refactor: adapted to fit the split made in monitoringPage

ref: N25B-450
feat: added warnings to inferredBeliefNodes
2026-01-27 10:47:00 +01:00 · 2026-01-23 18:30:26 +01:00 · 2026-01-23 18:23:46 +01:00 · 2026-01-23 18:18:08 +01:00 · 2026-01-23 17:10:48 +01:00 · 2026-01-23 12:57:35 +00:00
119 changed files with 15262 additions and 1887 deletions
--- a/.githooks/check-branch-name.sh
+++ b/.githooks/check-branch-name.sh
@@ -0,0 +1,77 @@
+#!/usr/bin/env bash
+
+# This script checks if the current branch name follows the specified format.
+# It's designed to be used as a 'pre-commit' git hook.
+
+# Format: <type>/<short-description>
+# Example: feat/add-user-login
+
+# --- Configuration ---
+# An array of allowed commit types
+ALLOWED_TYPES=(feat fix refactor perf style test docs build chore revert)
+# An array of branches to ignore
+IGNORED_BRANCHES=(main dev demo)
+
+# --- Colors for Output ---
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+# --- Helper Functions ---
+error_exit() {
+  echo -e "${RED}ERROR: $1${NC}" >&2
+  echo -e "${YELLOW}Branch name format is incorrect. Aborting commit.${NC}" >&2
+  exit 1
+}
+
+# --- Main Logic ---
+
+# 1. Get the current branch name
+BRANCH_NAME=$(git symbolic-ref --short HEAD)
+
+# 2. Check if the current branch is in the ignored list
+for ignored_branch in "${IGNORED_BRANCHES[@]}"; do
+  if [ "$BRANCH_NAME" == "$ignored_branch" ]; then
+    echo -e "${GREEN}Branch check skipped for default branch: $BRANCH_NAME${NC}"
+    exit 0
+  fi
+done
+
+# 3. Validate the overall structure: <type>/<description>
+if ! [[ "$BRANCH_NAME" =~ ^[a-z]+/.+$ ]]; then
+  error_exit "Branch name must be in the format: <type>/<short-description>\nExample: feat/add-user-login"
+fi
+
+# 4. Extract the type and description
+TYPE=$(echo "$BRANCH_NAME" | cut -d'/' -f1)
+DESCRIPTION=$(echo "$BRANCH_NAME" | cut -d'/' -f2-)
+
+# 5. Validate the <type>
+type_valid=false
+for allowed_type in "${ALLOWED_TYPES[@]}"; do
+  if [ "$TYPE" == "$allowed_type" ]; then
+    type_valid=true
+    break
+  fi
+done
+
+if [ "$type_valid" == false ]; then
+  error_exit "Invalid type '$TYPE'.\nAllowed types are: ${ALLOWED_TYPES[*]}"
+fi
+
+# 6. Validate the <short-description>
+# Regex breakdown:
+# ^[a-z0-9]+      - Starts with one or more lowercase letters/numbers (the first word).
+# (-[a-z0-9]+){0,5} - Followed by a group of (dash + word) 0 to 5 times.
+# $               - End of the string.
+# This entire pattern enforces 1 to 6 words total, separated by dashes.
+DESCRIPTION_REGEX="^[a-z0-9]+(-[a-z0-9]+){0,5}$"
+
+if ! [[ "$DESCRIPTION" =~ $DESCRIPTION_REGEX ]]; then
+  error_exit "Invalid short description '$DESCRIPTION'.\nIt must be a maximum of 6 words, all lowercase, separated by dashes.\nExample: add-new-user-authentication-feature"
+fi
+
+# If all checks pass, exit successfully
+echo -e "${GREEN}Branch name '$BRANCH_NAME' is valid.${NC}"
+exit 0
--- a/.githooks/check-commit-msg.sh
+++ b/.githooks/check-commit-msg.sh
@@ -0,0 +1,138 @@
+#!/usr/bin/env bash
+
+# This script checks if a commit message follows the specified format.
+# It's designed to be used as a 'commit-msg' git hook.
+
+# Format:
+# <type>: <short description>
+#
+# [optional]<body>
+#
+# [ref/close]: <issue identifier>
+
+# --- Configuration ---
+# An array of allowed commit types
+ALLOWED_TYPES=(feat fix refactor perf style test docs build chore revert)
+
+# --- Colors for Output ---
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+# The first argument to the hook is the path to the file containing the commit message
+COMMIT_MSG_FILE=$1
+
+# --- Automated Commit Detection ---
+
+# Read the first line (header) for initial checks
+HEADER=$(head -n 1 "$COMMIT_MSG_FILE")
+
+echo 'Given commit message:'
+echo $HEADER
+
+# Check for Merge commits (covers 'git merge' and PR merges from GitHub/GitLab)
+# Examples: "Merge branch 'main' into ...", "Merge pull request #123 from ..."
+MERGE_PATTERN="^Merge (remote-tracking )?(branch|pull request|tag) .*"
+if [[ "$HEADER" =~ $MERGE_PATTERN ]]; then
+  echo -e "${GREEN}Merge commit detected by message content. Skipping validation.${NC}"
+  exit 0
+fi
+
+# Check for Revert commits
+# Example: "Revert "feat: add new feature""
+REVERT_PATTERN="^Revert \".*\""
+if [[ "$HEADER" =~ $REVERT_PATTERN ]]; then
+  echo -e "${GREEN}Revert commit detected by message content. Skipping validation.${NC}"
+  exit 0
+fi
+
+# Check for Cherry-pick commits (this pattern appears at the end of the message)
+# Example: "(cherry picked from commit deadbeef...)"
+# We use grep -q to search the whole file quietly.
+CHERRY_PICK_PATTERN="\(cherry picked from commit [a-f0-9]{7,40}\)"
+if grep -qE "$CHERRY_PICK_PATTERN" "$COMMIT_MSG_FILE"; then
+  echo -e "${GREEN}Cherry-pick detected by message content. Skipping validation.${NC}"
+  exit 0
+fi
+
+# Check for Squash
+# Example: "Squash commits ..."
+SQUASH_PATTERN="^Squash .+"
+if [[ "$HEADER" =~ $SQUASH_PATTERN ]]; then
+  echo -e "${GREEN}Squash commit detected by message content. Skipping validation.${NC}"
+  exit 0
+fi
+
+# --- Validation Functions ---
+
+# Function to print an error message and exit
+# Usage: error_exit "Your error message here"
+error_exit() {
+  # >&2 redirects echo to stderr
+  echo -e "${RED}ERROR: $1${NC}" >&2
+  echo -e "${YELLOW}Commit message format is incorrect. Aborting commit.${NC}" >&2
+  exit 1
+}
+
+# --- Main Logic ---
+
+# 1. Read the header (first line) of the commit message
+HEADER=$(head -n 1 "$COMMIT_MSG_FILE")
+
+# 2. Validate the header format: <type>: <description>
+# Regex breakdown:
+# ^(type1|type2|...)  - Starts with one of the allowed types
+# :                    - Followed by a literal colon
+# \s                   - Followed by a single space
+# .+                   - Followed by one or more characters for the description
+# $                    - End of the line
+TYPES_REGEX=$(
+  IFS="|"
+  echo "${ALLOWED_TYPES[*]}"
+)
+HEADER_REGEX="^($TYPES_REGEX): .+$"
+
+if ! [[ "$HEADER" =~ $HEADER_REGEX ]]; then
+  error_exit "Invalid header format.\n\nHeader must be in the format: <type>: <short description>\nAllowed types: ${ALLOWED_TYPES[*]}\nExample: feat: add new user authentication feature"
+fi
+
+# Only validate footer if commit type is not chore
+TYPE=$(echo "$HEADER" | cut -d':' -f1)
+if [ "$TYPE" != "chore" ]; then
+  # 3. Validate the footer (last line) of the commit message
+  FOOTER=$(tail -n 1 "$COMMIT_MSG_FILE")
+
+  # Regex breakdown:
+  # ^(ref|close)         - Starts with 'ref' or 'close'
+  # :                    - Followed by a literal colon
+  # \s                   - Followed by a single space
+  # N25B-                - Followed by the literal string 'N25B-'
+  # [0-9]+               - Followed by one or more digits
+  # $                    - End of the line
+  FOOTER_REGEX="^(ref|close): N25B-[0-9]+$"
+
+  if ! [[ "$FOOTER" =~ $FOOTER_REGEX ]]; then
+    error_exit "Invalid footer format.\n\nFooter must be in the format: [ref/close]: <issue identifier>\nExample: ref: N25B-123"
+  fi
+fi
+
+# 4. If the message has more than 2 lines, validate the separator
+#    A blank line must exist between the header and the body.
+LINE_COUNT=$(wc -l <"$COMMIT_MSG_FILE" | xargs) # xargs trims whitespace
+
+# We only care if there is a body. Header + Footer = 2 lines.
+# Header + Blank Line + Body... + Footer > 2 lines.
+if [ "$LINE_COUNT" -gt 2 ]; then
+  # Get the second line
+  SECOND_LINE=$(sed -n '2p' "$COMMIT_MSG_FILE")
+
+  # Check if the second line is NOT empty. If it's not, it's an error.
+  if [ -n "$SECOND_LINE" ]; then
+    error_exit "Missing blank line between header and body.\n\nThe second line of your commit message must be empty if a body is present."
+  fi
+fi
+
+# If all checks pass, exit with success
+echo -e "${GREEN}Commit message is valid.${NC}"
+exit 0
--- a/.githooks/commit-msg
+++ b/.githooks/commit-msg
@@ -1,16 +0,0 @@
-#!/bin/sh
-
-commit_msg_file=$1
-commit_msg=$(cat "$commit_msg_file")
-
-if echo "$commit_msg" | grep -Eq "^(feat|fix|refactor|perf|style|test|docs|build|chore|revert): .+"; then
-  if echo "$commit_msg" | grep -Eq "^(ref|close):\sN25B-.+"; then
-    exit 0
-  else
-    echo "❌ Commit message invalid! Must end with [ref/close]: N25B-000"
-    exit 1
-  fi
-else
-  echo "❌ Commit message invalid! Must start with <type>: <description>"
-  exit 1
-fi
--- a/.githooks/pre-commit
+++ b/.githooks/pre-commit
@@ -1,17 +0,0 @@
-#!/bin/sh
-
-# Get current branch
-branch=$(git rev-parse --abbrev-ref HEAD)
-
-if echo "$branch" | grep -Eq "(dev|main)"; then
-  echo 0
-fi
-
-# allowed pattern <type/>
-if echo "$branch" | grep -Eq "^(feat|fix|refactor|perf|style|test|docs|build|chore|revert)\/\w+(-\w+){0,5}$"; then
-  exit 0
-else
-  echo "❌ Invalid branch name: $branch"
-  echo "Branch must be named <type>/<description-of-branch> (must have one to six words separated by a dash)"
-  exit 1
-fi
--- a/.githooks/prepare-commit-msg
+++ b/.githooks/prepare-commit-msg
@@ -1,9 +0,0 @@
-#!/bin/sh
-
-echo "#<type>: <description>
-
-#[optional body]
-
-#[optional footer(s)]
-
-#[ref/close]: <issue identifier>" > $1
--- a/.gitignore
+++ b/.gitignore
@@ -24,4 +24,7 @@ dist-ssr
 *.sw?

 # Coverage report
-coverage
+coverage
+
+# Documentation pages (can be generated)
+docs
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -0,0 +1,53 @@
+# ---------- GLOBAL SETUP ---------- #
+workflow:
+  rules:
+    - if: '$CI_PIPELINE_SOURCE == "merge_request_event"'
+
+stages:
+  - install
+  - lint
+  - test
+
+variables:
+  NODE_VERSION: "24.11.1"
+  BASE_LAYER: trixie-slim
+
+default:
+  image: docker.io/library/node:${NODE_VERSION}-${BASE_LAYER}
+  cache:
+    key: "${CI_COMMIT_REF_SLUG}"
+    paths:
+      - node_modules/
+    policy: pull-push
+
+# --------- INSTALLING --------- #
+install:
+  stage: install
+  tags:
+    - install
+  script:
+    - npm ci
+  artifacts:
+    paths:
+      - node_modules/
+    expire_in: 1h
+
+# ---------- LINTING ---------- #
+lint:
+  stage: lint
+  needs:
+    - install
+  tags:
+    - lint
+  script:
+    - npm run lint
+
+# ---------- TESTING ---------- #
+test:
+  stage: test
+  needs:
+    - install
+  tags:
+    - test
+  script:
+    - npm run test
--- a/.husky/commit-msg
+++ b/.husky/commit-msg
@@ -0,0 +1 @@
+sh .githooks/check-commit-msg.sh $1
--- a/.husky/pre-commit
+++ b/.husky/pre-commit
@@ -0,0 +1,3 @@
+sh .githooks/check-branch-name.sh
+
+npm run lint
--- a/README.md
+++ b/README.md
@@ -28,16 +28,26 @@ npm run dev

 It should automatically reload when you save changes.

-## GitHooks
+## Git Hooks

-To activate automatic commits/branch name checks run:
+To activate automatic linting, branch name checks and commit message checks, run:

-```shell
-git config --local core.hooksPath .githooks
+```bash
+npm run prepare
 ```

-If your commit fails its either:
-branch name != <type>/description-of-branch , 
-commit name !=  <type>: description of the commit.
-                <ref>: N25B-Num's
+You might get an error along the lines of `Can't install pre-commit with core.hooksPath` set. To fix this, simply unset the hooksPath by running:

+```bash
+git config --local --unset core.hooksPath
+```
+
+Then run the pre-commit install commands again.
