fix: achieve goal if can't fail

src/control_backend/agents/bdi/agentspeak_generator.py

@@ -467,8 +467,7 @@ class AgentSpeakGenerator:
         :param main_goal: Whether this is a main goal (for UI notification purposes).
         """
         context: list[AstExpression] = [self._astify(phase)]
-        if goal.can_fail:
+        context.append(~self._astify(goal, achieved=True))
-            context.append(~self._astify(goal, achieved=True))
         if previous_goal and previous_goal.can_fail:
             context.append(self._astify(previous_goal, achieved=True))
         if not continues_response:
@@ -489,7 +488,7 @@ class AgentSpeakGenerator:
             if isinstance(step, Goal):
                 subgoals.append(step)
 
-        if not goal.can_fail and not continues_response:
+        if not goal.can_fail:
             body.append(AstStatement(StatementType.ADD_BELIEF, self._astify(goal, achieved=True)))
 
         if len(body) == 0: