planning_loop()
add_possible_actions_to_plan()
expand_plan_steps()
merge_plan_steps()
reorder_plan_steps()
expand_condition_step()
expand_repetition_step()
expand_primitive_step()
plan_paraphrase()
plan_respond()
plan_answer()
plan_ask()
plan_react()
say_to_step_from_utt()
say_to_step_from_utts()
schema_step()
split_schema_step()
Generate a say-to subplan from an utterance.