diff --git a/src/control_backend/agents/bdi/asl_gen.py b/src/control_backend/agents/bdi/asl_gen.py
index f78108a..7d0fa77 100644
--- a/src/control_backend/agents/bdi/asl_gen.py
+++ b/src/control_backend/agents/bdi/asl_gen.py
@@ -214,6 +214,9 @@ class AgentSpeakGenerator:
             body_actions.append(ActionLiteral(f"+achieved_{goal_slug}"))
 
         asl.plans.append(Plan(trigger=GoalLiteral(goal_slug), context=context, body=body_actions))
+        asl.plans.append(
+            Plan(trigger=GoalLiteral(goal_slug), context=[], body=[ActionLiteral("true")])
+        )
 
         prev_sub = None
         for sub_goal in sub_goals_to_process: