00005	0  Generate plan schemata
00010		Window,sample,filter,resample....grow..
00100	1  Generating distinguishing features for surfaces from models
00200		using local attributes initially; later global attributes
00300		like shape and size.  Use size now to generate sampling.
00305	2  Generating primitive plans and execution.
00310	2b Generating and executing validation tests.
00315	3  Find surface by indirection (telephone on table, desk edges parallel
00320		to wall edges)
00325	4  Generate plans inccuding special modules (eg vertical rectangle bounding)
00330	5  Finding complex object using interaction between modules.