diff --git a/src/control_backend/agents/bdi/bdi_program_manager.py b/src/control_backend/agents/bdi/bdi_program_manager.py
index 5b2d484..8f5bf03 100644
--- a/src/control_backend/agents/bdi/bdi_program_manager.py
+++ b/src/control_backend/agents/bdi/bdi_program_manager.py
@@ -310,6 +310,54 @@ class AgentSpeakGenerator:
 
         lines.append("")
 
+        extra_previous_goal: Goal | None = None
+        for extra_goal in extra_goals_to_generate:
+            lines += self._generate_trigger_plan_recursive(extra_goal, phase, extra_previous_goal)
+            extra_previous_goal = extra_goal
+
+        return lines
+
+    def _generate_trigger_plan_recursive(
+        self, goal: Goal, phase: Phase, previous_goal: Goal | None = None
+    ) -> list[str]:
+        lines = []
+        lines.append(f"+{self._slugify(goal, include_prefix=True)}")
+
+        extra_goals_to_generate = []
+
+        steps = goal.plan.steps
+
+        if len(steps) == 0:
+            lines.append(f"{' ' * 2}<-{' ' * 2}true.")
+            return lines
+
+        first_step = steps[0]
+        lines.append(
+            f"{' ' * 2}<-{' ' * 2}{self._slugify(first_step, include_prefix=True)}"
+            f"{'.' if len(steps) == 1 and goal.can_fail else ';'}"
+        )
+        if isinstance(first_step, Goal):
+            extra_goals_to_generate.append(first_step)
+
+        for step in steps[1:-1]:
+            lines.append(f"{' ' * 6}{self._slugify(step, include_prefix=True)};")
+            if isinstance(step, Goal):
+                extra_goals_to_generate.append(step)
+
+        if len(steps) > 1:
+            last_step = steps[-1]
+            lines.append(
+                f"{' ' * 6}{self._slugify(last_step, include_prefix=True)}"
+                f"{'.' if goal.can_fail else ';'}"
+            )
+            if isinstance(last_step, Goal):
+                extra_goals_to_generate.append(last_step)
+
+        if not goal.can_fail:
+            lines.append(f"{' ' * 6}+achieved_{self._slugify(goal)}.")
+
+        lines.append("")
+
         extra_previous_goal: Goal | None = None
         for extra_goal in extra_goals_to_generate:
             lines += self._generate_goal_plan_recursive(extra_goal, phase, extra_previous_goal)
@@ -457,3 +505,7 @@ class BDIProgramManager(BaseAgent):
         self.sub_socket.subscribe("program")
 
         self.add_behavior(self._receive_programs())
+
+
+if __name__ == "__main__":
+    do_things()