diff --git a/Examples/ConsumerDemo.cs b/Examples/ConsumerDemo.cs
index 1493945..bf38bf2 100644
--- a/Examples/ConsumerDemo.cs
+++ b/Examples/ConsumerDemo.cs
@@ -19,7 +19,7 @@ internal static void Run() {
             var agent = new Agent(
                 name: "Consumer Agent",
                 state: new() {
-                    { "food", 4 },
+                    { "food", 0 },
                     { "energy", 100 },
                     { "money", 0 },
                     { "inCar", false },
@@ -36,22 +36,25 @@ internal static void Run() {
                     //            }
                     //        }
                     //    })
-                    //new Goal(
-                    //    name: "Get 5 food",
-                    //    desiredState: new() {
-                    //        { "food", 5 }
-                    //    })
-                    new ExtremeGoal(
-                        name: "Get food",
+                    new Goal(
+                        name: "Get 5 food",
                         desiredState: new() {
-                            { "food", true }
+                            { "food", 1 }
                         })
+                    //new ExtremeGoal(
+                    //    name: "Get food",
+                    //    desiredState: new() {
+                    //        { "food", true }
+                    //    })
                 },
                 actions: new() {
                     new(
                         name: "Walk",
-                        cost: 10,
+                        cost: 6f,
                         executor: GenericExecutor,
+                        preconditions: new() {
+                            { "inCar", false }
+                        },
                         permutationSelectors: new() {
                             { "location", PermutationSelectorGenerators.SelectFromCollection(locations) }
                         },
@@ -67,7 +70,7 @@ internal static void Run() {
                     ),
                     new(
                         name: "Drive",
-                        cost: 1,
+                        cost: 1f,
                         preconditions: new() {
                             { "inCar", true }
                         },
@@ -85,9 +88,43 @@ internal static void Run() {
                             { "location", "location" }
                         }
                     ),
+                    //new(
+                    //    name: "Drive to work",
+                    //    cost: 2f,
+                    //    preconditions: new() {
+                    //        { "inCar", true }
+                    //    },
+                    //    comparativePreconditions: new() {
+                    //        { "energy", new() { Operator = ComparisonOperator.GreaterThan, Value = 0 } }
+                    //    },
+                    //    executor: GenericExecutor,
+                    //    arithmeticPostconditions: new() {
+                    //        { "energy", -1 }
+                    //    },
+                    //    postconditions: new() {
+                    //        { "location", "work" }
+                    //    }
+                    //),
+                    //new(
+                    //    name: "Drive to store",
+                    //    cost: 2f,
+                    //    preconditions: new() {
+                    //        { "inCar", true }
+                    //    },
+                    //    comparativePreconditions: new() {
+                    //        { "energy", new() { Operator = ComparisonOperator.GreaterThan, Value = 0 } }
+                    //    },
+                    //    executor: GenericExecutor,
+                    //    arithmeticPostconditions: new() {
+                    //        { "energy", -1 }
+                    //    },
+                    //    postconditions: new() {
+                    //        { "location", "store" }
+                    //    }
+                    //),
                     new(
-                        name: "Get in Car",
-                        cost: 1f,
+                        name: "Get in car",
+                        cost: 0.1f,
                         preconditions: new() {
                             { "inCar", false }
                         },
@@ -102,11 +139,29 @@ internal static void Run() {
                         },
                         executor: GenericExecutor
                     ),
+                    new(
+                        name: "Get out of car",
+                        cost: 0.1f,
+                        preconditions: new() {
+                            { "inCar", true }
+                        },
+                        comparativePreconditions: new() {
+                            { "energy", new() { Operator = ComparisonOperator.GreaterThan, Value = 0 } }
+                        },
+                        postconditions: new() {
+                            { "inCar", false }
+                        },
+                        arithmeticPostconditions: new() {
+                            { "energy", -1 }
+                        },
+                        executor: GenericExecutor
+                    ),
                     new(
                         name: "Work",
-                        cost: 1f,
+                        cost: 6f,
                         preconditions: new() {
                             { "location", "work" },
+                            { "inCar", false }
                         },
                         comparativePreconditions: new() {
                             { "energy", new() { Operator = ComparisonOperator.GreaterThan, Value = 0 } }
