src/pages/VisProgPage/visualProgrammingUI/components/Plan.tsx

@@ -67,10 +67,36 @@ function StepReduce(planElement: PlanElement, _nodes: Node[]) : Record<string, u
  * @param plan: the plan to check
  * @returns: a boolean 
  */
-export function DoesPlanIterate(plan?: Plan) : boolean {
+export function DoesPlanIterate( _nodes: Node[], plan?: Plan,) : boolean {
     // TODO: should recursively check plans that have goals (and thus more plans) in them.
     if (!plan) return false
-    return plan.steps.filter((step) => step.type == "llm").length > 0;
+    return plan.steps.filter((step) => step.type == "llm").length > 0 || 
+     (
+        // Find the goal node of this step
+        plan.steps.filter((step) => step.type == "goal").map((goalStep) => {
+        const goalId = goalStep.id;
+        const goalNode = _nodes.find((x) => x.id === goalId);
+        // In case we don't find any valid plan, this node doesn't iterate
+        if (!goalNode || !goalNode.data.plan) return false;
+        // Otherwise, check if this node can fail - if so, we should have the option to iterate
+        return (goalNode && goalNode.data.plan && goalNode.data.can_fail)
+        })
+    ).includes(true);
+}
+
+/**
+ * Checks if any of the plan's goal steps has its can_fail value set to true.
+ * @param plan: plan to check
+ * @param _nodes: nodes in flow store.
+ */
+export function HasCheckingSubGoal(plan: Plan, _nodes: Node[]) {
+    const goalSteps = plan.steps.filter((x) => x.type == "goal");
+    return goalSteps.map((goalStep) => {
+        // Find the goal node and check its can_fail data boolean.
+        const goalId = goalStep.id;
+        const goalNode = _nodes.find((x) => x.id === goalId);
+        return (goalNode && goalNode.data.can_fail)
+    }).includes(true);
 }
 
 /**

src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.tsx

@@ -23,6 +23,7 @@ export default function PlanEditorDialog({
   const [newActionType, setNewActionType] = useState<ActionTypes>("speech");
   const [newActionGestureType, setNewActionGestureType] = useState<boolean>(true);
   const [newActionValue, setNewActionValue] = useState("");
+  const [hasInteractedWithPlan, setHasInteractedWithPlan] = useState<boolean>(false)
   const { setScrollable } = useFlowStore();
   const nodes = useFlowStore().nodes;
 
@@ -56,6 +57,7 @@ export default function PlanEditorDialog({
 
   const buildAction = (): Action => {
     const id = crypto.randomUUID();
+    setHasInteractedWithPlan(true)
     switch (newActionType) {
     case "speech":
      return { id, text: newActionValue, type: "speech" };
@@ -103,7 +105,7 @@ export default function PlanEditorDialog({
               <div className={styles.planEditorLeft}>
               {/* Left Side (Action Adder) */}
                   <h4>Add Action</h4>
-                  {(!plan && description && draftPlan.steps.length === 0) && (<div className={styles.stepSuggestion}>
+                  {(!plan && description && draftPlan.steps.length === 0 && !hasInteractedWithPlan) && (<div className={styles.stepSuggestion}>
                       <label> Filled in as a suggestion! </label>
                       <label> Feel free to change! </label>
                   </div>)}

src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.tsx

@@ -120,7 +120,7 @@ export default function BasicBeliefNode(props: NodeProps<BasicBeliefNode>) {
       wrapping = '"'
       break; 
     case ("semantic"):
-      placeholder = "description..."
+      placeholder = "short description..."
       wrapping = '"'
       break; 
     case ("object"):
@@ -180,7 +180,7 @@ export default function BasicBeliefNode(props: NodeProps<BasicBeliefNode>) {
             <MultilineTextField
                         value={data.belief.description}
                         setValue={setBeliefDescription}
-                        placeholder={"Describe the desciption of this LLM belief..."}
+                        placeholder={"Describe a detailed desciption of this LLM belief..."}
                       />
           </div>
           )}

src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx

@@ -9,7 +9,7 @@ import { TextField } from '../../../../components/TextField';
 import {MultiConnectionHandle} from "../components/RuleBasedHandle.tsx";
 import {allowOnlyConnectionsFromHandle, allowOnlyConnectionsFromType} from "../HandleRules.ts";
 import useFlowStore from '../VisProgStores';
-import {DoesPlanIterate, PlanReduce, type Plan } from '../components/Plan';
+import {DoesPlanIterate, HasCheckingSubGoal, PlanReduce, type Plan } from '../components/Plan';
 import PlanEditorDialog from '../components/PlanEditor';
 import { MultilineTextField } from '../../../../components/MultilineTextField';
 import { defaultPlan } from '../components/Plan.default.ts';
@@ -45,10 +45,12 @@ export type GoalNode = Node<GoalNodeData>
  */
 export default function GoalNode({id, data}: NodeProps<GoalNode>) {
   const {updateNodeData} = useFlowStore();
+  const _nodes = useFlowStore().nodes;
 
   const text_input_id = `goal_${id}_text_input`;
   const checkbox_id = `goal_${id}_checkbox`;
-  const planIterate = DoesPlanIterate(data.plan);
+  const planIterate = DoesPlanIterate(_nodes, data.plan);
+  const hasCheckSubGoal = data.plan !== undefined && HasCheckingSubGoal(data.plan, _nodes)
 
   const setDescription = (value: string) => {
     updateNodeData(id, {...data, description: value});
@@ -75,7 +77,7 @@ export default function GoalNode({id, data}: NodeProps<GoalNode>) {
         />
       </div>
       
-      {data.can_fail && (<div>
+      {(data.can_fail || hasCheckSubGoal) && (<div>
         <label htmlFor={text_input_id}>Description/ Condition of goal:</label>
         <div className={"flex-wrap"}>
           <MultilineTextField
@@ -95,8 +97,8 @@ export default function GoalNode({id, data}: NodeProps<GoalNode>) {
         <input
           id={checkbox_id}
           type={"checkbox"}
-          disabled={!planIterate}
+          disabled={!planIterate || (data.plan && HasCheckingSubGoal(data.plan, _nodes))}
-          checked={!planIterate || data.can_fail}
+          checked={!planIterate || data.can_fail || (data.plan && HasCheckingSubGoal(data.plan, _nodes))}
           onChange={(e) => planIterate ? setFailable(e.target.checked) : setFailable(false)}
         />
       </div>
@@ -137,7 +139,7 @@ export function GoalReduce(node: Node, _nodes: Node[]) {
       id: node.id,
       name: data.name,
       description: data.description,
-      can_fail: data.can_fail,  
+      can_fail: data.can_fail || (data.plan && HasCheckingSubGoal(data.plan, _nodes)),  
       plan: data.plan ? PlanReduce(_nodes, data.plan) : "",
     }
 }