+
+## Documentation
+
+Generate documentation webpages with the command:
+
+```shell
+npx typedoc --entryPointStrategy Expand src
+```
--- a/eslint.config.js
+++ b/eslint.config.js
@@ -1,23 +1,38 @@
-import js from '@eslint/js'
-import globals from 'globals'
-import reactHooks from 'eslint-plugin-react-hooks'
-import reactRefresh from 'eslint-plugin-react-refresh'
-import tseslint from 'typescript-eslint'
-import { defineConfig, globalIgnores } from 'eslint/config'
+import js from "@eslint/js"
+import globals from "globals"
+import reactHooks from "eslint-plugin-react-hooks"
+import reactRefresh from "eslint-plugin-react-refresh"
+import tseslint from "typescript-eslint"
+import { defineConfig, globalIgnores } from "eslint/config"

 export default defineConfig([
-  globalIgnores(['dist']),
+  globalIgnores(["dist"]),
  {
-    files: ['**/*.{ts,tsx}'],
+    files: ["**/*.{ts,tsx}"],
    extends: [
      js.configs.recommended,
      tseslint.configs.recommended,
-      reactHooks.configs['recommended-latest'],
+      reactHooks.configs["recommended-latest"],
      reactRefresh.configs.vite,
    ],
    languageOptions: {
      ecmaVersion: 2020,
      globals: globals.browser,
    },
+    rules: {
+      "@typescript-eslint/no-unused-vars": [
+        "warn",
+        {
+          argsIgnorePattern: "^_",
+          varsIgnorePattern: "^_",
+        },
+      ],
+    },
+  },
+  {
+    files: ["test/**/*.{ts,tsx}"],
+    rules: {
+      "@typescript-eslint/no-explicit-any": "off",
+    },
  },
 ])
--- a/package-lock.json
+++ b/package-lock.json
@@ -10,9 +10,11 @@
      "dependencies": {
        "@neodrag/react": "^2.3.1",
        "@xyflow/react": "^12.8.6",
+        "clsx": "^2.1.1",
        "react": "^19.1.1",
        "react-dom": "^19.1.1",
        "react-router": "^7.9.3",
+        "reactflow": "^11.11.4",
        "zustand": "^5.0.8"
      },
      "devDependencies": {
@@ -24,14 +26,17 @@
        "@types/react": "^19.1.13",
        "@types/react-dom": "^19.1.9",
        "@vitejs/plugin-react": "^5.0.3",
+        "baseline-browser-mapping": "^2.9.11",
        "eslint": "^9.36.0",
        "eslint-plugin-react-hooks": "^5.2.0",
        "eslint-plugin-react-refresh": "^0.4.20",
        "globals": "^16.4.0",
+        "husky": "^9.1.7",
        "identity-obj-proxy": "^3.0.0",
        "jest": "^30.2.0",
        "jest-environment-jsdom": "^30.2.0",
        "ts-jest": "^29.4.5",
+        "typedoc": "^0.28.14",
        "typescript": "~5.8.3",
        "typescript-eslint": "^8.44.0",
        "vite": "^7.1.7"
@@ -1348,6 +1353,20 @@
        "node": "^18.18.0 || ^20.9.0 || >=21.1.0"
      }
    },
+    "node_modules/@gerrit0/mini-shiki": {
+      "version": "3.15.0",
+      "resolved": "https://registry.npmjs.org/@gerrit0/mini-shiki/-/mini-shiki-3.15.0.tgz",
+      "integrity": "sha512-L5IHdZIDa4bG4yJaOzfasOH/o22MCesY0mx+n6VATbaiCtMeR59pdRqYk4bEiQkIHfxsHPNgdi7VJlZb2FhdMQ==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@shikijs/engine-oniguruma": "^3.15.0",
+        "@shikijs/langs": "^3.15.0",
+        "@shikijs/themes": "^3.15.0",
+        "@shikijs/types": "^3.15.0",
+        "@shikijs/vscode-textmate": "^10.0.2"
+      }
+    },
    "node_modules/@humanfs/core": {
      "version": "0.19.1",
      "resolved": "https://registry.npmjs.org/@humanfs/core/-/core-0.19.1.tgz",
@@ -1460,9 +1479,9 @@
      }
    },
    "node_modules/@istanbuljs/load-nyc-config/node_modules/js-yaml": {
-      "version": "3.14.1",
-      "resolved": "https://registry.npmjs.org/js-yaml/-/js-yaml-3.14.1.tgz",
-      "integrity": "sha512-okMH7OXXJ7YrN9Ok3/SXrnu4iX9yOk+25nqX4imS2npuvTYDmo/QEZoqwZkYaIDk3jVvBOTOIEgEhaLOynBS9g==",
+      "version": "3.14.2",
+      "resolved": "https://registry.npmjs.org/js-yaml/-/js-yaml-3.14.2.tgz",
+      "integrity": "sha512-PMSmkqxr106Xa156c2M265Z+FTrPl+oxd/rgOQy2tijQeK5TxQ43psO1ZCwhVOSdnn+RzkzlRz/eY4BgJBYVpg==",
      "dev": true,
      "license": "MIT",
      "dependencies": {
@@ -2036,6 +2055,276 @@
        "url": "https://opencollective.com/pkgr"
      }
    },
+    "node_modules/@reactflow/background": {
+      "version": "11.3.14",
+      "resolved": "https://registry.npmjs.org/@reactflow/background/-/background-11.3.14.tgz",
+      "integrity": "sha512-Gewd7blEVT5Lh6jqrvOgd4G6Qk17eGKQfsDXgyRSqM+CTwDqRldG2LsWN4sNeno6sbqVIC2fZ+rAUBFA9ZEUDA==",
+      "license": "MIT",
+      "dependencies": {
+        "@reactflow/core": "11.11.4",
+        "classcat": "^5.0.3",
+        "zustand": "^4.4.1"
+      },
+      "peerDependencies": {
+        "react": ">=17",
+        "react-dom": ">=17"
+      }
+    },
+    "node_modules/@reactflow/background/node_modules/zustand": {
+      "version": "4.5.7",
+      "resolved": "https://registry.npmjs.org/zustand/-/zustand-4.5.7.tgz",
+      "integrity": "sha512-CHOUy7mu3lbD6o6LJLfllpjkzhHXSBlX8B9+qPddUsIfeF5S/UZ5q0kmCsnRqT1UHFQZchNFDDzMbQsuesHWlw==",
+      "license": "MIT",
+      "dependencies": {
+        "use-sync-external-store": "^1.2.2"
+      },
+      "engines": {
+        "node": ">=12.7.0"
+      },
+      "peerDependencies": {
+        "@types/react": ">=16.8",
+        "immer": ">=9.0.6",
+        "react": ">=16.8"
+      },
+      "peerDependenciesMeta": {
+        "@types/react": {
+          "optional": true
+        },
+        "immer": {
+          "optional": true
+        },
+        "react": {
+          "optional": true
+        }
+      }
+    },
+    "node_modules/@reactflow/controls": {
+      "version": "11.2.14",
+      "resolved": "https://registry.npmjs.org/@reactflow/controls/-/controls-11.2.14.tgz",
+      "integrity": "sha512-MiJp5VldFD7FrqaBNIrQ85dxChrG6ivuZ+dcFhPQUwOK3HfYgX2RHdBua+gx+40p5Vw5It3dVNp/my4Z3jF0dw==",
+      "license": "MIT",
+      "dependencies": {
+        "@reactflow/core": "11.11.4",
+        "classcat": "^5.0.3",
+        "zustand": "^4.4.1"
+      },
+      "peerDependencies": {
+        "react": ">=17",
+        "react-dom": ">=17"
+      }
+    },
+    "node_modules/@reactflow/controls/node_modules/zustand": {
+      "version": "4.5.7",
+      "resolved": "https://registry.npmjs.org/zustand/-/zustand-4.5.7.tgz",
+      "integrity": "sha512-CHOUy7mu3lbD6o6LJLfllpjkzhHXSBlX8B9+qPddUsIfeF5S/UZ5q0kmCsnRqT1UHFQZchNFDDzMbQsuesHWlw==",
+      "license": "MIT",
+      "dependencies": {
+        "use-sync-external-store": "^1.2.2"
+      },
+      "engines": {
+        "node": ">=12.7.0"
+      },
+      "peerDependencies": {
+        "@types/react": ">=16.8",
+        "immer": ">=9.0.6",
+        "react": ">=16.8"
+      },
+      "peerDependenciesMeta": {
+        "@types/react": {
+          "optional": true
+        },
+        "immer": {
+          "optional": true
+        },
+        "react": {
+          "optional": true
+        }
+      }
+    },
+    "node_modules/@reactflow/core": {
+      "version": "11.11.4",
+      "resolved": "https://registry.npmjs.org/@reactflow/core/-/core-11.11.4.tgz",
+      "integrity": "sha512-H4vODklsjAq3AMq6Np4LE12i1I4Ta9PrDHuBR9GmL8uzTt2l2jh4CiQbEMpvMDcp7xi4be0hgXj+Ysodde/i7Q==",
+      "license": "MIT",
+      "dependencies": {
+        "@types/d3": "^7.4.0",
+        "@types/d3-drag": "^3.0.1",
+        "@types/d3-selection": "^3.0.3",
+        "@types/d3-zoom": "^3.0.1",
+        "classcat": "^5.0.3",
+        "d3-drag": "^3.0.0",
+        "d3-selection": "^3.0.0",
+        "d3-zoom": "^3.0.0",
+        "zustand": "^4.4.1"
+      },
+      "peerDependencies": {
+        "react": ">=17",
+        "react-dom": ">=17"
+      }
+    },
+    "node_modules/@reactflow/core/node_modules/zustand": {
+      "version": "4.5.7",
+      "resolved": "https://registry.npmjs.org/zustand/-/zustand-4.5.7.tgz",
+      "integrity": "sha512-CHOUy7mu3lbD6o6LJLfllpjkzhHXSBlX8B9+qPddUsIfeF5S/UZ5q0kmCsnRqT1UHFQZchNFDDzMbQsuesHWlw==",
+      "license": "MIT",
+      "dependencies": {
+        "use-sync-external-store": "^1.2.2"
+      },
+      "engines": {
+        "node": ">=12.7.0"
+      },
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+      "license": "MIT",
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@@ -6152,6 +6759,44 @@
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+      "license": "MIT",
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+        "entities": "^4.4.0",
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+      "license": "BSD-2-Clause",
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@@ -6704,6 +7349,16 @@
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+      "dev": true,
+      "license": "MIT",
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@@ -6802,6 +7457,24 @@
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+      "resolved": "https://registry.npmjs.org/reactflow/-/reactflow-11.11.4.tgz",
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+      "license": "MIT",
+      "dependencies": {
+        "@reactflow/background": "11.3.14",
+        "@reactflow/controls": "11.2.14",
+        "@reactflow/core": "11.11.4",
+        "@reactflow/minimap": "11.7.14",
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+        "@reactflow/node-toolbar": "1.3.14"
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+        "react-dom": ">=17"
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@@ -7602,6 +8275,56 @@
        "url": "https://github.com/sponsors/sindresorhus"
      }
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+    "node_modules/typedoc": {
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+      "resolved": "https://registry.npmjs.org/typedoc/-/typedoc-0.28.14.tgz",
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+      "dev": true,
+      "license": "Apache-2.0",
+      "dependencies": {
+        "@gerrit0/mini-shiki": "^3.12.0",
+        "lunr": "^2.3.9",
+        "markdown-it": "^14.1.0",
+        "minimatch": "^9.0.5",
+        "yaml": "^2.8.1"
+      },
+      "bin": {
+        "typedoc": "bin/typedoc"
+      },
+      "engines": {
+        "node": ">= 18",
+        "pnpm": ">= 10"
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+    "node_modules/typedoc/node_modules/brace-expansion": {
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+      "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-2.0.2.tgz",
+      "integrity": "sha512-Jt0vHyM+jmUBqojB7E1NIYadt0vI0Qxjxd2TErW94wDz+E2LAm5vKMXXwg6ZZBTHPuUlDgQHKXvjGBdfcF1ZDQ==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "balanced-match": "^1.0.0"
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+    "node_modules/typedoc/node_modules/minimatch": {
+      "version": "9.0.5",
+      "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-9.0.5.tgz",
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+      "dev": true,
+      "license": "ISC",
+      "dependencies": {
+        "brace-expansion": "^2.0.1"
+      },
+      "engines": {
+        "node": ">=16 || 14 >=14.17"
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+      "funding": {
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@@ -7640,6 +8363,13 @@
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+      "resolved": "https://registry.npmjs.org/uc.micro/-/uc.micro-2.1.0.tgz",
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+      "license": "MIT"
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    "node_modules/uglify-js": {
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@@ -7738,9 +8468,9 @@
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@@ -8142,6 +8872,19 @@
      "dev": true,
      "license": "ISC"
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+      "resolved": "https://registry.npmjs.org/yaml/-/yaml-2.8.1.tgz",
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+      "dev": true,
+      "license": "ISC",
+      "bin": {
+        "yaml": "bin.mjs"
+      },
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--- a/package.json
+++ b/package.json
@@ -6,15 +6,19 @@
  "scripts": {
    "dev": "vite",
    "build": "tsc -b && vite build",
-    "lint": "eslint .",
-    "preview": "vite preview"
+    "lint": "eslint src test",
+    "preview": "vite preview",
+    "test": "jest",
+    "prepare": "husky"
  },
  "dependencies": {
    "@neodrag/react": "^2.3.1",
    "@xyflow/react": "^12.8.6",
+    "clsx": "^2.1.1",
    "react": "^19.1.1",
    "react-dom": "^19.1.1",
    "react-router": "^7.9.3",
+    "reactflow": "^11.11.4",
    "zustand": "^5.0.8"
  },
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@@ -26,14 +30,17 @@
    "@types/react": "^19.1.13",
    "@types/react-dom": "^19.1.9",
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    "eslint": "^9.36.0",
    "eslint-plugin-react-hooks": "^5.2.0",
    "eslint-plugin-react-refresh": "^0.4.20",
    "globals": "^16.4.0",
+    "husky": "^9.1.7",
    "identity-obj-proxy": "^3.0.0",
    "jest": "^30.2.0",
    "jest-environment-jsdom": "^30.2.0",
    "ts-jest": "^29.4.5",
+    "typedoc": "^0.28.14",
    "typescript": "~5.8.3",
    "typescript-eslint": "^8.44.0",
    "vite": "^7.1.7"
--- a/src/App.css
+++ b/src/App.css
@@ -82,6 +82,10 @@ button.movePage:hover{
 }


+#root {
+  display: flex;
+  flex-direction: column;
+}

 header {
  position: sticky;
@@ -96,6 +100,7 @@ header {
  align-items: center;
  justify-content: center;

+  background-color: var(--accent-color);
  backdrop-filter: blur(10px);
  z-index: 1; /* Otherwise any translated elements render above the blur?? */
 }
@@ -104,6 +109,10 @@ main {
  padding: 1rem 0;
 }

+input[type="checkbox"] {
+  cursor: pointer;
+}
+
 .flex-row {
  display: flex;
  flex-direction: row;
@@ -121,6 +130,14 @@ main {
  flex-wrap: wrap;
 }

+.min-height-0 {
+  min-height: 0;
+}
+
+.scroll-y {
+  overflow-y: scroll;
+}
+
 .align-center {
  align-items: center;
 }
@@ -141,6 +158,10 @@ main {
  gap: 1rem;
 }

+.margin-0 {
+  margin: 0;
+}
+
 .padding-sm {
  padding: .25rem;
 }
@@ -150,7 +171,19 @@ main {
 .padding-lg {
  padding: 1rem;
 }
+.padding-b-sm {
+  padding-bottom: .25rem;
+}
+.padding-b-md {
+  padding-bottom: .5rem;
+}
+.padding-b-lg {
+  padding-bottom: 1rem;
+}

+.round-sm, .round-md, .round-lg {
+  overflow: hidden;
+}
 .round-sm {
  border-radius: .25rem;
 }
@@ -159,4 +192,67 @@ main {
 }
 .round-lg {
  border-radius: 1rem;
+}
+
+.border-sm {
+  border: 1px solid canvastext;
+}
+.border-md {
+  border: 2px solid canvastext;
+}
+.border-lg {
+  border: 3px solid canvastext;
+}
+
+.font-small {
+  font-size: .75rem;
+}
+.font-medium {
+  font-size: 1rem;
+}
+.font-large {
+  font-size: 1.25rem;
+}
+.mono {
+  font-family: ui-monospace, monospace;
+}
+.bold {
+  font-weight: bold;
+}
+
+
+.clickable {
+  cursor: pointer;
+
+  &:hover {
+    text-decoration: underline;
+  }
+}
+.user-select-all {
+  -webkit-user-select: all;
+  user-select: all;
+}
+.user-select-none {
+  -webkit-user-select: none;
+  user-select: none;
+}
+button.no-button {
+  background: none;
+  border: none;
+  padding: 0;
+  cursor: pointer;
+  color: inherit;
+  text-decoration: none;
+
+  &:hover {
+    text-decoration: underline;
+  }
+}
+
+.flex-center-x {
+  display: flex;
+  justify-content: center; /* horizontal centering */
+  text-align: center;       /* center multi-line text */
+  width: 100%;              /* allow it to stretch */
+  flex-wrap: wrap;          /* optional: let text wrap naturally */
 }
--- a/src/App.tsx
+++ b/src/App.tsx
@@ -3,24 +3,34 @@ import './App.css'
 import TemplatePage from './pages/TemplatePage/Template.tsx'
 import Home from './pages/Home/Home.tsx'
 import Robot from './pages/Robot/Robot.tsx';
+import ConnectedRobots from './pages/ConnectedRobots/ConnectedRobots.tsx'
 import VisProg from "./pages/VisProgPage/VisProg.tsx";
+import {useState} from "react";
+import Logging from "./components/Logging/Logging.tsx";

 function App(){
+  const [showLogs, setShowLogs] = useState(false);
+
  return (
-    <div>
+    <>
      <header>
        <Link to={"/"}>Home</Link>
+        <button onClick={() => setShowLogs(!showLogs)}>Toggle Logging</button>
      </header>
-      <main className={"flex-col align-center"}>
-        <Routes>
-          <Route path="/" element={<Home />} />
-          <Route path="/template" element={<TemplatePage />} />
-          <Route path="/editor" element={<VisProg />} />
-          <Route path="/robot" element={<Robot />} />
+      <div className={"flex-row justify-center flex-1 min-height-0"}>
+        <main className={"flex-col align-center flex-1 scroll-y"}>
+          <Routes>
+            <Route path="/" element={<Home />} />
+            <Route path="/template" element={<TemplatePage />} />
+            <Route path="/editor" element={<VisProg />} />
+            <Route path="/robot" element={<Robot />} />
+            <Route path="/ConnectedRobots" element={<ConnectedRobots />} />
        </Routes>
-      </main>
-    </div>
-  )
+        </main>
+        {showLogs && <Logging />}
+      </div>
+    </>
+  );
 }

 export default App
--- a/src/components/Logging/Filters.module.css
+++ b/src/components/Logging/Filters.module.css
@@ -0,0 +1,34 @@
+.filter-root {
+  position: relative;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+}
+
+.filter-panel {
+  position: absolute;
+  display: flex;
+  flex-direction: column;
+  gap: .25rem;
+  top: 0;
+  right: 0;
+  z-index: 1;
+  background: canvas;
+  box-shadow: 0 0 1rem rgba(0, 0, 0, 0.5);
+  width: 300px;
+
+  *:first-child {
+    margin-top: 0;
+  }
+  *:last-child {
+    margin-bottom: 0;
+  }
+}
+
+button.deletable {
+  cursor: pointer;
+
+  &:hover {
+    text-decoration: line-through;
+  }
+}
--- a/src/components/Logging/Filters.tsx
+++ b/src/components/Logging/Filters.tsx
@@ -0,0 +1,263 @@
+import {useEffect, useRef, useState} from "react";
+
+import type {LogFilterPredicate} from "./useLogs.ts";
+
+import styles from "./Filters.module.css";
+
+/**
+ * A generic setter type compatible with React's state setters.
+ */
+type Setter<T> = (value: T | ((prev: T) => T)) => void;
+
+/**
+ * Mapping of log level names to their corresponding numeric severity.
+ * Used for comparison in log filtering predicates.
+ */
+const optionMapping = new Map([
+  ["ALL", 0],
+  ["LLM", 9],
+  ["DEBUG", 10],
+  ["INFO", 20],
+  ["WARNING", 30],
+  ["ERROR", 40],
+  ["CRITICAL", 50],
+  ["NONE", 999_999_999_999], // It is technically possible to have a higher level, but this is fine
+]);
+
+/**
+ * Renders a single log-level selector (dropdown) for a specific filter target.
+ *
+ * Used by both the global filter and agent-specific filters.
+ *
+ * @param name - The display name or identifier for the filter target.
+ * @param level - The currently selected log level.
+ * @param setLevel - Function to update the selected log level.
+ * @param onDelete - Optional callback for deleting this filter element.
+ * @returns A JSX element that renders a labeled dropdown for selecting log levels.
+ */
+function LevelPredicateElement({
+  name,
+  level,
+  setLevel,
+  onDelete,
+}: {
+  name: string;
+  level: string;
+  setLevel: (level: string) => void;
+  onDelete?: () => void;
+}) {
+  const normalizedName = name.split(".").pop() || name;
+
+  return <div className={"flex-row gap-sm align-center"}>
+    <label
+      htmlFor={`log_level_${name}`}
+      className={"font-small"}
+    >
+      {onDelete
+        ? <button
+          className={`no-button ${styles.deletable}`}
+          onClick={onDelete}
+        >{normalizedName}:</button>
+        : normalizedName + ':'
+      }
+    </label>
+    <select
+      id={`log_level_${name}`}
+      value={level}
+      onChange={(e) => setLevel(e.target.value)}
+    >
+      {Array.from(optionMapping.keys()).map((key) => (
+        <option key={key} value={key}>{key}</option>
+      ))}
+    </select>
+  </div>
+}
+
+/** Key used for the global log-level predicate in the filter map. */
+const GLOBAL_LOG_LEVEL_PREDICATE_KEY = "global_log_level";
+
+/**
+ * Renders and manages the **global log-level filter**.
+ *
+ * This component defines a baseline log level that all logs must meet or exceed
+ * to be displayed, unless overridden by per-agent filters.
+ *
+ * @param filterPredicates - Map of current log filter predicates.
+ * @param setFilterPredicates - Setter function to update the filter predicates map.
+ * @returns A JSX element rendering the global log-level selector.
+ */
+function GlobalLevelFilter({
+  filterPredicates,
+  setFilterPredicates,
+}: {
+  filterPredicates: Map<string, LogFilterPredicate>;
+  setFilterPredicates: Setter<Map<string, LogFilterPredicate>>;
+}) {
+  const selected = filterPredicates.get(GLOBAL_LOG_LEVEL_PREDICATE_KEY)?.value || "ALL";
+  const setSelected = (selected: string | null) => {
+    if (!selected || !optionMapping.has(selected)) return;
+
+    setFilterPredicates((curr) => {
+      const next = new Map(curr);
+      next.set(GLOBAL_LOG_LEVEL_PREDICATE_KEY, {
+        predicate: (record) => record.levelno >= optionMapping.get(selected)!,
+        priority: 0,
+        value: selected,
+      });
+      return next;
+    });
+  }
+
+  // Initialize default global level on mount.
+  useEffect(() => {
+    if (filterPredicates.has(GLOBAL_LOG_LEVEL_PREDICATE_KEY)) return;
+    setSelected("INFO");
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, []); // Run only once when the component mounts, not when anything changes
+
+  return <LevelPredicateElement
+    name={"Global"}
+    level={selected}
+    setLevel={setSelected}
+  />;
+}
+
+/** Prefix for agent-specific log-level predicate keys in the filter map. */
+const AGENT_LOG_LEVEL_PREDICATE_KEY_PREFIX = "agent_log_level_";
+
+/**
+ * Renders and manages **per-agent log-level filters**.
+ *
+ * Allows the user to set specific log levels for individual agents, overriding
+ * the global filter for those agents. Includes functionality to add, edit,
+ * or remove agent-level filters.
+ *
+ * @param filterPredicates - Map of current log filter predicates.
+ * @param setFilterPredicates - Setter function to update the filter predicates map.
+ * @param agentNames - Set of agent names available for filtering.
+ * @returns A JSX element rendering agent-level filters and a dropdown to add new ones.
+ */
+function AgentLevelFilters({
+  filterPredicates,
+  setFilterPredicates,
+  agentNames,
+}: {
+  filterPredicates: Map<string, LogFilterPredicate>;
+  setFilterPredicates: Setter<Map<string, LogFilterPredicate>>;
+  agentNames: Set<string>;
+}) {
+  const rootRef = useRef<HTMLDivElement>(null);
+  const [open, setOpen] = useState(false);
+
+  // Close dropdown or panels when clicking outside or pressing Escape.
+  useEffect(() => {
+    if (!open) return;
+    const onDocClick = (e: MouseEvent) => {
+      if (!rootRef.current?.contains(e.target as Node)) setOpen(false);
+    };
+    const onKey = (e: KeyboardEvent) => {
+      if (e.key !== "Escape") return;
+      setOpen(false);
+      e.preventDefault(); // Don't exit fullscreen mode
+    };
+    document.addEventListener("mousedown", onDocClick);
+    document.addEventListener("keydown", onKey);
+    return () => {
+      document.removeEventListener("mousedown", onDocClick);
+      document.removeEventListener("keydown", onKey);
+    };
+  }, [open]);
+
+  // Identify which predicates correspond to agents.
+  const agentPredicates = [...filterPredicates.keys()].filter((key) =>
+    key.startsWith(AGENT_LOG_LEVEL_PREDICATE_KEY_PREFIX));
+
+ /**
+   * Creates or updates the log filter predicate for a specific agent.
+   * Falls back to the global log level if no level is specified.
+   *
+   * @param agentName - The name of the agent to filter.
+   * @param level - Optional log level to apply; defaults to the global level.
+   */
+  const setAgentPredicate = (agentName: string, level?: string ) => {
+    level = level ?? filterPredicates.get(GLOBAL_LOG_LEVEL_PREDICATE_KEY)?.value ?? "ALL";
+    setFilterPredicates((prev) => {
+      const next = new Map(prev);
+      next.set(AGENT_LOG_LEVEL_PREDICATE_KEY_PREFIX + agentName, {
+        predicate: (record) => record.name === agentName
+          ? record.levelno >= optionMapping.get(level!)!
+          : null,
+        priority: 1,
+        value: {agentName, level},
+      });
+      return next;
+    });
+  }
+
+  /**
+   * Deletes the log filter predicate for a specific agent.
+   *
+   * @param agentName - The name of the agent whose filter should be removed.
+   */
+  const deleteAgentPredicate = (agentName: string) => {
+    setFilterPredicates((curr) => {
+      const fullName = AGENT_LOG_LEVEL_PREDICATE_KEY_PREFIX + agentName;
+      if (!curr.has(fullName)) return curr; // Return unchanged, no re-render
+      const next = new Map(curr);
+      next.delete(fullName);
+      return next;
+    });
+  }
+
+  return <>
+    {agentPredicates.map((key) => {
+      const {agentName, level} = filterPredicates.get(key)!.value;
+
+      return <LevelPredicateElement
+        key={key}
+        name={agentName}
+        level={level}
+        setLevel={(level) => setAgentPredicate(agentName, level)}
+        onDelete={() => deleteAgentPredicate(agentName)}
+      />;
+    })}
+    <div className={"flex-row gap-sm align-center"}>
+      <label htmlFor={"add_agent"} className={"font-small"}>Add:</label>
+      <select
+        id={"add_agent"}
+        value={""}
+        onChange={(e) => !!e.target.value && setAgentPredicate(e.target.value)}
+      >
+        {["", ...agentNames.keys()].map((key) => (
+          <option key={key} value={key}>{key.split(".").pop()}</option>
+        ))}
+      </select>
+    </div>
+  </>;
+}
+
+/**
+ * Main Filters component that aggregates global and per-agent log filters.
+ *
+ * Combines the global log-level filter and agent-specific filters into a unified UI.
+ * Updates a shared `Map<string, LogFilterPredicate>` to determine which logs are shown.
+ *
+ * @param filterPredicates - The map of all active log filter predicates.
+ * @param setFilterPredicates - Setter to update the map of predicates.
+ * @param agentNames - Set of available agent names to display filters for.
+ * @returns A React component that renders all log filter controls.
+ */
+export default function Filters({
+  filterPredicates,
+  setFilterPredicates,
+  agentNames,
+}: {
+  filterPredicates: Map<string, LogFilterPredicate>;
+  setFilterPredicates: Setter<Map<string, LogFilterPredicate>>;
+  agentNames: Set<string>;
+}) {
+  return <div className={"flex-1 flex-row flex-wrap gap-md align-center"}>
+    <GlobalLevelFilter filterPredicates={filterPredicates} setFilterPredicates={setFilterPredicates} />
+    <AgentLevelFilters filterPredicates={filterPredicates} setFilterPredicates={setFilterPredicates} agentNames={agentNames} />
+  </div>;
+}
--- a/src/components/Logging/Logging.module.css
+++ b/src/components/Logging/Logging.module.css
@@ -0,0 +1,39 @@
+.logging-container {
+  box-sizing: border-box;
+
+  width: max(30dvw, 500px);
+  flex-shrink: 0;
+
+  box-shadow: 0 0 1rem black;
+  padding: 1rem 1rem 0 1rem;
+}
+
+.no-numbers {
+  list-style-type: none;
+  counter-reset: none;
+  padding-inline-start: 0;
+}
+
+.log-container {
+  margin-bottom: .5rem;
+
+  .accented-0, .accented-10 {
+    background-color: color-mix(in oklab, canvas, rgb(159, 159, 159) 35%)
+  }
+  .accented-20 {
+    background-color: color-mix(in oklab, canvas, green 35%)
+  }
+  .accented-30 {
+    background-color: color-mix(in oklab, canvas, yellow 35%)
+  }
+  .accented-40, .accented-50 {
+    background-color: color-mix(in oklab, canvas, red 35%)
+  }
+}
+
+.floating-button {
+  position: fixed;
+  bottom: 1rem;
+  right: 1rem;
+  box-shadow: 0 0 1rem rgba(0, 0, 0, 0.5);
+}
--- a/src/components/Logging/Logging.tsx
+++ b/src/components/Logging/Logging.tsx
@@ -0,0 +1,186 @@
+import {useEffect, useRef, useState} from "react";
+import {create} from "zustand";
+
+import formatDuration from "../../utils/formatDuration.ts";
+import {type LogFilterPredicate, type LogRecord, useLogs} from "./useLogs.ts";
+import Filters from "./Filters.tsx";
+import {type Cell, useCell} from "../../utils/cellStore.ts";
+
+import styles from "./Logging.module.css";
+
+
+/**
+ * Zustand store definition for managing user preferences related to logging.
+ *
+ * Includes flags for toggling relative timestamps and automatic scroll behavior.
+ */
+type LoggingSettings = {
+  /** Whether to display log timestamps as relative (e.g., "2m 15s ago") instead of absolute. */
+  showRelativeTime: boolean;
+  /** Updates the `showRelativeTime` setting. */
+  setShowRelativeTime: (showRelativeTime: boolean) => void;
+  /** Whether the log view should automatically scroll to the newest entry. */
+  scrollToBottom: boolean;
+  /** Updates the `scrollToBottom` setting. */
+  setScrollToBottom: (scrollToBottom: boolean) => void;
+};
+
+/**
+ * Global Zustand store for logging UI preferences.
+ */
+const useLoggingSettings = create<LoggingSettings>((set) => ({
+  showRelativeTime: false,
+  setShowRelativeTime: (showRelativeTime: boolean) => set({ showRelativeTime }),
+  scrollToBottom: true,
+  setScrollToBottom: (scrollToBottom: boolean) => set({ scrollToBottom }),
+}));
+
+/**
+ * Renders a single log message entry with colored level indicators and timestamp formatting.
+ *
+ * This component automatically re-renders when the underlying log record (`recordCell`)
+ * changes. It also triggers the `onUpdate` callback whenever the record updates (e.g., for auto-scrolling).
+ *
+ * @param recordCell - A reactive `Cell` containing a single `LogRecord`.
+ * @param onUpdate - Optional callback triggered when the log entry updates.
+ * @returns A JSX element displaying a formatted log message.
+ */
+function LogMessage({
+  recordCell,
+  onUpdate,
+}: {
+  recordCell: Cell<LogRecord>,
+  onUpdate?: () => void,
+}) {
+  const { showRelativeTime, setShowRelativeTime } = useLoggingSettings();
+  const record = useCell(recordCell);
+
+  /**
+   * Normalizes the log level number to a multiple of 10, 
+   * for which there are CSS styles. (e.g., INFO = 20, ERROR = 40).
+   */
+  const normalizedLevelNo = (() => {
+    // By default, the highest level is 50 (CRITICAL). Custom levels can be higher, but we don't have more critical color.
+    if (record.levelno >= 50) return 50;
+
+    return Math.round(record.levelno / 10) * 10;
+  })();
+
+  /** Simplifies the logger name by showing only the last path segment. */
+  const normalizedName = record.name.split(".").pop() || record.name;
+
+  // Notify parent component (e.g. for scroll updates) when this record changes.
+  useEffect(() => {
+    if (onUpdate) onUpdate();
+  }, [record, onUpdate]);
+
+  return <div className={`${styles.logContainer} round-md border-lg flex-row gap-md`}>
+    <div className={`${styles[`accented${normalizedLevelNo}`]} flex-col padding-sm justify-between`}>
+      <span className={"mono bold"}>{record.levelname}</span>
+      <span className={"mono clickable font-small"}
+        onClick={() => setShowRelativeTime(!showRelativeTime)}
+      >{showRelativeTime
+        ? formatDuration(record.relativeCreated)
+        : new Date(record.created * 1000).toLocaleTimeString()
+      }</span>
+    </div>
+    <div className={"flex-col flex-1 padding-sm"}>
+      <span className={"mono"}>{normalizedName}</span>
+      <span>{record.message}</span>
+    </div>
+  </div>;
+}
+
+/**
+ * Displays a scrollable list of log messages.
+ *
+ * Handles:
+ * - Auto-scrolling when new messages arrive.
+ * - Allowing users to scroll manually and disable auto-scroll.
+ * - A floating "Scroll to bottom" button when not at the bottom.
+ *
+ * @param recordCells - Array of reactive log records to display.
+ * @returns A scrollable log list component.
+ */
+function LogMessages({ recordCells }: { recordCells: Cell<LogRecord>[] }) {
+  const scrollableRef = useRef<HTMLDivElement>(null);
+  const lastElementRef = useRef<HTMLLIElement>(null)
+  const { scrollToBottom, setScrollToBottom } = useLoggingSettings();
+
+  // Disable auto-scroll if the user manually scrolls.
+  useEffect(() => {
+    if (!scrollableRef.current) return;
+    const currentScrollableRef = scrollableRef.current;
+
+    const handleScroll = () => setScrollToBottom(false);
+
+    currentScrollableRef.addEventListener("wheel", handleScroll);
+    currentScrollableRef.addEventListener("touchmove", handleScroll);
+
+    return () => {
+      currentScrollableRef.removeEventListener("wheel", handleScroll);
+      currentScrollableRef.removeEventListener("touchmove", handleScroll);
+    }
+  }, [scrollableRef, setScrollToBottom]);
+
+  /**
+   * Scrolls the last log message into view if auto-scroll is enabled,
+   * or if forced (e.g., user clicks "Scroll to bottom").
+   *
+   * @param force - If true, forces scrolling even if `scrollToBottom` is false.
+   */
+  function scrollLastElementIntoView(force = false) {
+    if ((!scrollToBottom && !force) || !lastElementRef.current) return;
+    lastElementRef.current.scrollIntoView({ behavior: "smooth" });
+  }
+
+  return <div ref={scrollableRef} className={"min-height-0 scroll-y padding-b-md"}>
+    <ol className={`${styles.noNumbers} margin-0 flex-col gap-md`}>
+      {recordCells.map((recordCell, i) => (
+        <li key={`${i}_${recordCell.get().firstRelativeCreated}`}>
+          <LogMessage recordCell={recordCell} onUpdate={scrollLastElementIntoView} />
+        </li>
+      ))}
+      <li ref={lastElementRef}></li>
+    </ol>
+    {!scrollToBottom && <button
+      className={styles.floatingButton}
+      onClick={() => {
+        setScrollToBottom(true);
+        scrollLastElementIntoView(true);
+      }}
+    >
+      Scroll to bottom
+    </button>}
+  </div>;
+}
+
+/**
+ * Top-level logging panel component.
+ *
+ * Combines:
+ * - The `Filters` component for adjusting log visibility.
+ * - The `LogMessages` component for displaying filtered logs.
+ * - Zustand-managed UI settings (auto-scroll, timestamp display).
+ *
+ * This component uses the `useLogs` hook to fetch and filter logs based on
+ * active predicates, and re-renders automatically as new logs arrive.
+ *
+ * @returns The complete logging UI as a React element.
+ */
+export default function Logging() {
+  const [filterPredicates, setFilterPredicates] = useState(new Map<string, LogFilterPredicate>());
+  const { filteredLogs, distinctNames } = useLogs(filterPredicates)
+
+  return <div className={`flex-col gap-lg min-height-0 ${styles.loggingContainer}`}>
+    <div className={"flex-row gap-lg justify-between align-center"}>
+      <h2 className={"margin-0"}>Logs</h2>
+      <Filters
+        filterPredicates={filterPredicates}
+        setFilterPredicates={setFilterPredicates}
+        agentNames={distinctNames}
+      />
+    </div>
+    <LogMessages recordCells={filteredLogs} />
+  </div>;
+}
--- a/src/components/Logging/useLogs.ts
+++ b/src/components/Logging/useLogs.ts
@@ -0,0 +1,212 @@
+import {useCallback, useEffect, useRef, useState} from "react";
+
+import {applyPriorityPredicates, type PriorityFilterPredicate} from "../../utils/priorityFiltering.ts";
+import {cell, type Cell} from "../../utils/cellStore.ts";
+
+/**
+ * Represents a single log record emitted by the backend logging system.
+ *
+ * @property name - The name of the logger or source (e.g., `"agent.core"`).
+ * @property message - The message content of the log record.
+ * @property levelname - The human-readable severity level (e.g., `"INFO"`, `"ERROR"`).
+ * @property levelno - The numeric severity value corresponding to `levelname`.
+ * @property created - The UNIX timestamp (in seconds) when this record was created.
+ * @property relativeCreated - The time (in milliseconds) since the logging system started.
+ * @property reference - (Optional) A reference identifier linking related log messages.
+ * @property firstCreated - Timestamp of the first log in this reference group.
+ * @property firstRelativeCreated - Relative timestamp of the first log in this reference group.
+ */
+export type LogRecord = {
+  name: string;
+  message: string;
+  levelname: 'LLM' | 'DEBUG' | 'INFO' | 'WARNING' | 'ERROR' | 'CRITICAL' | string;
+  levelno: number;
+  created: number;
+  relativeCreated: number;
+  reference?: string;
+  firstCreated: number;
+  firstRelativeCreated: number;
+};
+
+/**
+ * A log filter predicate with priority support, used to determine whether
+ * a log record should be displayed.
+ *
+ * This extends a general `PriorityFilterPredicate` and includes an optional
+ * `value` field for UI metadata (e.g., selected log level or agent).
+ *
+ * @template T - The type of record being filtered (here, `LogRecord`).
+ */
+export type LogFilterPredicate = PriorityFilterPredicate<LogRecord> & { 
+  // eslint-disable-next-line @typescript-eslint/no-explicit-any
+  value: any };
+
+ /**
+ * React hook that manages the lifecycle of log records, including:
+ * - Receiving live log messages via Server-Sent Events (SSE),
+ * - Applying priority-based filtering rules,
+ * - Managing distinct logger names and reference-linked messages.
+ *
+ * Returns both the filtered logs (as reactive `Cell<LogRecord>` objects)
+ * and a set of distinct logger names for use in UI components (e.g., Filters).
+ *
+ * @param filterPredicates - A `Map` of log filter predicates, keyed by ID or type.
+ * @returns An object containing:
+ * - `filteredLogs`: The currently visible (filtered) log messages.
+ * - `distinctNames`: A set of all distinct logger names encountered.
+ *
+ * @example
+ * ```ts
+ * const { filteredLogs, distinctNames } = useLogs(activeFilters);
+ * ```
+ */
+export function useLogs(filterPredicates: Map<string, LogFilterPredicate>) {
+  /** Distinct logger names encountered across all logs. */
+  const [distinctNames, setDistinctNames] = useState<Set<string>>(new Set());
+  /** Filtered logs that pass all active predicates, stored as reactive cells. */
+  const [filtered, setFiltered] = useState<Cell<LogRecord>[]>([]);
+
+  /** Persistent reference to the active EventSource connection. */
+  const sseRef = useRef<EventSource | null>(null);
+  /** Keeps a stable reference to the current filter map (avoids re-renders). */
+  const filtersRef = useRef(filterPredicates);
+  /** Stores all received logs (the unfiltered full history). */
+  const logsRef = useRef<LogRecord[]>([]);
+
+  /** Map to store the first message for each reference, instance can be updated to change contents. */
+  const firstByRefRef = useRef<Map<string, Cell<LogRecord>>>(new Map());
+
+  /**
+   * Apply all active filter predicates to a log record.
+   * @param log The log record to apply the filters to.
+   * @returns `true` if the record passes all filters; otherwise `false`.
+   */
+  const applyFilters = useCallback((log: LogRecord) =>
+    applyPriorityPredicates(log, [...filtersRef.current.values()]), []);
+
+  /**
+   * Fully recomputes the filtered log list based on the current
+   * filter predicates and historical logs.
+   *
+   * Should be invoked whenever the filter map changes.
+   */
+  const recomputeFiltered = useCallback(() => {
+    const newFiltered: Cell<LogRecord>[] = [];
+    firstByRefRef.current = new Map();
+
+    for (const message of logsRef.current) {
+      const messageCell = cell<LogRecord>({
+        ...message,
+        firstCreated: message.created,
+        firstRelativeCreated: message.relativeCreated,
+      });
+
+      // Handle reference grouping: update the first message in the group.
+      if (message.reference) {
+        const first = firstByRefRef.current.get(message.reference);
+        if (first) {
+          // Update the first's contents
+          first.set((prev) => ({
+            ...message,
+            firstCreated: prev.firstCreated ?? prev.created,
+            firstRelativeCreated: prev.firstRelativeCreated ?? prev.relativeCreated,
+          }));
+
+          continue; // Don't add it to the list again (it's a duplicate).
+        } else {
+          // Add the first message with this reference to the registry
+          firstByRefRef.current.set(message.reference, messageCell);
+        }
+      }
+
+      // Include only if it passes current filters.
+      if (applyFilters(message)) {
+        newFiltered.push(messageCell);
+      }
+    }
+
+    setFiltered(newFiltered);
+  }, [applyFilters, setFiltered]);
+
+  // Re-filter all logs whenever filter predicates change.
+  useEffect(() => {
+    filtersRef.current = filterPredicates;
+    recomputeFiltered();
+  }, [filterPredicates, recomputeFiltered]);
+
+  /**
+   * Handles a newly received log record.
+   * Updates the full log history, distinct names set, and filtered log list.
+   *
+   * @param message - The new log record to process.
+   */
+  const handleNewMessage = useCallback((message: LogRecord) => {
+    // Store in complete history for future refiltering.
+    logsRef.current.push(message);
+
+    // Track distinct logger names.
+    setDistinctNames((prev) => {
+      if (prev.has(message.name)) return prev;
+      const newSet = new Set(prev);
+      newSet.add(message.name);
+      return newSet;
+    });
+
+    // Wrap in a reactive cell for UI binding.
+    const messageCell = cell<LogRecord>({
+      ...message,
+      firstCreated: message.created,
+      firstRelativeCreated: message.relativeCreated,
+    });
+
+    // Handle reference-linked updates.
+    if (message.reference) {
+      const first = firstByRefRef.current.get(message.reference);
+      if (first) {
+        // Update the first's contents
+        first.set((prev) => ({
+          ...message,
+          firstCreated: prev.firstCreated ?? prev.created,
+          firstRelativeCreated: prev.firstRelativeCreated ?? prev.relativeCreated,
+        }));
+
+        return; // Do not duplicate reference group entries.
+      } else {
+        firstByRefRef.current.set(message.reference, messageCell);
+      }
+    }
+
+    // Only append if message passes filters.
+    if (applyFilters(message)) {
+      setFiltered((curr) => [...curr, messageCell]);
+    }
+  }, [applyFilters, setFiltered]);
+
+  /**
+   * Initializes the SSE (Server-Sent Events) stream for real-time logs.
+   *
+   * Subscribes to messages from the backend logging endpoint and
+   * dispatches each message to `handleNewMessage`.
+   *
+   * Cleans up the EventSource connection when the component unmounts.
+   */
+  useEffect(() => {
+    // Only create one SSE connection for the lifetime of the hook.
+    if (sseRef.current) return;
+
+    const es = new EventSource("http://localhost:8000/logs/stream");
+    sseRef.current = es;
+
+    es.onmessage = (event) => {
+      const data: LogRecord = JSON.parse(event.data);
+      handleNewMessage(data);
+    };
+
+    return () => {
+      es.close();
+      sseRef.current = null;
+    };
+  }, [handleNewMessage]);
+
+  return {filteredLogs: filtered, distinctNames};
+}
--- a/src/components/MultilineTextField.tsx
+++ b/src/components/MultilineTextField.tsx
@@ -0,0 +1,75 @@
+import { useEffect, useRef, useState } from "react";
+import styles from "./TextField.module.css";
+
+export function MultilineTextField({
+  value = "",
+  setValue,
+  placeholder,
+  className,
+  id,
+  ariaLabel,
+  invalid = false,
+  minRows = 3,
+}: {
+  value: string;
+  setValue: (value: string) => void;
+  placeholder?: string;
+  className?: string;
+  id?: string;
+  ariaLabel?: string;
+  invalid?: boolean;
+  minRows?: number;
+}) {
+  const [readOnly, setReadOnly] = useState(true);
+  const [inputValue, setInputValue] = useState(value);
+  const textareaRef = useRef<HTMLTextAreaElement>(null);
+
+  useEffect(() => {
+    setInputValue(value);
+  }, [value]);
+
+  // Auto-grow logic
+  useEffect(() => {
+    const el = textareaRef.current;
+    if (!el) return;
+
+    el.style.height = "auto";
+    el.style.height = `${el.scrollHeight}px`;
+  }, [inputValue]);
+
+  const onCommit = () => {
+    setReadOnly(true);
+    setValue(inputValue);
+  };
+
+  const onKeyDown = (e: React.KeyboardEvent<HTMLTextAreaElement>) => {
+    if (e.key === "Enter" && (e.ctrlKey || e.metaKey)) {
+      e.preventDefault();
+      (e.target as HTMLTextAreaElement).blur();
+    }
+  };
+
+  return (
+    <textarea
+      ref={textareaRef}
+      rows={minRows}
+      placeholder={placeholder}
+      value={inputValue}
+      onChange={(e) => setInputValue(e.target.value)}
+      onFocus={() => setReadOnly(false)}
+      onBlur={onCommit}
+      onKeyDown={onKeyDown}
+      readOnly={readOnly}
+      id={id}
+      aria-label={ariaLabel}
+      className={`
+        ${readOnly ? "drag" : "nodrag"}
+        flex-1
+        ${styles.textField}
+        ${styles.multiline}
+        ${invalid ? styles.invalid : ""}
+        ${className ?? ""}
+      `}
+    />
+  );
+}
--- a/src/components/ScrollIntoView.tsx
+++ b/src/components/ScrollIntoView.tsx
@@ -0,0 +1,22 @@
+import {useEffect, useRef} from "react";
+
+/**
+ * A React component that automatically scrolls itself into view whenever rendered.
+ *
+ * This component is especially useful in scrollable containers to keep the most
+ * recent content visible (e.g., chat applications, live logs, or notifications).
+ *
+ * It uses the browser's `Element.scrollIntoView()` API with smooth scrolling behavior.
+ *
+ * @returns A `<div>` element that scrolls into view when mounted or updated.
+ */
+export default function ScrollIntoView() {
+  /** Ref to the DOM element that will be scrolled into view. */
+  const elementRef = useRef<HTMLDivElement>(null);
+
+  useEffect(() => {
+    if (elementRef.current) elementRef.current.scrollIntoView({ behavior: "smooth" });
+  });
+
+  return <div ref={elementRef} />;
+}
--- a/src/components/TextField.module.css
+++ b/src/components/TextField.module.css
@@ -0,0 +1,39 @@
+.text-field {
+  border: 1px solid transparent;
+  border-radius: 5pt;
+  padding: 4px 8px;
+  max-width: 50vw;
+  min-width: 10vw;
+  outline: none;
+  background-color: canvas;
+  transition: border-color 0.2s, box-shadow 0.2s;
+  cursor: text;
+}
+
+.text-field.invalid {
+  border-color: red;
+  color: red;
+}
+
+.text-field:focus:not(.invalid) {
+  border-color: color-mix(in srgb, canvas, #777 10%);
+}
+
+.text-field:read-only {
+  cursor: pointer;
+  background-color: color-mix(in srgb, canvas, #777 5%);
+}
+
+.text-field:read-only:hover:not(.invalid) {
+  border-color: color-mix(in srgb, canvas, #777 10%);
+}
+
+.multiline {
+  resize: none;          /* no manual resizing */
+  line-height: 1.4;
+  white-space: pre-wrap;
+  overflow: hidden;      /* needed for auto-grow */
+  max-width: 100%;
+  width: 95%;
+  min-width: 95%;
+}
--- a/src/components/TextField.tsx
+++ b/src/components/TextField.tsx
@@ -0,0 +1,124 @@
+import {useEffect, useState} from "react";
+import styles from "./TextField.module.css";
+
+/**
+ * A styled text input that updates its value **in real time** at every keystroke.
+ *
+ * Automatically toggles between read-only and editable modes to integrate with
+ * drag-based UIs (like React Flow). Calls `onCommit` when editing is completed.
+ *
+ * @param props - Component properties.
+ * @param props.value - The current text input value.
+ * @param props.setValue - Callback invoked on every keystroke to update the value.
+ * @param props.onCommit - Callback invoked when editing is finalized (on blur or Enter).
+ * @param props.placeholder - Optional placeholder text displayed when the input is empty.
+ * @param props.className - Optional additional CSS class names.
+ * @param props.id - Optional unique HTML `id` for the input element.
+ * @param props.ariaLabel - Optional ARIA label for accessibility.
+ * @param props.invalid - If true, applies error styling to indicate invalid input.
+ *
+ * @returns A styled `<input>` element that updates its value in real time.
+ */
+export function RealtimeTextField({
+  value = "",
+  setValue,
+  onCommit,
+  placeholder,
+  className,
+  id,
+  ariaLabel,
+  invalid = false,
+} : {
+  value: string,
+  setValue: (value: string) => void,
+  onCommit: () => void,
+  placeholder?: string,
+  className?: string,
+  id?: string,
+  ariaLabel?: string,
+  invalid?: boolean,
+}) {
+  /** Tracks whether the input is currently read-only (for drag compatibility). */
+  const [readOnly, setReadOnly] = useState(true);
+
+  /** Finalizes editing and calls `onCommit` when the user exits the field. */
+  const updateData  = () => {
+    setReadOnly(true);
+    onCommit();
+  };
+
+  /** Handles the Enter key — commits the input by triggering a blur event. */
+  const updateOnEnter = (event: React.KeyboardEvent<HTMLInputElement>) => { 
+    if (event.key === "Enter") 
+      (event.target as HTMLInputElement).blur(); };
+
+  return <input
+    type={"text"}
+    placeholder={placeholder}
+    value={value}
+    onChange={(e) => setValue(e.target.value)}
+    onFocus={() => setReadOnly(false)}
+    onBlur={updateData}
+    onKeyDown={updateOnEnter}
+    readOnly={readOnly}
+    id={id}
+    // ReactFlow uses the "drag" / "nodrag" classes to enable / disable dragging of nodes
+    className={`${readOnly ? "drag" : "nodrag"} flex-1 ${styles.textField} ${invalid ? styles.invalid : ""} ${className}`}
+    aria-label={ariaLabel}
+  />;
+}
+
+/**
+ * A styled text input that updates its value **only on commit** (when the user
+ * presses Enter or clicks outside the input).
+ *
+ * Internally wraps `RealtimeTextField` and buffers input changes locally,
+ * calling `setValue` only once editing is complete.
+ *
+ * @param props - Component properties.
+ * @param props.value - The current text input value.
+ * @param props.setValue - Callback invoked when the user commits the change.
+ * @param props.placeholder - Optional placeholder text displayed when the input is empty.
+ * @param props.className - Optional additional CSS class names.
+ * @param props.id - Optional unique HTML `id` for the input element.
+ * @param props.ariaLabel - Optional ARIA label for accessibility.
