diff --git a/src/main/java/edu/rpi/rair/DepthFirstPlanner.java b/src/main/java/edu/rpi/rair/DepthFirstPlanner.java
index 5054f24..3549a90 100644
--- a/src/main/java/edu/rpi/rair/DepthFirstPlanner.java
+++ b/src/main/java/edu/rpi/rair/DepthFirstPlanner.java
@@ -13,7 +13,7 @@ import java.util.stream.Collectors;
 public class DepthFirstPlanner implements Planner {
 
 
-    private static  int MAX_DEPTH = 4;
+    private static  int MAX_DEPTH = 5;
     private static  boolean EXHAUSTIVE_TILL_MAX_DEPTH = false;
 
     public static int getMaxDepth() {
diff --git a/src/main/java/edu/rpi/rair/Operations.java b/src/main/java/edu/rpi/rair/Operations.java
index 90aa7bd..517c07a 100644
--- a/src/main/java/edu/rpi/rair/Operations.java
+++ b/src/main/java/edu/rpi/rair/Operations.java
@@ -67,7 +67,7 @@ public class Operations {
         }).findAny();
 
 
-        if(cachedOptional.isPresent()){
+        if(cachedOptional.isPresent() && cachedOptional.get().getValue().isPresent()){
 
             return cachedOptional.get().getValue();
         }
diff --git a/src/main/java/edu/rpi/rair/utils/RunDemo.java b/src/main/java/edu/rpi/rair/utils/RunDemo.java
index 971a971..6ec7f0e 100644
--- a/src/main/java/edu/rpi/rair/utils/RunDemo.java
+++ b/src/main/java/edu/rpi/rair/utils/RunDemo.java
@@ -65,8 +65,7 @@ public class RunDemo {
             long start = System.currentTimeMillis();
 
             Goal g1 = goalTrackingProblem.getGoalNamed("G1");
-            Goal g2a = goalTrackingProblem.getGoalNamed("G2a");
-        Goal g2b = goalTrackingProblem.getGoalNamed("G2b");
+            Goal g2 = goalTrackingProblem.getGoalNamed("G2");
 
             Goal g3 = goalTrackingProblem.getGoalNamed("G3");
             Goal g4 = goalTrackingProblem.getGoalNamed("G4");
@@ -74,8 +73,8 @@ public class RunDemo {
 
             tryAndAddGoal(g1, goalTracker);
 
-            tryAndAddGoal(g2a, goalTracker);
-            tryAndAddGoal(g2b, goalTracker);
+            tryAndAddGoal(g2, goalTracker);
+        //    tryAndAddGoal(g2b, goalTracker);
 
             tryAndAddGoal(g3, goalTracker);
 
diff --git a/src/main/resources/edu/rpi/rair/goal_management_6.clj b/src/main/resources/edu/rpi/rair/goal_management_6.clj
index e0e5304..edde9ec 100644
--- a/src/main/resources/edu/rpi/rair/goal_management_6.clj
+++ b/src/main/resources/edu/rpi/rair/goal_management_6.clj
@@ -157,16 +157,13 @@
  :goals {G1 {:priority 1.0
              :state    [(not (open (door room1)))]}
 
-         G2a {:priority 1.0
+         G2 {:priority 1.0
              :state    [(in prisoner room1)]}
 
-         G2b {:priority 1.0
-             :state    [(in guard room1)]}
-
          G3 {:priority 1.0
              :state    [(sameroom guard prisoner)]}
 
-         G4 {:priority 2.1
+         G4 {:priority 2.0
              :state    [(accompanies prisoner commander)]}
          }