diff --git a/src/agent.py b/src/agent.py
index 217d346..2b6391f 100644
--- a/src/agent.py
+++ b/src/agent.py
@@ -153,9 +153,7 @@ class Agent:
 
     def get_start_state(self):
         entities = self.simulation.state.entities
-        for entity in entities:
-            if entity.entity_type == 'truck':
-              orientation = entity.orientation
+        # orientation - self.orientation
         position = self.current_pos
         house_list = tuple(self.houses)
         start_state = (position, house_list)
@@ -169,14 +167,22 @@ class Agent:
 
     def succesor(self, state):
         successors_pos = self.graph[state[0]]
-        house_list = [state[1]]
+        house_list = state[1]
         successors = ()
         for pos in successors_pos:
             if pos in house_list:
+                house_list = list(house_list)
                 house_list.remove(pos)
-                successors += ((pos, tuple(house_list)),)
+                house_list = tuple(house_list)
+
+                successors = list(successors)
+                successors.append((pos, tuple(house_list)))
+                successors = tuple(successors)
             else:
-                successors += ((pos, tuple(house_list)),)
+                successors = list(successors)
+                successors.append((pos, tuple(house_list)))
+                successors = tuple(successors)
+
         return successors
 
 
@@ -204,10 +210,11 @@ class Agent:
 
             explored.add(elem)
 
-            for succ in self.succesor(elem):
+            succs = self.succesor(elem)
+            for succ in succs:
 
                 node = (succ, elem)
-                p = self.heuristic(succ[0], goaltest[0])
+                p = self.heuristic(succ[0], goaltest[0]) + self.weight_cost(elem[0], succ[0])
 
                 if succ not in explored and not any(tup[1][0] == succ for tup in fringe):
                     heapq.heappush(fringe, (p,node))