+ * @param props.invalid - If true, applies error styling to indicate invalid input.
+ *
+ * @returns A styled `<input>` element that updates its parent state only on commit.
+ */
+export function TextField({
+  value = "",
+  setValue,
+  placeholder,
+  className,
+  id,
+  ariaLabel,
+  invalid = false,
+} : {
+  value: string,
+  setValue: (value: string) => void,
+  placeholder?: string,
+  className?: string,
+  id?: string,
+  ariaLabel?: string,
+  invalid?: boolean,
+}) {
+  const [inputValue, setInputValue] = useState(value);
+
+  useEffect(() => {
+    setInputValue(value);
+  }, [value]);
+
+  const onCommit = () => setValue(inputValue);
+
+  return <RealtimeTextField
+    placeholder={placeholder}
+    value={inputValue}
+    setValue={setInputValue}
+    onCommit={onCommit}
+    id={id}
+    className={className}
+    ariaLabel={ariaLabel}
+    invalid={invalid}
+  />;
+}
--- a/src/components/components.tsx
+++ b/src/components/components.tsx
@@ -1,6 +1,14 @@
 import { useState } from 'react'

+/**
+ * A minimal counter component that demonstrates basic React state handling.
+ *
+ * Maintains an internal count value and provides buttons to increment and reset it.
+ *
+ * @returns A JSX element rendering the counter UI.
+ */
 function Counter() {
+  /** The current counter value. */
  const [count, setCount] = useState(0)

  return (
--- a/src/index.css
+++ b/src/index.css
@@ -7,13 +7,15 @@
  color: rgba(255, 255, 255, 0.87);
  background-color: #242424;

+  --accent-color: #008080;
+
  font-synthesis: none;
  text-rendering: optimizeLegibility;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
 }

-html, body {
+html, body, #root {
  margin: 0;
  padding: 0;

@@ -24,12 +26,7 @@ html, body {
 }

 a {
-  font-weight: 500;
-  color: #646cff;
-  text-decoration: inherit;
-}
-a:hover {
-  color: #535bf2;
+  color: canvastext;
 }

 h1 {
@@ -49,7 +46,7 @@ button {
  transition: border-color 0.25s;
 }
 button:hover {
-  border-color: #646cff;
+  border-color: var(--accent-color);
 }
 button:focus,
 button:focus-visible {
@@ -60,11 +57,23 @@ button:focus-visible {
  :root {
    color: #213547;
    background-color: #ffffff;
-  }
-  a:hover {
-    color: #747bff;
+
+    --accent-color: #00AAAA;
+    --select-color: rgba(gray);
+
+    --dropdown-menu-background-color: rgb(247, 247, 247);
+    --dropdown-menu-border: rgba(207, 207, 207, 0.986);
  }
  button {
    background-color: #f9f9f9;
  }
 }
+
+@media (prefers-color-scheme: dark) {
+  :root {
+    color: #ffffff;
+    --select-color: rgba(gray);
+    --dropdown-menu-background-color: rgba(39, 39, 39, 0.986);
+    --dropdown-menu-border: rgba(65, 65, 65, 0.986);
+  }
+}
--- a/src/pages/ConnectedRobots/ConnectedRobots.tsx
+++ b/src/pages/ConnectedRobots/ConnectedRobots.tsx
@@ -0,0 +1,60 @@
+import { useEffect, useState } from 'react'
+
+/**
+ * Displays the current connection status of a robot in real time.
+ *
+ * Opens an SSE connection to the backend (`/robot/ping_stream`) that emits
+ * simple boolean JSON messages (`true` or `false`). Updates automatically when
+ * the robot connects or disconnects.
+ *
+ * @returns A React element showing the current robot connection status.
+ */
+export default function ConnectedRobots() {
+  
+  /**
+   * The current connection state:
+   * - `true`: Robot is connected.
+   * - `false`: Robot is not connected.
+   * - `null`: Connection status is unknown (initial check in progress).
+   */
+  const [connected, setConnected] = useState<boolean | null>(null);
+
+  useEffect(() => {
+    // Open a Server-Sent Events (SSE) connection to receive live ping updates.
+    // We're expecting a stream of data like that looks like this: `data = False` or `data = True`
+    const eventSource = new EventSource("http://localhost:8000/robot/ping_stream");
+    eventSource.onmessage = (event) => {
+    
+      // Expecting messages in JSON format: `true` or `false`
+      console.log("received message:", event.data);
+      try {
+        const data = JSON.parse(event.data);
+
+        try {
+          setConnected(data)
+        }
+        catch {
+          console.log("couldnt extract connected from incoming ping data")
+        }
+
+      } catch {
+        console.log("Ping message not in correct format:", event.data);
+      }
+    };
+
+    // Clean up the SSE connection when the component unmounts.
+    return () => eventSource.close();
+  }, []);
+
+  return (
+    <div>
+      <h1>Is robot currently connected?</h1>
+      <div>
+        <h2>Robot is currently: {connected == null ? "checking..." : (connected ? "connected! 🟢" : "not connected... 🔴")} </h2>
+        <h3>
+          {connected == null ? "If checking continues, make sure CB is properly loaded with robot at least once." : ""}
+        </h3>
+      </div>
+    </div>
+  );
+}
--- a/src/pages/Home/Home.tsx
+++ b/src/pages/Home/Home.tsx
@@ -2,6 +2,14 @@ import { Link } from 'react-router'
 import pepperLogo from '../../assets/pepper_transp2_small.svg'
 import styles from './Home.module.css'

+/**
+ * The home page component providing navigation and project branding.
+ *
+ * Renders the Pepper logo and a set of navigational links 
+ * implemented via React Router.
+ *
+ * @returns A JSX element representing the app’s home page.
+ */
 function Home() {
  return (
    <div className={`flex-col ${styles.gapXl}`}>
@@ -14,6 +22,7 @@ function Home() {
        <Link to={"/robot"}>Robot Interaction →</Link>
        <Link to={"/editor"}>Editor →</Link>
        <Link to={"/template"}>Template →</Link>
+        <Link to={"/ConnectedRobots"}>Connected Robots →</Link>
      </div>
    </div>
  )
--- a/src/pages/Robot/Robot.tsx
+++ b/src/pages/Robot/Robot.tsx
@@ -1,13 +1,34 @@
 import { useState, useEffect, useRef } from 'react'

+/**
+ * Displays a live robot interaction panel with user input, conversation history,
+ * and real-time updates from the robot backend via Server-Sent Events (SSE).
+ *
+ * @returns A React element rendering the interactive robot UI.
+ */
 export default function Robot() {
+  /** The text message currently entered by the user. */
  const [message, setMessage] = useState('');

+  /** Whether the robot’s microphone or listening mode is currently active. */
  const [listening, setListening] = useState(false);
-  const [conversation, setConversation] = useState<{"role": "user" | "assistant", "content": string}[]>([])
+  /** The ongoing conversation history as a sequence of user/assistant messages. */
+  const [conversation, setConversation] = useState<
+  {"role": "user" | "assistant", "content": string}[]>([])
+  /** Reference to the scrollable conversation container for auto-scrolling. */
  const conversationRef = useRef<HTMLDivElement | null>(null);
+  /**
+   * Index used to force refresh the SSE connection or clear conversation.
+   * Incrementing this value triggers a reset of the live data stream.
+   */
  const [conversationIndex, setConversationIndex] = useState(0);

+  /**
+   * Sends a message to the robot backend.
+   *
+   * Makes a POST request to `/message` with the user’s text.
+   * The backend may respond with confirmation or error information.
+   */
  const sendMessage = async () => {
    try {
      const response = await fetch("http://localhost:8000/message", {
@@ -24,6 +45,17 @@ export default function Robot() {
    }
  };

+   /**
+   * Establishes a persistent Server-Sent Events (SSE) connection
+   * to receive real-time updates from the robot backend.
+   *
+   * Handles three event types:
+   * - `voice_active`: whether the robot is currently listening.
+   * - `speech`: recognized user speech input.
+   * - `llm_response`: the robot’s language model-generated reply.
+   *
+   * The connection resets whenever `conversationIndex` changes.
+   */
  useEffect(() => {
    const eventSource = new EventSource("http://localhost:8000/sse");

@@ -43,6 +75,10 @@ export default function Robot() {
    };
  }, [conversationIndex]);

+  /**
+   * Automatically scrolls the conversation view to the bottom
+   * whenever a new message is added.
+   */
  useEffect(() => {
    if (!conversationRef || !conversationRef.current) return;
    conversationRef.current.scrollTop = conversationRef.current.scrollHeight;
--- a/src/pages/VisProgPage/VisProg.module.css
+++ b/src/pages/VisProgPage/VisProg.module.css
@@ -1,26 +1,12 @@
 /* editor UI */

-.outer-editor-container {
-    margin-inline: auto;
-    display: flex;
-    justify-self: center;
-    padding: 10px;
-    align-items: center;
-    width: 80vw;
-    height: 80vh;
-}
-
 .inner-editor-container {
-    outline-style: solid;
-    border-radius: 10pt;
-    width: 90%;
+    box-sizing: border-box;
+    margin: 1rem;
+    width: calc(100% - 2rem);
    height: 100%;
 }

-
-
-
-
 .dnd-panel {
    margin-inline-start: auto;
    margin-inline-end: auto;
@@ -47,6 +33,12 @@

 /* Node Styles */

+:global(.react-flow__node.selected) {
+    outline: 1px dashed blue !important;
+    border-radius: 5pt;
+    outline-offset: 4px;
+}
+
 .default-node {
    padding: 10px 15px;
    background-color: canvas;
@@ -55,42 +47,53 @@
    filter: drop-shadow(0 0 0.75rem black);
 }

-.default-node-norm {
-    padding: 10px 15px;
-    background-color: canvas;
-    border-radius: 5pt;
-    outline: forestgreen solid 2pt;
+
+
+.node-norm {
+    outline: rgb(0, 149, 25) solid 2pt;
    filter: drop-shadow(0 0 0.25rem forestgreen);
 }

-.default-node-phase {
-    padding: 10px 15px;
-    background-color: canvas;
-    border-radius: 5pt;
+.node-goal {
+    outline: yellow solid 2pt;
+    filter: drop-shadow(0 0 0.25rem yellow);
+}
+
+.node-trigger {
+    outline: teal solid 2pt;
+    filter: drop-shadow(0 0 0.25rem teal);
+}
+
+.node-phase {
    outline: dodgerblue solid 2pt;
    filter: drop-shadow(0 0 0.25rem dodgerblue);
 }

-.default-node-start {
-    padding: 10px 15px;
-    background-color: canvas;
-    border-radius: 5pt;
+.node-start {
    outline: orange solid 2pt;
    filter: drop-shadow(0 0 0.25rem orange);
 }

-.default-node-end {
-    padding: 10px 15px;
-    background-color: canvas;
-    border-radius: 5pt;
+.node-end {
    outline: red solid 2pt;
    filter: drop-shadow(0 0 0.25rem red);
 }

+.node-basic_belief {
+    outline: plum solid 2pt;
+    filter: drop-shadow(0 0 0.25rem plum);
+}
+
+.node-inferred_belief {
+    outline: mediumpurple solid 2pt;
+    filter: drop-shadow(0 0 0.25rem mediumpurple);
+}
+
 .draggable-node {
    padding: 3px 10px;
    background-color: canvas;
    border-radius: 5pt;
+    cursor: move;
    outline: black solid 2pt;
    filter: drop-shadow(0 0 0.75rem black);
 }
@@ -99,14 +102,34 @@
    padding: 3px 10px;
    background-color: canvas;
    border-radius: 5pt;
+    cursor: move;
    outline: forestgreen solid 2pt;
    filter: drop-shadow(0 0 0.25rem forestgreen);
 }

+.draggable-node-goal {
+    padding: 3px 10px;
+    background-color: canvas;
+    border-radius: 5pt;
+    cursor: move;
+    outline: yellow solid 2pt;
+    filter: drop-shadow(0 0 0.25rem yellow);
+}
+
+.draggable-node-trigger {
+    padding: 3px 10px;
+    background-color: canvas;
+    border-radius: 5pt;
+    cursor: move;
+    outline: teal solid 2pt;
+    filter: drop-shadow(0 0 0.25rem teal);
+}
+
 .draggable-node-phase {
    padding: 3px 10px;
    background-color: canvas;
    border-radius: 5pt;
+    cursor: move;
    outline: dodgerblue solid 2pt;
    filter: drop-shadow(0 0 0.25rem dodgerblue);
 }
@@ -115,6 +138,7 @@
    padding: 3px 10px;
    background-color: canvas;
    border-radius: 5pt;
+    cursor: move;
    outline: orange solid 2pt;
    filter: drop-shadow(0 0 0.25rem orange);
 }
@@ -123,7 +147,87 @@
    padding: 3px 10px;
    background-color: canvas;
    border-radius: 5pt;
+    cursor: move;
    outline: red solid 2pt;
    filter: drop-shadow(0 0 0.25rem red);
 }

+.draggable-node-basic_belief {
+    padding: 3px 10px;
+    background-color: canvas;
+    border-radius: 5pt;
+    cursor: move;
+    outline: plum solid 2pt;
+    filter: drop-shadow(0 0 0.25rem plum);
+}
+
+.draggable-node-inferred_belief {
+    padding: 3px 10px;
+    background-color: canvas;
+    border-radius: 5pt;
+    outline: mediumpurple solid 2pt;
+    filter: drop-shadow(0 0 0.25rem mediumpurple);
+}
+
+.planNoIterate {
+  opacity: 0.5;
+  font-style: italic;
+  text-decoration: line-through;
+}
+
+.bottomLeftHandle {
+  left: 40% !important;
+}
+
+.bottomRightHandle {
+  left: 60% !important;
+}
+
+.node-toolbar-tooltip {
+    background-color: darkgray;
+    color: white;
+    padding: 8px 12px;
+    border-radius: 6px;
+    font-size: 12px;
+    font-family: sans-serif;
+    font-weight: bold;
+    cursor: help;
+    box-shadow: 0 4px 6px rgba(0, 0, 0, 0.3);
+    white-space: nowrap;
+}
+
+.custom-tooltip {
+    pointer-events: none;
+    background-color: Canvas;
+    color: CanvasText;
+    padding: 8px 12px;
+    border-radius: 0 6px 6px 0;
+    outline: CanvasText solid 2px;
+    font-size: 14px;
+    filter: drop-shadow(0 0 0.25rem CanvasText);
+    white-space: nowrap;
+    position: relative;
+    animation: fadeIn 0.2s ease-out;
+}
+
+.custom-tooltip-header {
+    pointer-events: none;
+    background-color: CanvasText;
+    color: Canvas;
+    padding: 8px 12px;
+    border-radius: 6px 0 0 6px;
+    outline: CanvasText solid 2px;
+    font-size: 14px;
+    font-weight: bold;
+    font-variant-caps: small-caps;
+    filter: drop-shadow(0 0 0.25rem CanvasText);
+    white-space: nowrap;
+    position: relative;
+    animation: fadeIn 0.2s ease-out;
+}
+
+
+@keyframes fadeIn {
+    from { opacity: 0; transform: translateY(5px); }
+    to { opacity: 1; transform: translateY(0); }
+}
--- a/src/pages/VisProgPage/VisProg.tsx
+++ b/src/pages/VisProgPage/VisProg.tsx
@@ -4,34 +4,25 @@ import {
  Panel,
  ReactFlow,
  ReactFlowProvider,
-  MarkerType,
+  MarkerType, getOutgoers
 } from '@xyflow/react';
 import '@xyflow/react/dist/style.css';
+import {graphReducer, runProgram} from "./VisProgLogic.tsx";
+import warningStyles from './visualProgrammingUI/components/WarningSidebar.module.css'
+import {type CSSProperties, useEffect, useState} from "react";
 import {useShallow} from 'zustand/react/shallow';
-
-import {
-  StartNodeComponent,
-  EndNodeComponent,
-  PhaseNodeComponent,
-  NormNodeComponent
-} from './visualProgrammingUI/components/NodeDefinitions.tsx';
+import useProgramStore from "../../utils/programStore.ts";
 import {DndToolbar} from './visualProgrammingUI/components/DragDropSidebar.tsx';
-import graphReducer from "./visualProgrammingUI/GraphReducer.ts";
+import {type EditorWarning, globalWarning} from "./visualProgrammingUI/components/EditorWarnings.tsx";
+import {WarningsSidebar} from "./visualProgrammingUI/components/WarningSidebar.tsx";
 import useFlowStore from './visualProgrammingUI/VisProgStores.tsx';
 import type {FlowState} from './visualProgrammingUI/VisProgTypes.tsx';
 import styles from './VisProg.module.css'
+import { NodeTypes } from './visualProgrammingUI/NodeRegistry.ts';
+import SaveLoadPanel from './visualProgrammingUI/components/SaveLoadPanel.tsx';

 // --| config starting params for flow |--

-/**
- * contains the types of all nodes that are available in the editor
- */
-const NODE_TYPES = {
-  start: StartNodeComponent,
-  end: EndNodeComponent,
-  phase: PhaseNodeComponent,
-  norm: NormNodeComponent
-};

 /**
 * defines how the default edge looks inside the editor
@@ -53,11 +44,18 @@ const selector = (state: FlowState) => ({
  nodes: state.nodes,
  edges: state.edges,
  onNodesChange: state.onNodesChange,
+  onNodesDelete: state.onNodesDelete,
+  onEdgesDelete: state.onEdgesDelete,
  onEdgesChange: state.onEdgesChange,
  onConnect: state.onConnect,
  onReconnectStart: state.onReconnectStart,
  onReconnectEnd: state.onReconnectEnd,
-  onReconnect: state.onReconnect
+  onReconnect: state.onReconnect,
+  undo: state.undo,
+  redo: state.redo,
+  beginBatchAction: state.beginBatchAction,
+  endBatchAction: state.endBatchAction,
+  scrollable: state.scrollable
 });

 // --| define ReactFlow editor |--
@@ -72,43 +70,96 @@ const VisProgUI = () => {
  const {
    nodes, edges,
    onNodesChange,
+    onNodesDelete,
