Task-oriented dialogue (TOD) requires capabilities such as lookahead planning, reasoning, and belief state tracking, which continue to present challenges for end-to-end methods based on large language models (LLMs). As a possible method of addressing these concerns, we are exploring the integration of structured semantic representations with planning inferences. As a first step in this project, we describe an algorithm for generating Minimal Recursion Semantics (MRS) from dependency parses, obtained from a machine learning (ML) syntactic parser, and validate its performance on a challenging cooking domain. Specifically, we compare predicate-argument relations recovered by our approach with predicate-argument relations annotated using Abstract Meaning Representation (AMR). Our system is consistent with the gold standard in 94.1% of relations.