This paper addresses the question of how planning research could be reasserted to balance the relationship between theory and practice. To that end, a twofold approach is taken: on the one hand, different interrelations among planning theory, research and practice are set out building on Jacques Lacan's 'four discourses'-the master's, the university's, the hysteric's and the analyst's. On the other hand, a process to formulate the plan regulador (local normative master plan) of a canton in southern Costa Rica is drawn upon, through storytelling, to shed light on the aforementioned relations. The article's in-conclusion is that among planning theory, research and practice, rather than a synergic co-constitution, linkages that challenge, occlude, bypass or control one another are generated. Moreover, due to the apophenic ability of universal(izing)-technocratic(ized) theories to obviate the 'right measure' between action and reaction, discourses of research and practice are manipulated and the role of theory as 'master signifier' upheld. However, the 'counter-discourses' of both the hysteric and the analyst could be articulated by a planning 'critical-hysterical' research, which, in turn, would allow epiphanies to come to the fore, separate action from reaction and, pragmatically and dynamically, co-constitute planning theory, research and practice.