+    onEdgesDelete,
    onEdgesChange,
    onConnect,
    onReconnect,
    onReconnectStart,
-    onReconnectEnd
+    onReconnectEnd,
+    undo,
+    redo,
+    beginBatchAction,
+    endBatchAction,
+    scrollable
  } = useFlowStore(useShallow(selector)); // instructs the editor to use the corresponding functions from the FlowStore
+  const [zoom, setZoom] = useState(1);
+  // adds ctrl+z and ctrl+y support to respectively undo and redo actions
+  useEffect(() => {
+    const handler = (e: KeyboardEvent) => {
+      if (e.ctrlKey && e.key === 'z') undo();
+      if (e.ctrlKey && e.key === 'y') redo();
+    };
+    window.addEventListener('keydown', handler);
+    return () => window.removeEventListener('keydown', handler);
+  });
+  const {unregisterWarning, registerWarning} = useFlowStore();
+  useEffect(() => {
+
+    if (checkPhaseChain()) {
+      unregisterWarning(globalWarning,'INCOMPLETE_PROGRAM');
+    } else {
+      // create global warning for incomplete program chain
+      const incompleteProgramWarning : EditorWarning = {
+        scope: {
+          id: globalWarning,
+          handleId: undefined
+        },
+        type: 'INCOMPLETE_PROGRAM',
+        severity: "ERROR",
+        description: "there is no complete phase chain from the startNode to the EndNode"
+      }
+
+      registerWarning(incompleteProgramWarning);
+    }
+  },[edges, registerWarning, unregisterWarning])

  return (
-    <div className={styles.outerEditorContainer}>
-      <div className={styles.innerEditorContainer}>
-        <ReactFlow
-          nodes={nodes}
-          edges={edges}
-          defaultEdgeOptions={DEFAULT_EDGE_OPTIONS}
-          nodeTypes={NODE_TYPES}
-          onNodesChange={onNodesChange}
-          onEdgesChange={onEdgesChange}
-          onReconnect={onReconnect}
-          onReconnectStart={onReconnectStart}
-          onReconnectEnd={onReconnectEnd}
-          onConnect={onConnect}
-          snapToGrid
-          fitView
-          proOptions={{hideAttribution: true}}
-        >
-          <Panel position="top-center" className={styles.dndPanel}>
-            <DndToolbar/> {/* contains the drag and drop panel for nodes */}
+    <div className={`${styles.innerEditorContainer} round-lg border-lg flex-row`} style={({'--flow-zoom': zoom} as CSSProperties)}>
+      <ReactFlow
+        nodes={nodes}
+        edges={edges}
+        defaultEdgeOptions={DEFAULT_EDGE_OPTIONS}
+        nodeTypes={NodeTypes}
+        onNodesChange={onNodesChange}
+        onNodesDelete={onNodesDelete}
+        onEdgesDelete={onEdgesDelete}
+        onEdgesChange={onEdgesChange}
+        onReconnect={onReconnect}
+        onReconnectStart={onReconnectStart}
+        onReconnectEnd={onReconnectEnd}
+        onConnect={onConnect}
+        onNodeDragStart={beginBatchAction}
+        onNodeDragStop={endBatchAction}
+        preventScrolling={scrollable}
+        onMove={(_, viewport) => setZoom(viewport.zoom)}
+        reconnectRadius={15}
+        snapToGrid
+        fitView
+        proOptions={{hideAttribution: true}}
+        style={{flexGrow: 3}}
+      >
+        <Panel position="top-center" className={styles.dndPanel}>
+          <DndToolbar/> {/* contains the drag and drop panel for nodes */}
          </Panel>
-          <Controls/>
-          <Background/>
-        </ReactFlow>
-      </div>
+          <Panel position = "bottom-left" className={styles.saveLoadPanel}>
+            <SaveLoadPanel></SaveLoadPanel>
+          </Panel>
+        <Panel position="bottom-center">
+          <button onClick={() => undo()}>Undo</button>
+          <button onClick={() => redo()}>Redo</button>
+        </Panel>
+        <Panel position="center-right" className={warningStyles.warningsSidebar}>
+          <WarningsSidebar/>
+        </Panel>
+        <Controls/>
+        <Background/>
+      </ReactFlow>
+
    </div>
  );
 };

-
 /**
 * Places the VisProgUI component inside a ReactFlowProvider
 *
@@ -124,11 +175,23 @@ function VisualProgrammingUI() {
  );
 }

-// currently outputs the prepared program to the console
-function runProgram() {
-  const program = graphReducer();
-  console.log(program);
-}
+const checkPhaseChain = (): boolean => {
+  const {nodes, edges} = useFlowStore.getState();
+
+  function checkForCompleteChain(currentNodeId: string): boolean {
+    const outgoingPhases = getOutgoers({id: currentNodeId}, nodes, edges)
+      .filter(node => ["end", "phase"].includes(node.type!));
+
+    if (outgoingPhases.length === 0) return false;
+    if (outgoingPhases.some(node => node.type === "end" )) return true;
+
+    const next = outgoingPhases.map(node => checkForCompleteChain(node.id))
+      .find(result => result);
+    return !!next;
+  }
+
+  return checkForCompleteChain('start');
+};

 /**
 * houses the entire page, so also UI elements
@@ -136,12 +199,31 @@ function runProgram() {
 * @constructor
 */
 function VisProgPage() {
+  const [programValidity, setProgramValidity] = useState<boolean>(true);
+  const {isProgramValid, severityIndex} = useFlowStore();
+
+  const validity = () => {return isProgramValid();}
+
+  useEffect(() => {
+    setProgramValidity(validity);
+    // the following eslint disable is required as it wants us to use all possible dependencies for the useEffect statement,
+    // however this would cause unneeded updates
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [severityIndex]);
+
+  const setProgramState = useProgramStore((state) => state.setProgramState);
+
+  const processProgram = () => {
+    const phases = graphReducer();       // reduce graph
+    setProgramState({ phases });          // <-- save to store
+    runProgram();                        // send to backend if needed
+  };
  return (
    <>
      <VisualProgrammingUI/>
-      <button onClick={runProgram}>run program</button>
+      <button onClick={processProgram} disabled={!programValidity}>Run Program</button>
    </>
  )
 }

-export default VisProgPage
+export default VisProgPage
--- a/src/pages/VisProgPage/VisProgLogic.tsx
+++ b/src/pages/VisProgPage/VisProgLogic.tsx
@@ -0,0 +1,43 @@
+import useProgramStore from "../../utils/programStore";
+import orderPhaseNodeArray from "../../utils/orderPhaseNodes";
+import useFlowStore from './visualProgrammingUI/VisProgStores';
+import { NodeReduces } from './visualProgrammingUI/NodeRegistry';
+import type { PhaseNode } from "./visualProgrammingUI/nodes/PhaseNode";
+
+/**
+ * Reduces the graph into its phases' information and recursively calls their reducing function
+ */
+export function graphReducer() {
+  const { nodes } = useFlowStore.getState();
+  return orderPhaseNodeArray(nodes.filter((n) => n.type == 'phase') as PhaseNode [])
+    .map((n) => {
+      const reducer = NodeReduces['phase'];
+      return reducer(n, nodes)
+    });
+}
+
+
+/**
+ * Outputs the prepared program to the console and sends it to the backend
+ */
+export function runProgram() {
+  const phases = graphReducer();
+  const program = {phases}
+  console.log(JSON.stringify(program, null, 2));
+  fetch(
+    "http://localhost:8000/program",
+    {
+      method: "POST",
+      headers: {"Content-Type": "application/json"},
+      body: JSON.stringify(program),
+    }
+  ).then((res) => {
+    if (!res.ok) throw new Error("Failed communicating with the backend.")
+    console.log("Successfully sent the program to the backend.");
+
+    // store reduced program in global program store for further use in the UI
+    // when the program was sent to the backend successfully:
+    useProgramStore.getState().setProgramState(structuredClone(program));
+  }).catch(() => console.log("Failed to send program to the backend."));
+  console.log(program);
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/EditorUndoRedo.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/EditorUndoRedo.ts
@@ -0,0 +1,145 @@
+import type {Edge, Node} from "@xyflow/react";
+import type {StateCreator, StoreApi } from 'zustand/vanilla';
+import type {
+  SeverityIndex,
+  WarningRegistry
+} from "./components/EditorWarnings.tsx";
+import type {FlowState} from "./VisProgTypes.tsx";
+
+export type FlowSnapshot = {
+  nodes: Node[];
+  edges: Edge[];
+  warnings: {
+    warningRegistry: WarningRegistry;
+    severityIndex: SeverityIndex;
+  }
+}
+
+/**
+ * A reduced version of the flowState type,
+ * This removes the functions that are provided by UndoRedo from the expected input type
+ */
+type BaseFlowState = Omit<FlowState, 'undo' | 'redo' | 'pushSnapshot' | 'beginBatchAction' | 'endBatchAction'>;
+
+
+/**
+ * UndoRedo is implemented as a middleware for the FlowState store,
+ * this allows us to keep the undo redo logic separate from the flowState,
+ * and thus from the internal editor logic
+ *
+ * Allows users to undo and redo actions in the visual programming editor
+ *
+ * @param {(set: StoreApi<FlowState>["setState"], get: () => FlowState, api: StoreApi<FlowState>) => BaseFlowState} config
+ * @returns {StateCreator<FlowState>}
+ * @constructor
+ */
+export const UndoRedo = (
+  config: (
+    set: StoreApi<FlowState>['setState'],
+    get: () => FlowState,
+    api: StoreApi<FlowState>
+  ) => BaseFlowState ) : StateCreator<FlowState> => (set, get, api) => {
+  let batchTimeout: number | null = null;
+
+  /**
+   * Captures the current state for
+   *
+   * @param {BaseFlowState} state - the current state of the editor
+   * @returns {FlowSnapshot} - returns a snapshot of the current editor state
+   */
+  const getSnapshot = (state : BaseFlowState) : FlowSnapshot => (structuredClone({
+    nodes: state.nodes,
+    edges: state.edges,
+    warnings: {
+      warningRegistry: state.editorWarningRegistry,
+      severityIndex: state.severityIndex,
+    }
+  }));
+
+  const initialState = config(set, get, api);
+
+  return {
+    ...initialState,
+
+    /**
+     *  Adds a snapshot of the current state to the undo history
+     */
+    pushSnapshot: () => {
+      const state = get();
+      // we don't add new snapshots during an ongoing batch action
+      if (!state.isBatchAction) {
+        set({
+          past: [...state.past, getSnapshot(state)],
+          future: []
+        });
+      }
+
+    },
+
+    /**
+     * Undoes the last action from the editor,
+     * The state before undoing is added to the future for potential redoing
+     */
+    undo: () => {
+      const state = get();
+      if (!state.past.length) return;
+
+      const snapshot = state.past.pop()!; // pop last snapshot
+      const currentSnapshot: FlowSnapshot = getSnapshot(state);
+
+      set({
+        nodes: snapshot.nodes,
+        edges: snapshot.edges,
+        editorWarningRegistry: snapshot.warnings.warningRegistry,
+        severityIndex: snapshot.warnings.severityIndex,
+      });
+
+      state.future.push(currentSnapshot); // push current to redo
+    },
+
+    /**
+     * redoes the last undone action,
+     * The state before redoing is added to the past for potential undoing
+     */
+    redo: () => {
+      const state = get();
+      if (!state.future.length) return;
+
+      const snapshot = state.future.pop()!; // pop last redo
+      const currentSnapshot: FlowSnapshot = getSnapshot(state);
+
+      set({
+        nodes: snapshot.nodes,
+        edges: snapshot.edges,
+        editorWarningRegistry: snapshot.warnings.warningRegistry,
+        severityIndex: snapshot.warnings.severityIndex,
+      });
+
+      state.past.push(currentSnapshot); // push current to undo
+    },
+
+    /**
+     * Begins a batched action
+     *
+     * An example of a batched action is dragging a node in the editor,
+     * where we want the entire action of moving a node to a different position
+     * to be covered by one undoable snapshot
+     */
+    beginBatchAction: () => {
+      get().pushSnapshot();
+      set({ isBatchAction: true });
+      if (batchTimeout) clearTimeout(batchTimeout);
+    },
+
+    /**
+     * Ends a batched action,
+     * a very short timeout is used to prevent new snapshots from being added
+     * until we are certain that the batch event is finished
+     */
+    endBatchAction: () => {
+      batchTimeout = window.setTimeout(() => {
+        set({ isBatchAction: false });
+      }, 10);
+    }
+  }
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/GraphReducer.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/GraphReducer.ts
@@ -1,188 +0,0 @@
-import {
-  type Edge,
-  getIncomers,
-  getOutgoers
-} from '@xyflow/react';
-import useFlowStore from "./VisProgStores.tsx";
-import type {
-  BehaviorProgram,
-  GoalData,
-  GoalReducer,
-  GraphPreprocessor,
-  NormData,
-  NormReducer,
-  OrderedPhases,
-  Phase,
-  PhaseReducer,
-  PreparedGraph,
-  PreparedPhase
-} from "./GraphReducerTypes.ts";
-import type {
-  AppNode,
-  GoalNode,
-  NormNode,
-  PhaseNode
-} from "./VisProgTypes.tsx";
-
-/**
- * Reduces the current graph inside the visual programming editor into a BehaviorProgram
- *
- * @param {GraphPreprocessor} graphPreprocessor
- * @param {PhaseReducer} phaseReducer
- * @param {NormReducer} normReducer
- * @param {GoalReducer} goalReducer
- * @returns {BehaviorProgram}
- */
-export default function graphReducer(
-  graphPreprocessor: GraphPreprocessor = defaultGraphPreprocessor,
-  phaseReducer: PhaseReducer = defaultPhaseReducer,
-  normReducer: NormReducer = defaultNormReducer,
-  goalReducer: GoalReducer = defaultGoalReducer
-) : BehaviorProgram {
-  const nodes: AppNode[] = useFlowStore.getState().nodes;
-  const edges: Edge[] = useFlowStore.getState().edges;
-  const preparedGraph: PreparedGraph = graphPreprocessor(nodes, edges);
-
-  return preparedGraph.map((preparedPhase: PreparedPhase) : Phase =>
-    phaseReducer(
-      preparedPhase,
-      normReducer,
-      goalReducer
-    ));
-};
-
-/**
- * reduces a single preparedPhase to a Phase object
- * the Phase object describes a single phase in a BehaviorProgram
- *
- * @param {PreparedPhase} phase
- * @param {NormReducer} normReducer
- * @param {GoalReducer} goalReducer
- * @returns {Phase}
- */
-export function defaultPhaseReducer(
-  phase: PreparedPhase,
-  normReducer: NormReducer = defaultNormReducer,
-  goalReducer: GoalReducer = defaultGoalReducer
-) : Phase {
-  return {
-    id: phase.phaseNode.id,
-    name: phase.phaseNode.data.label,
-    nextPhaseId: phase.nextPhaseId,
-    phaseData: {
-      norms: phase.connectedNorms.map(normReducer),
-      goals: phase.connectedGoals.map(goalReducer)
-    }
-  }
-}
-
-/**
- * the default implementation of the goalNode reducer function
- *
- * @param {GoalNode} node
- * @returns {GoalData}
- */
-function defaultGoalReducer(node: GoalNode) : GoalData {
-  return {
-    id: node.id,
-    name: node.data.label,
-    value: node.data.value
-  }
-}
-
-/**
- * the default implementation of the normNode reducer function
- *
- * @param {NormNode} node
- * @returns {NormData}
- */
-function defaultNormReducer(node: NormNode) :NormData {
-  return {
-    id: node.id,
-    name: node.data.label,
-    value: node.data.value
-  }
-}
-
-// Graph preprocessing functions:
-
-/**
- * Preprocesses the provide state of the behavior editor graph, preparing it for further processing in
- * the graphReducer function
- *
- * @param {AppNode[]} nodes
- * @param {Edge[]} edges
- * @returns {PreparedGraph}
- */
-export function defaultGraphPreprocessor(nodes: AppNode[], edges: Edge[]) : PreparedGraph {
-  const norms : NormNode[] = nodes.filter((node) => node.type === 'norm') as NormNode[];
-  const goals : GoalNode[] = nodes.filter((node) => node.type === 'goal') as GoalNode[];
-  const orderedPhases : OrderedPhases = orderPhases(nodes, edges);
-
-  return orderedPhases.phaseNodes.map((phase: PhaseNode) : PreparedPhase => {
-    const nextPhase = orderedPhases.connections.get(phase.id);
-      return {
-        phaseNode: phase,
-        nextPhaseId: nextPhase as string,
-        connectedNorms: getIncomers({id: phase.id}, norms,edges),
-        connectedGoals: getIncomers({id: phase.id}, goals,edges)
-      };
-    });
-}
-
-/**
- * orderPhases takes the state of the graph created by the editor and turns it into an OrderedPhases object.
