diff --git a/astrobee/survey_manager/survey_planner/pddl/domain_survey.pddl b/astrobee/survey_manager/survey_planner/pddl/domain_survey.pddl
index 36041f47..02a8b779 100644
--- a/astrobee/survey_manager/survey_planner/pddl/domain_survey.pddl
+++ b/astrobee/survey_manager/survey_planner/pddl/domain_survey.pddl
@@ -72,11 +72,7 @@
         ;; completed-panorama: The goal to add if you want the plan to include collecting a
         ;; panorama. For now, goals specify ?robot and ?order parameters that constrain
         ;; multi-robot task allocation and task ordering.
-        (completed-panorama
-            ?robot - robot
-            ?order - order
-            ?location - location
-        )
+        (completed-panorama ?robot - robot ?order - order ?location - location)
 
         ;; completed-stereo: The goal to add if you want the plan to include collecting a stereo
         ;; survey. For now, goals specify ?robot and ?order parameters that constrain multi-robot
@@ -87,11 +83,7 @@
         ;; used for collision checking. It's assumed that ?base and ?bound are not adjacent
         ;; locations. If future stereo surveys violate these assumptions the model will need to be
         ;; revisited.
-        (completed-stereo
-            ?robot - robot
-            ?order - order
-            ?base ?bound - location
-        )
+        (completed-stereo ?robot - robot ?order - order ?base ?bound - location)
     )
 
     (:functions