@@ -119,9 +174,10 @@ internal static void Run() {
                     ),
                     new(
                         name: "Shop",
-                        cost: 1f,
+                        cost: 1.2f,
                         preconditions: new() {
-                            { "location", "store" }
+                            { "location", "store" },
+                            { "inCar", false }
                         },
                         comparativePreconditions: new() {
                             { "energy", new() { Operator = ComparisonOperator.GreaterThan, Value = 0 } },
diff --git a/MountainGoap/Internals/ActionAStar.cs b/MountainGoap/Internals/ActionAStar.cs
index 411203d..b16d9ac 100644
--- a/MountainGoap/Internals/ActionAStar.cs
+++ b/MountainGoap/Internals/ActionAStar.cs
@@ -65,9 +65,9 @@ private static float Heuristic(ActionNode actionNode, BaseGoal goal, ActionNode
             var cost = 0f;
             if (goal is Goal normalGoal) {
                 normalGoal.DesiredState.Select(kvp => kvp.Key).ToList().ForEach(key => {
-                    if (!actionNode.State.ContainsKey(key)) cost++;
-                    else if (actionNode.State[key] == null && actionNode.State[key] != normalGoal.DesiredState[key]) cost++;
-                    else if (actionNode.State[key] is object obj && !obj.Equals(normalGoal.DesiredState[key])) cost++;
+                    if (!actionNode.State.ContainsKey(key)) cost += actionNode.Cost(actionNode.State);
+                    else if (actionNode.State[key] == null && actionNode.State[key] != normalGoal.DesiredState[key] ) cost += actionNode.Cost(actionNode.State);
+                    else if (actionNode.State[key] is object obj && !obj.Equals(normalGoal.DesiredState[key])) cost += actionNode.Cost(actionNode.State);
                 });
             }
             else if (goal is ExtremeGoal extremeGoal) {
@@ -78,20 +78,19 @@ private static float Heuristic(ActionNode actionNode, BaseGoal goal, ActionNode
                     }
                     if (!actionNode.State.ContainsKey(kvp.Key)) cost += float.PositiveInfinity;
                     else if (!current.State.ContainsKey(kvp.Key)) cost += float.PositiveInfinity;
-                    else if (kvp.Value && actionNode.State[kvp.Key] is object a && current.State[kvp.Key] is object b && IsHigherThan(a, b)) cost++;
-                    else if (!kvp.Value && actionNode.State[kvp.Key] is object a2 && current.State[kvp.Key] is object b2 && IsLowerThan(a2, b2)) cost++;
+                    else if (kvp.Value && actionNode.State[kvp.Key] is object a && current.State[kvp.Key] is object b && IsHigherThan(a, b)) cost += actionNode.Cost(actionNode.State);
+                    else if (!kvp.Value && actionNode.State[kvp.Key] is object a2 && current.State[kvp.Key] is object b2 && IsLowerThan(a2, b2)) cost += actionNode.Cost(actionNode.State);
                 }
             }
             else if (goal is ComparativeGoal comparativeGoal) {
                 foreach (var kvp in comparativeGoal.DesiredState) {
                     if (!actionNode.State.ContainsKey(kvp.Key)) cost += float.PositiveInfinity;
-                    else if (!current.State.ContainsKey(kvp.Key)) cost += float.PositiveInfinity;
                     else if (kvp.Value.Operator == ComparisonOperator.Undefined) cost += float.PositiveInfinity;
-                    else if (kvp.Value.Operator == ComparisonOperator.Equals && actionNode.State[kvp.Key] is object obj && obj.Equals(comparativeGoal.DesiredState[kvp.Key].Value)) cost++;
-                    else if (kvp.Value.Operator == ComparisonOperator.LessThan && actionNode.State[kvp.Key] is object a && current.State[kvp.Key] is object b && IsLowerThan(a, b)) cost++;
-                    else if (kvp.Value.Operator == ComparisonOperator.GreaterThan && actionNode.State[kvp.Key] is object a2 && current.State[kvp.Key] is object b2 && IsHigherThan(a2, b2)) cost++;
-                    else if (kvp.Value.Operator == ComparisonOperator.LessThanOrEquals && actionNode.State[kvp.Key] is object a3 && current.State[kvp.Key] is object b3 && IsLowerThanOrEquals(a3, b3)) cost++;
-                    else if (kvp.Value.Operator == ComparisonOperator.GreaterThanOrEquals && actionNode.State[kvp.Key] is object a4 && current.State[kvp.Key] is object b4 && IsHigherThanOrEquals(a4, b4)) cost++;
+                    else if (kvp.Value.Operator == ComparisonOperator.Equals && actionNode.State[kvp.Key] is object obj && obj.Equals(comparativeGoal.DesiredState[kvp.Key].Value)) cost += actionNode.Cost(actionNode.State);
+                    else if (kvp.Value.Operator == ComparisonOperator.LessThan && actionNode.State[kvp.Key] is object a && comparativeGoal.DesiredState[kvp.Key] is object b && IsLowerThan(a, b)) cost += actionNode.Cost(actionNode.State);
+                    else if (kvp.Value.Operator == ComparisonOperator.GreaterThan && actionNode.State[kvp.Key] is object a2 && comparativeGoal.DesiredState[kvp.Key] is object b2 && IsHigherThan(a2, b2)) cost += actionNode.Cost(actionNode.State);
+                    else if (kvp.Value.Operator == ComparisonOperator.LessThanOrEquals && actionNode.State[kvp.Key] is object a3 && comparativeGoal.DesiredState[kvp.Key] is object b3 && IsLowerThanOrEquals(a3, b3)) cost += actionNode.Cost(actionNode.State);
+                    else if (kvp.Value.Operator == ComparisonOperator.GreaterThanOrEquals && actionNode.State[kvp.Key] is object a4 && comparativeGoal.DesiredState[kvp.Key] is object b4 && IsHigherThanOrEquals(a4, b4)) cost += actionNode.Cost(actionNode.State);
                 }
             }
             return cost;