- *
- * @param {AppNode[]} nodes
- * @param {Edge[]} edges
- * @returns {OrderedPhases}
- */
-export function orderPhases(nodes: AppNode[],edges: Edge[]) : OrderedPhases {
-  // find the first Phase node
-  const phaseNodes : PhaseNode[] = nodes.filter((node) => node.type === 'phase') as PhaseNode[];
-  const startNodeIndex = nodes.findIndex((node : AppNode):boolean  => {return (node.type === 'start');});
-  const firstPhaseNode = getOutgoers({ id: nodes[startNodeIndex].id },phaseNodes,edges);
-
-  // recursively adds the phase nodes to a list in the order they are connected in the graph
-  const nextPhase  = (
-    currentIndex: number,
-    { phaseNodes: phases, connections: connections} : OrderedPhases
-  ) : OrderedPhases => {
-    // get the current phase and the next phases;
-    const currentPhase = phases[currentIndex];
-    const nextPhaseNodes = getOutgoers(currentPhase,phaseNodes,edges);
-    const nextNodes = getOutgoers(currentPhase,nodes, edges);
-
-    // handles adding of the next phase to the chain, and error handle if an invalid state is received
-    if (nextPhaseNodes.length === 1 && nextNodes.length === 1) {
-      connections.set(currentPhase.id, nextPhaseNodes[0].id);
-      return nextPhase(phases.push(nextPhaseNodes[0] as PhaseNode) - 1, {phaseNodes: phases, connections: connections});
-    } else {
-      // handle erroneous states
-      if (nextNodes.length === 0){
-        throw new Error(`| INVALID PROGRAM | the source handle of "${currentPhase.id}" doesn't have any outgoing connections`);
-      } else {
-        if (nextNodes.length > 1) {
-          throw new Error(`| INVALID PROGRAM | the source handle of "${currentPhase.id}" connects to too many targets`);
-        } else {
-          if (nextNodes[0].type === "end"){
-            connections.set(currentPhase.id, "end");
-            // returns the final output of the function
-            return { phaseNodes: phases, connections: connections};
-          } else {
-            throw new Error(`| INVALID PROGRAM | the node "${nextNodes[0].id}" that "${currentPhase.id}" connects to is not a phase or end node`);
-          }
-        }
-      }
-    }
-  }
-  // initializes the Map describing the connections between phase nodes
-  // we need this Map to make sure we preserve this information,
-  // so we don't need to do checks on the entire set of edges in further stages of the reduction algorithm
-  const connections : Map<string, string> = new Map();
-
-  // returns an empty list if no phase nodes are present, otherwise returns an ordered list of phaseNodes
-  if (firstPhaseNode.length > 0) {
-      return nextPhase(0, {phaseNodes: [firstPhaseNode[0] as PhaseNode], connections: connections})
-  } else { return {phaseNodes: [], connections: connections} }
-}
--- a/src/pages/VisProgPage/visualProgrammingUI/GraphReducerTypes.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/GraphReducerTypes.ts
@@ -1,106 +0,0 @@
-import type {Edge} from "@xyflow/react";
-import type {AppNode, GoalNode, NormNode, PhaseNode} from "./VisProgTypes.tsx";
-
-
-/**
- * defines how a norm is represented in the simplified behavior program
-  */
-export type NormData = {
-  id: string;
-  name: string;
-  value: string;
-};
-
-/**
- * defines how a goal is represented in the simplified behavior program
- */
-export type GoalData = {
-  id: string;
-  name: string;
-  value: string;
-};
-
-/**
- * definition of a PhaseData object, it contains all phaseData that is relevant
- * for further processing and execution of a phase.
- */
-export type PhaseData = {
-  norms: NormData[];
-  goals: GoalData[];
-};
-
-/**
- * Describes a single phase within the simplified representation of a behavior program,
- *
- * Contains:
- * - the id of the described phase,
- * - the name of the described phase,
- * - the id of the next phase in the user defined behavior program
- * - the data property of the described phase node
- *
- * @NOTE at the moment the type definitions do not support branching programs,
- * if branching of phases is to be supported in the future, the type definition for Phase has to be updated
- */
-export type Phase = {
-  id: string;
-  name: string;
-  nextPhaseId: string;
-  phaseData: PhaseData;
-};
-
-/**
- * Describes a simplified behavior program as a list of Phase objects
- */
-export type BehaviorProgram = Phase[];
-
-
-
-export type NormReducer = (node: NormNode) => NormData;
-export type GoalReducer = (node: GoalNode) => GoalData;
-export type PhaseReducer = (
-  preparedPhase: PreparedPhase,
-  normReducer: NormReducer,
-  goalReducer: GoalReducer
-) => Phase;
-
-/**
- * contains:
- *
- * - list of phases, sorted based on position in chain between the start and end node
- * - a dictionary containing all outgoing connections,
- * to other phase or end nodes, for each phase node uses the id of the source node as key
- * and the id of the target node as value
- *
- */
-export type OrderedPhases = {
-  phaseNodes: PhaseNode[];
-  connections: Map<string, string>;
-};
-
-/**
- * A single prepared phase,
- * contains:
- * - the described phaseNode,
- * - the id of the next phaseNode or "end" for the end node
- * - a list of the normNodes that are connected to the described phase
- * - a list of the goalNodes that are connected to the described phase
- */
-export type PreparedPhase = {
-  phaseNode: PhaseNode;
-  nextPhaseId: string;
-  connectedNorms: NormNode[];
-  connectedGoals: GoalNode[];
-};
-
-/**
- * a list of PreparedPhase objects,
- * describes the preprocessed state of a program,
- * before the contents of the node
- */
-export type PreparedGraph = PreparedPhase[];
-
-export type GraphPreprocessor = (nodes: AppNode[], edges: Edge[]) => PreparedGraph;
-
-
-
-
--- a/src/pages/VisProgPage/visualProgrammingUI/HandleRuleLogic.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/HandleRuleLogic.ts
@@ -0,0 +1,122 @@
+import {type Connection} from "@xyflow/react";
+import {useEffect} from "react";
+import useFlowStore from "./VisProgStores.tsx";
+
+export type ConnectionContext = {
+  connectionCount: number;
+  source: {
+    id: string;
+    handleId: string;
+  }
+  target: {
+    id: string;
+    handleId: string;
+  }
+}
+
+export type HandleRule = (
+  connection: Connection,
+  context: ConnectionContext
+) => RuleResult;
+
+/**
+ * A RuleResult describes the outcome of validating a HandleRule
+ *
+ * if a rule is not satisfied, the RuleResult includes a message that is used inside a tooltip
+ * that tells the user why their attempted connection is not possible
+ */
+export type RuleResult =
+  | { isSatisfied: true }
+  | { isSatisfied: false, message: string };
+
+/**
+ * default RuleResults, can be used to create more readable handleRule definitions
+ */
+export const ruleResult = {
+  satisfied: { isSatisfied: true } as RuleResult,
+  unknownError: {isSatisfied: false, message: "Unknown Error" } as RuleResult,
+  notSatisfied: (message: string) : RuleResult => { return {isSatisfied: false, message: message } }
+}
+
+
+const evaluateRules = (
+  rules: HandleRule[],
+  connection: Connection,
+  context: ConnectionContext
+) : RuleResult => {
+  // evaluate the rules and check if there is at least one unsatisfied rule
+  const failedRule = rules
+    .map(rule => rule(connection, context))
+    .find(result => !result.isSatisfied);
+
+  return failedRule ? ruleResult.notSatisfied(failedRule.message) : ruleResult.satisfied;
+}
+
+
+/**
+ * !DOCUMENTATION NOT FINISHED!
+ *
+ * - The output is a single RuleResult, meaning we only show one error message.
+ * Error messages are prioritised by listOrder; Thus, if multiple HandleRules evaluate to false,
+ * we only send the error message of the first failed rule in the target's registered list of rules.
+ *
+ * @param {string} nodeId
+ * @param {string} handleId
+ * @param type
+ * @param {HandleRule[]} rules
+ * @returns {(c: Connection) => RuleResult} a function that validates an attempted connection
+ */
+export function useHandleRules(
+  nodeId: string,
+  handleId: string,
+  type: "source" | "target",
+  rules: HandleRule[],
+) : (c: Connection) => RuleResult {
+  const edges = useFlowStore.getState().edges;
+  const registerRules = useFlowStore((state) => state.registerRules);
+
+
+  useEffect(() => {
+    registerRules(nodeId, handleId, rules);
+    // the following eslint disable is required as it wants us to use all possible dependencies for the useEffect statement,
+    // however this would result in an infinite loop because it would change one of its own dependencies
+    // so we only use those dependencies that we don't change ourselves
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [handleId, nodeId, registerRules]);
+
+  return (connection: Connection) => {
+    // inside this function we consider the target to be the target of the isValidConnection event
+    // and not the target in the actual connection
+    const { target, targetHandle } = type === "source"
+      ? connection
+      : { target: connection.source, targetHandle: connection.sourceHandle };
+
+    if (!targetHandle) {throw new Error("No target handle was provided");}
+
+    const targetConnections = edges.filter(edge => edge.target === target && edge.targetHandle === targetHandle);
+
+
+    // we construct the connectionContext
+    const context: ConnectionContext = {
+      connectionCount: targetConnections.length,
+      source: {id: nodeId, handleId: handleId},
+      target: {id: target, handleId: targetHandle},
+    };
+    const targetRules = useFlowStore.getState().getTargetRules(target, targetHandle);
+
+    // finally we return a function that evaluates all rules using the created context
+    return evaluateRules(targetRules, connection, context);
+  };
+}
+
+export function validateConnectionWithRules(
+  connection: Connection,
+  context: ConnectionContext
+): RuleResult {
+  const rules = useFlowStore.getState().getTargetRules(
+    connection.target!,
+    connection.targetHandle!
+  );
+
+  return evaluateRules(rules,connection, context);
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/HandleRules.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/HandleRules.ts
@@ -0,0 +1,46 @@
+import {
+  type HandleRule,
+  ruleResult
+} from "./HandleRuleLogic.ts";
+import useFlowStore from "./VisProgStores.tsx";
+
+
+/**
+ * this specifies what types of nodes can make a connection to a handle that uses this rule
+ */
+export function allowOnlyConnectionsFromType(nodeTypes: string[]) : HandleRule  {
+  return ((_, {source}) => {
+    const sourceType = useFlowStore.getState().nodes.find(node => node.id === source.id)!.type!;
+    return nodeTypes.find(type => sourceType === type)
+      ? ruleResult.satisfied
+      : ruleResult.notSatisfied(`the target doesn't allow connections from nodes with type: ${sourceType}`);
+  })
+}
+
+/**
+ * similar to allowOnlyConnectionsFromType,
+ * this is a more specific variant that allows you to restrict connections to specific handles on each nodeType
+ */
+//
+export function allowOnlyConnectionsFromHandle(handles: {nodeType: string, handleId: string}[]) : HandleRule  {
+  return ((_, {source}) => {
+    const sourceNode = useFlowStore.getState().nodes.find(node => node.id === source.id)!;
+    return handles.find(handle => sourceNode.type === handle.nodeType && source.handleId === handle.handleId)
+      ? ruleResult.satisfied
+      : ruleResult.notSatisfied(`the target doesn't allow connections from nodes with type: ${sourceNode.type}`);
+  })
+}
+
+
+/**
+ * This rule prevents a node from making a connection between its own handles
+ */
+export const noSelfConnections : HandleRule =
+  (connection, _) => {
+    return connection.source !== connection.target
+      ? ruleResult.satisfied
+      : ruleResult.notSatisfied("nodes are not allowed to connect to themselves");
+  }
+
+
+
--- a/src/pages/VisProgPage/visualProgrammingUI/NodeRegistry.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/NodeRegistry.ts
@@ -0,0 +1,220 @@
+import EndNode, {
+  EndConnectionTarget,
+  EndConnectionSource,
+  EndDisconnectionTarget,
+  EndDisconnectionSource,
+  EndReduce,
+  EndTooltip
+} from "./nodes/EndNode";
+import { EndNodeDefaults } from "./nodes/EndNode.default";
+import StartNode, {
+  StartConnectionTarget,
+  StartConnectionSource,
+  StartDisconnectionTarget,
+  StartDisconnectionSource,
+  StartReduce,
+  StartTooltip
+} from "./nodes/StartNode";
+import { StartNodeDefaults } from "./nodes/StartNode.default";
+import PhaseNode, {
+  PhaseConnectionTarget,
+  PhaseConnectionSource,
+  PhaseDisconnectionTarget,
+  PhaseDisconnectionSource,
+  PhaseReduce,
+  PhaseTooltip
+} from "./nodes/PhaseNode";
+import { PhaseNodeDefaults } from "./nodes/PhaseNode.default";
+import NormNode, {
+  NormConnectionTarget,
+  NormConnectionSource,
+  NormDisconnectionTarget,
+  NormDisconnectionSource,
+  NormReduce,
+  NormTooltip
+} from "./nodes/NormNode";
+import { NormNodeDefaults } from "./nodes/NormNode.default";
+import GoalNode, {
+  GoalConnectionTarget,
+  GoalConnectionSource,
+  GoalDisconnectionTarget,
+  GoalDisconnectionSource,
+  GoalReduce,
+  GoalTooltip
+} from "./nodes/GoalNode";
+import { GoalNodeDefaults } from "./nodes/GoalNode.default";
+import TriggerNode, {
+  TriggerConnectionTarget,
+  TriggerConnectionSource,
+  TriggerDisconnectionTarget,
+  TriggerDisconnectionSource,
+  TriggerReduce,
+  TriggerTooltip
+} from "./nodes/TriggerNode";
+import { TriggerNodeDefaults } from "./nodes/TriggerNode.default";
+import InferredBeliefNode, {
+  InferredBeliefConnectionTarget,
+  InferredBeliefConnectionSource,
+  InferredBeliefDisconnectionTarget,
+  InferredBeliefDisconnectionSource,
+  InferredBeliefReduce, InferredBeliefTooltip
+} from "./nodes/InferredBeliefNode";
+import { InferredBeliefNodeDefaults } from "./nodes/InferredBeliefNode.default";
+import BasicBeliefNode, {
+  BasicBeliefConnectionSource,
+  BasicBeliefConnectionTarget,
+  BasicBeliefDisconnectionSource,
+  BasicBeliefDisconnectionTarget,
+  BasicBeliefReduce
+,
+  BasicBeliefTooltip
+} from "./nodes/BasicBeliefNode.tsx";
+import { BasicBeliefNodeDefaults } from "./nodes/BasicBeliefNode.default.ts";
+
+/**
+ * Registered node types in the visual programming system.
+ * 
+ * Key: the node type string used in the flow graph.
+ * Value: the corresponding React component for rendering the node.
+ */
+export const NodeTypes = {
+  start: StartNode,
+  end: EndNode,
+  phase: PhaseNode,
+  norm: NormNode,
+  goal: GoalNode,
+  trigger: TriggerNode,
+  basic_belief: BasicBeliefNode,
+  inferred_belief: InferredBeliefNode,
+};
+
+/**
+ * Default data and settings for each node type.
+ * These are defined in the <node>.default.ts files.
+ * These defaults are used when a new node is created to initialize its properties.
+ */
+export const NodeDefaults = {
+  start: StartNodeDefaults,
+  end: EndNodeDefaults,
+  phase: PhaseNodeDefaults,
+  norm: NormNodeDefaults,
+  goal: GoalNodeDefaults,
+  trigger: TriggerNodeDefaults,
+  basic_belief: BasicBeliefNodeDefaults,
+  inferred_belief: InferredBeliefNodeDefaults,
+};
+
+
+/**
+ * Reduce functions for each node type.
