void instantiatePlan(Affordance start, Affordance goal)
{
constraints.Add(Tuple.New(start, goal));
addToOrderingConstraints(start, goal);
actions.Add(start);
actions.Add(goal);
foreach (Condition p in goal.getPreconditions())
{
agenda.Push(Tuple.New(p, goal));
}
createAllPossibleActions();
}
