Recent studies have focused on autonomous agents that select their own goals and thenselect actions to achieve these goals, using online Goal Reasoning (GR). GR agents canrevise goals and plans at execution time if unexpected outcomes occur. However, for ethicalor legal agent design, even the partial execution of an online plan may result in foreseeablenorm violations. To prevent these violations, it is crucial to incorporate GR already at theplanning phase. To this end, we design an offline GR system that can harbour normativesystems or deontic logics for goal generation. Our main results include a characterizationand comparison of the completeness classes for a variety of offline GR planners, and adiscussion of the irreducibility of offline GR to pure planning methods.