problem`.
+    Return a mapping of robot name to robot state extracted from `problem`.
     """
     robot_states = {
         robot: RobotState(pos="", action=None, reserved=[]) for robot in CONFIG.robots
     }
-    (init_clause,) = [e for e in problem[2:] if e[0] == ":init"]
-    init_predicates = init_clause[1:]
+    init_predicates = get_init_predicates(problem)
     robot_at_predicates = [p for p in init_predicates if p[0] == "robot-at"]
     for _, robot, pos in robot_at_predicates:
         robot_states[robot].pos = pos
@@ -959,6 +1005,17 @@ def get_robot_states(problem: PddlExpression) -> Dict[RobotName, RobotState]:
     return robot_states
 
 
+def get_completed_predicates(problem: PddlExpression) -> List[PddlPredicate]:
+    "Return the completed action predicates in the initial state of `problem`."
+    return [p for p in get_init_predicates(problem) if p[0].startswith("completed-")]
+
+
+def string_from_predicate(expr: PddlPredicate) -> str:
+    "Return the PDDL string representation of `expr`."
+    space_list = " ".join((str(item) for item in expr))
+    return f"({space_list})"
+
+
 def survey_planner(domain_path: pathlib.Path, problem_path: pathlib.Path):
     "Primary driver function for custom planning."
 
@@ -975,8 +1032,10 @@ def survey_planner(domain_path: pathlib.Path, problem_path: pathlib.Path):
 
     robot_goals = get_robot_goals(problem_expr)
     robot_states = get_robot_states(problem_expr)
+    completed_predicates = get_completed_predicates(problem_expr)
+    completed_set = {string_from_predicate(p) for p in completed_predicates}
 
-    sim_state = SimState(robot_states=robot_states)
+    sim_state = SimState(robot_states=robot_states, completed=completed_set)
     robot_exec_states = {
         robot: RobotExecState(robot_goals[robot]) for robot in CONFIG.robots
     }
diff --git a/astrobee/survey_manager/survey_planner/src/survey_planner/problem_generator.py b/astrobee/survey_manager/survey_planner/src/survey_planner/problem_generator.py
index 4968f00c..5bfea135 100755
--- a/astrobee/survey_manager/survey_planner/src/survey_planner/problem_generator.py
+++ b/astrobee/survey_manager/survey_planner/src/survey_planner/problem_generator.py
@@ -99,10 +99,14 @@ def load_yaml(yaml_path: pathlib.Path) -> YamlMapping:
         return yaml.safe_load(yaml_stream)
 
 
-def get_stereo_traj(static_config, base, bound):
+def get_stereo_traj(config: YamlMapping, base: str, bound: str) -> str:
+    """
+    Return the name of the fplan file that specifies the trajectory for the stereo action with
+    arguments `base` and `bound`, as looked up in `config`.
+    """
     traj_matches = [
         traj
-        for traj in static_config["stereo"].values()
+        for traj in config["stereo"].values()
         if traj["base_location"] == base and traj["bound_location"] == bound
     ]
     assert (
@@ -112,9 +116,7 @@ def get_stereo_traj(static_config, base, bound):
     return fplan
 
 
-def yaml_action_from_pddl(
-    action: str, static_config: YamlMapping
-) -> Optional[YamlMapping]:
+def yaml_action_from_pddl(action: str, config: YamlMapping) -> Optional[YamlMapping]:
     """
     Return a YamlMapping representation of `action`. This is the only place
     we really need domain-specific logic.
@@ -143,7 +145,7 @@ def yaml_action_from_pddl(
             "robot": robot,
             "from_name": from_bay,
             "to_name": to_bay,
-            "to_pos": static_config["bays"][to_bay],
+            "to_pos": config["bays"][to_bay],
         }
 
     if action_type == "panorama":
@@ -153,13 +155,13 @@ def yaml_action_from_pddl(
             "type": "panorama",
             "robot": robot,
             "location_name": location,
-            "location_pos": static_config["bays"][location],
+            "location_pos": config["bays"][location],
         }
 
     if action_type == "stereo":
         robot, _order, base, bound, _check1, _check2 = action_args[1:]
         # Use base and bound to look up trajectory.
-        fplan = get_stereo_traj(static_config, base, bound)
+        fplan = get_stereo_traj(config, base, bound)
 
         # Can discard order check1, check2.
         return {
@@ -177,9 +179,10 @@ def yaml_action_from_pddl(
     return {}  # Make pylint happy
 
 
-def pddl_goal_from_yaml(goal: YamlMapping, config_static: YamlMapping) -> str:
+def pddl_goal_from_yaml(goal: YamlMapping, config: YamlMapping) -> str:
     """
-    Convert a YAML goal with named fields from the dynamic config into a PDDL goal predicate.
+    Return the result of converting `goal` from a YAML object with named fields to a PDDL goal
+    predicate, looking up info in `config` as needed.
     """
     goal_type = goal["type"]
     assert (
@@ -196,7 +199,7 @@ def pddl_goal_from_yaml(goal: YamlMapping, config_static: YamlMapping) -> str:
         robot = goal["robot"]
         order = goal["order"]
         trajectory = goal["trajectory"]
-        traj_info = config_static["stereo"][trajectory]
+        traj_info = config["stereo"][trajectory]
         base = traj_info["base_location"]
         bound = traj_info["bound_location"]
         return f"(completed-stereo {robot} o{order} {base} {bound})"
@@ -451,7 +454,7 @@ def problem_generator(
     robots = config["robots"]
     writer.declare_instances(robots, "robot")
 
-    max_order = max([goal.get("order", -1) for goal in config["goals"]])
+    max_order = max((goal.get("order", -1) for goal in config["goals"]))
     num_orders = max_order + 1
     orders = [f"o{i}" for i in range(num_orders)]
     writer.declare_instances(orders, "order")
@@ -503,10 +506,17 @@ def problem_generator(
     ]
     writer.declare_predicates(location_available_lines, "dynamic_predicates")
 
+    completed_goals = [
+        pddl_goal_from_yaml(goal, config)
+        for goal in yaml_goals
+        if goal.get("completed", False)
+    ]
+    writer.declare_predicates(completed_goals, "dynamic_predicates")
+
     need_stereo_lines = [
-        goal.replace("completed-stereo", "need-stereo")
-        for goal in pddl_goals
-        if "completed-stereo" in goal
+        pddl_goal_from_yaml(goal, config).replace("completed-stereo", "need-stereo")
+        for goal in yaml_goals
+        if goal["type"] == "stereo" and not goal.get("completed", False)
     ]
     writer.declare_predicates(need_stereo_lines, "dynamic_predicates")
 
@@ -519,7 +529,7 @@ def problem_generator(
     output_path = pathlib.Path(
         str(output_path_template).replace("{ext}", writer.get_extension())
     )
-    output_path.write_text(writer.getvalue())
+    output_path.write_text(writer.getvalue(), encoding="utf-8")
     print(f"Wrote to {output_path}", file=sys.stderr)