+ * 
+ * A reduce function extracts the relevant data from a node and its children.
+ * Used during graph evaluation or export.
+ */
+export const NodeReduces = {
+  start: StartReduce,
+  end: EndReduce,
+  phase: PhaseReduce,
+  norm: NormReduce,
+  goal: GoalReduce,
+  trigger: TriggerReduce,
+  basic_belief: BasicBeliefReduce,
+  inferred_belief: InferredBeliefReduce,
+}
+
+
+/**
+ * Connection functions for each node type.
+ * 
+ * These functions define any additional actions a node may perform
+ * when a new connection is made
+ */
+export const NodeConnections = {
+  Targets: {
+    start: StartConnectionTarget,
+    end: EndConnectionTarget,
+    phase: PhaseConnectionTarget,
+    norm: NormConnectionTarget,
+    goal: GoalConnectionTarget,
+    trigger: TriggerConnectionTarget,
+    basic_belief: BasicBeliefConnectionTarget,
+    inferred_belief: InferredBeliefConnectionTarget,
+  },
+  Sources: {
+    start: StartConnectionSource,
+    end: EndConnectionSource,
+    phase: PhaseConnectionSource,
+    norm: NormConnectionSource,
+    goal: GoalConnectionSource,
+    trigger: TriggerConnectionSource,
+    basic_belief: BasicBeliefConnectionSource,
+    inferred_belief: InferredBeliefConnectionSource,
+  }
+}
+
+/**
+ * Disconnection functions for each node type.
+ *
+ * These functions define any additional actions a node may perform
+ * when a connection is disconnected
+ */
+export const NodeDisconnections = {
+  Targets: {
+    start: StartDisconnectionTarget,
+    end: EndDisconnectionTarget,
+    phase: PhaseDisconnectionTarget,
+    norm: NormDisconnectionTarget,
+    goal: GoalDisconnectionTarget,
+    trigger: TriggerDisconnectionTarget,
+    basic_belief: BasicBeliefDisconnectionTarget,
+    inferred_belief: InferredBeliefDisconnectionTarget,
+  },
+  Sources: {
+    start: StartDisconnectionSource,
+    end: EndDisconnectionSource,
+    phase: PhaseDisconnectionSource,
+    norm: NormDisconnectionSource,
+    goal: GoalDisconnectionSource,
+    trigger: TriggerDisconnectionSource,
+    basic_belief: BasicBeliefDisconnectionSource,
+    inferred_belief: InferredBeliefDisconnectionSource,
+  },
+}
+
+/**
+ * Defines whether a node type can be deleted.
+ * 
+ * Returns a function per node type. Nodes not explicitly listed are deletable by default.
+ */
+export const NodeDeletes = {
+  start: () => false,
+  end: () => false,
+}
+
+/**
+ * Defines which node types are considered variables in a phase node.
+ * 
+ * Any node type not listed here is automatically treated as part of a phase.
+ * This allows the system to dynamically group nodes under a phase node.
+ */
+export const NodesInPhase = {
+  start: () => false,
+  end: () => false,
+  phase: () => false,
+  basic_belief: () => false,
+  inferred_belief: () => false,
+}
+
+/**
+ * Collects the tooltips for all nodeTypes so they can be accessed by the tooltip component
+ */
+export const NodeTooltips = {
+  start: StartTooltip,
+  end: EndTooltip,
+  phase: PhaseTooltip,
+  norm: NormTooltip,
+  goal: GoalTooltip,
+  trigger: TriggerTooltip,
+  basic_belief: BasicBeliefTooltip,
+  inferred_belief: InferredBeliefTooltip,
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx
@@ -1,116 +1,367 @@
-import {create} from 'zustand';
+import { create } from 'zustand';
 import {
  applyNodeChanges,
  applyEdgeChanges,
  addEdge,
-  reconnectEdge, type Edge, type Connection
+  reconnectEdge,
+  type Node,
+  type Edge,
+  type XYPosition,
 } from '@xyflow/react';
+import '@xyflow/react/dist/style.css';
+import {type ConnectionContext, validateConnectionWithRules} from "./HandleRuleLogic.ts";
+import {editorWarningRegistry} from "./components/EditorWarnings.tsx";
+import type { FlowState } from './VisProgTypes';
+import {
+  NodeDefaults,
+  NodeConnections as NodeCs,
+  NodeDisconnections as NodeDs,
+  NodeDeletes
+} from './NodeRegistry';
+import { UndoRedo } from "./EditorUndoRedo.ts";

-import {type FlowState} from './VisProgTypes.tsx';

 /**
- * contains the nodes that are created when the editor is loaded,
- * should contain at least a start and an end node
+ * A Function to create a new node with the correct default data and properties.
+ *
+ * @param id - The unique ID of the node.
+ * @param type - The type of node to create (must exist in NodeDefaults).
+ * @param position - The XY position of the node in the flow canvas.
+ * @param data - The data object to initialize the node with.
+ * @param deletable - Optional flag to indicate if the node can be deleted (can be deleted by default).
+ * @returns A fully initialized Node object ready to be added to the flow.
 */
-const initialNodes = [
-  {
-    id: 'start',
-    type: 'start',
-    position: {x: 0, y: 0},
-    data: {label: 'start'}
-  },
-  {
-    id: 'phase-1',
-    type: 'phase',
-    position: {x: 0, y: 150},
-    data: {label: 'Generic Phase', number: 1},
-  },
-  {
-    id: 'end',
-    type: 'end',
-    position: {x: 0, y: 300},
-    data: {label: 'End'}
-  }
-];
+function createNode(id: string, type: string, position: XYPosition, data: Record<string, unknown>, deletable?: boolean) {
+    const defaultData = NodeDefaults[type as keyof typeof NodeDefaults]
+    return {
+      id,
+      type,
+      position,
+      deletable,
+      data: {
+        ...JSON.parse(JSON.stringify(defaultData)),
+        ...data,
+      },
+    }
+}
+
+//* Initial nodes, created by using createNode. */
+// Start and End don't need to apply the UUID, since they are technically never compiled into a program.
+const startNode = createNode('start', 'start', {x: 110, y: 100}, {label: "Start"}, false)
+const endNode = createNode('end', 'end', {x: 590, y: 100}, {label: "End"}, false)
+const initialPhaseNode = createNode(crypto.randomUUID(), 'phase', {x:235, y:100}, {label: "Phase 1", children : [], isFirstPhase: false, nextPhaseId: null})
+
+const initialNodes : Node[] = [startNode, endNode, initialPhaseNode];
+
+// Initial edges, leave empty as setting initial edges...
+// ...breaks logic that is dependent on connection events
+const initialEdges: Edge[] = [];

 /**
- * contains the initial edges that are created when the editor is loaded
+ * useFlowStore contains the implementation for all editor functionality
+ * and stores the current state of the visual programming editor
+ *
+ *  * Provides:
+ * - Node and edge state management
+ * - Node creation, deletion, and updates
+ * - Custom connection handling via NodeConnects
+ * - Edge reconnection handling
+ * - Undo Redo functionality through custom middleware
 */
-const initialEdges = [
-  {
-    id: 'start-phase-1',
-    source: 'start',
-    target: 'phase-1',
-  },
-  {
-    id: 'phase-1-end',
-    source: 'phase-1',
-    target: 'end',
-  }
-];
+const useFlowStore = create<FlowState>(UndoRedo((set, get) => ({
+  nodes: initialNodes,
+  edges: initialEdges,
+  edgeReconnectSuccessful: true,
+  scrollable: true,

-/**
- * The useFlowStore hook contains the implementation for editor functionality and state
- * we can use this inside our editor component to access the current state
- * and use any implemented functionality
- */
-const useFlowStore = create<FlowState>((set, get) => ({
-    nodes: initialNodes,
-    edges: initialEdges,
-    edgeReconnectSuccessful: true,
-    onNodesChange: (changes) => {
-      set({
-        nodes: applyNodeChanges(changes, get().nodes)
-      });
-    },
-    onEdgesChange: (changes) => {
-      set({
-        edges: applyEdgeChanges(changes, get().edges)
-      });
-    },
-    // handles connection of newly created edges
-    onConnect: (connection) => {
-      set({
-        edges: addEdge(connection, get().edges)
-      });
-    },
-    // handles attempted reconnections of a previously disconnected edge
-    onReconnect: (oldEdge: Edge, newConnection: Connection) => {
-      get().edgeReconnectSuccessful = true;
-      set({
-        edges: reconnectEdge(oldEdge, newConnection, get().edges)
-      });
-    },
-    // Handles initiation of reconnection of edges that are manually disconnected from a node
-    onReconnectStart: () => {
-      set({
-        edgeReconnectSuccessful: false
-      });
-    },
-    // Drops the edge from the set of edges, removing it from the flow, if no successful reconnection occurred
-    onReconnectEnd: (_: unknown, edge: { id: string; }) => {
-      if (!get().edgeReconnectSuccessful) {
-        set({
-          edges: get().edges.filter((e) => e.id !== edge.id),
-        });
-      }
-      set({
-        edgeReconnectSuccessful: true
-      });
-    },
-    deleteNode: (nodeId: string) => {
-      set({
-        nodes: get().nodes.filter((n) => n.id !== nodeId),
-        edges: get().edges.filter((e) => e.source !== nodeId && e.target !== nodeId)
-      });
-    },
-    setNodes: (nodes) => {
-      set({nodes});
-    },
-    setEdges: (edges) => {
-      set({edges});
-    },
+  /**
+   * handles changing the scrollable state of the editor,
+   * this is used to control if scrolling is captured by the editor
+   * or if it's available to other components within the reactFlowProvider
+   * @param {boolean} val - the desired state
+   */
+  setScrollable: (val) => set({scrollable: val}),
+
+   /**
+   * Handles changes to nodes triggered by ReactFlow.
+   */
+  onNodesChange: (changes) => set({nodes: applyNodeChanges(changes, get().nodes)}),
+
+  onNodesDelete: (nodes) => nodes.forEach((_node) => {
+    return;
  }),
+
+  onEdgesDelete: (edges) => {
+    // we make sure any affected nodes get updated to reflect removal of edges
+    edges.forEach((edge) => {
+        const nodes = get().nodes;
+
+        const sourceNode = nodes.find((n) => n.id == edge.source);
+        const targetNode = nodes.find((n) => n.id == edge.target);
+
+        if (sourceNode) { NodeDs.Sources[sourceNode.type as keyof typeof NodeDs.Sources](sourceNode, edge.target); }
+        if (targetNode) { NodeDs.Targets[targetNode.type as keyof typeof NodeDs.Targets](targetNode, edge.source); }
+      });
+  },
+  /**
+   * Handles changes to edges triggered by ReactFlow.
+   */
+  onEdgesChange: (changes) => {
+    set({ edges: applyEdgeChanges(changes, get().edges) })
+  },
+
+  /**
+   * Handles creating a new connection between nodes.
+   * Updates edges and calls the node-specific connection functions.
+   */
+  onConnect: (connection) => {
+    get().pushSnapshot();
+    set({edges: addEdge(connection, get().edges)});
+
+    // We make sure to perform any required data updates on the newly connected nodes
+    const nodes = get().nodes;
+
+    const sourceNode = nodes.find((n) => n.id == connection.source);
+    const targetNode = nodes.find((n) => n.id == connection.target);
+
+    if (sourceNode) { NodeCs.Sources[sourceNode.type as keyof typeof NodeCs.Sources](sourceNode, connection.target); }
+    if (targetNode) { NodeCs.Targets[targetNode.type as keyof typeof NodeCs.Targets](targetNode, connection.source); }
+  },
+
+  /**
+   * Handles reconnecting an edge between nodes.
+   */
+  onReconnect: (oldEdge, newConnection) => {
+
+    function createContext(
+      source: {id: string, handleId: string},
+      target: {id: string, handleId: string}
+    ) : ConnectionContext {
+      const edges = get().edges;
+      const targetConnections = edges.filter(edge => edge.target === target.id && edge.targetHandle === target.handleId).length
+      return {
+        connectionCount: targetConnections,
+        source: source,
+        target: target
+      }
+    }
+
+    // connection validation
+    const context: ConnectionContext = oldEdge.source === newConnection.source
+      ? createContext({id: newConnection.source, handleId: newConnection.sourceHandle!}, {id: newConnection.target, handleId: newConnection.targetHandle!})
+      : createContext({id: newConnection.target, handleId: newConnection.targetHandle!}, {id: newConnection.source, handleId: newConnection.sourceHandle!});
+
+    const result = validateConnectionWithRules(
+      newConnection,
+      context
+    );
+
+    if (!result.isSatisfied) {
+      set({
+        edges: get().edges.map(e =>
+          e.id === oldEdge.id ? oldEdge : e
+        ),
+      });
+      return;
+    }
+
+    // further reconnect logic
+    set({ edgeReconnectSuccessful: true });
+    set({ edges: reconnectEdge(oldEdge, newConnection, get().edges) });
+
+    // We make sure to perform any required data updates on the newly reconnected nodes
+    const nodes = get().nodes;
+
+    const oldSourceNode = nodes.find((n) => n.id == oldEdge.source)!;
+    const oldTargetNode = nodes.find((n) => n.id == oldEdge.target)!;
+    const newSourceNode = nodes.find((n) => n.id == newConnection.source)!;
+    const newTargetNode = nodes.find((n) => n.id == newConnection.target)!;
+
+    if (oldSourceNode === newSourceNode && oldTargetNode === newTargetNode) return;
+
+    NodeCs.Sources[newSourceNode.type as keyof typeof NodeCs.Sources](newSourceNode, newConnection.target);
+    NodeCs.Targets[newTargetNode.type as keyof typeof NodeCs.Targets](newTargetNode, newConnection.source);
+
+    NodeDs.Sources[oldSourceNode.type as keyof typeof NodeDs.Sources](oldSourceNode, oldEdge.target);
+    NodeDs.Targets[oldTargetNode.type as keyof typeof NodeDs.Targets](oldTargetNode, oldEdge.source);
+  },
+
+  onReconnectStart: () => {
+    get().pushSnapshot();
+    set({ edgeReconnectSuccessful: false })
+  },
+
+  /**
+   * handles potential dropping (deleting) of an edge
+   * if it is not reconnected to a node after detaching it
+   *
+   * @param _evt - the event
+   * @param edge - the described edge
+   */
+  onReconnectEnd: (_evt, edge) => {
+    if (!get().edgeReconnectSuccessful) {
+      // delete the edge from the flowState
+      set({ edges: get().edges.filter((e) => e.id !== edge.id) });
+
+      // update node data to reflect the dropped edge
+      const nodes = get().nodes;
+
+      const sourceNode = nodes.find((n) => n.id == edge.source)!;
+      const targetNode = nodes.find((n) => n.id == edge.target)!;
+
+      NodeDs.Sources[sourceNode.type as keyof typeof NodeDs.Sources](sourceNode, edge.target);
+      NodeDs.Targets[targetNode.type as keyof typeof NodeDs.Targets](targetNode, edge.source);
+    }
+    set({ edgeReconnectSuccessful: true });
+  },
+
+  /**
+   * Deletes a node by ID, respecting NodeDeletes rules.
+   * Also removes all edges connected to that node.
+   */
+  deleteNode: (nodeId, deleteElements) => {
+    get().pushSnapshot();
+
+    // Let's find our node to check if they have a special deletion function
+    const ourNode = get().nodes.find((n)=>n.id==nodeId);
+    const ourFunction = Object.entries(NodeDeletes).find(([t])=>t==ourNode?.type)?.[1]
+
+
+
+    // If there's no function, OR, our function tells us we can delete it, let's do so...
+    if (ourFunction == undefined || ourFunction()) {
+      if (deleteElements){
+        deleteElements({
+          nodes: get().nodes.filter((n) => n.id === nodeId),
+          edges: get().edges.filter((e) => e.source !== nodeId && e.target === nodeId)}
+        ).then(() => {
+          get().unregisterNodeRules(nodeId);
+          get().unregisterWarningsForId(nodeId);
+        });
+      } else {
+        set({
+        nodes: get().nodes.filter((n) => n.id !== nodeId),
+        edges: get().edges.filter((e) => e.source !== nodeId && e.target !== nodeId),
+        })
+      }
+    }
+  },
+
+  /**
+   * Replaces the entire nodes array in the store.
+   */
+  setNodes: (nodes) => set({ nodes }),
+
+  /**
+   * Replaces the entire edges array in the store.
+   */
+  setEdges: (edges) => set({ edges }),
+
+  /**
+   * Updates the data of a node by merging new data with existing data.
+   */
+  updateNodeData: (nodeId, data) => {
+    get().pushSnapshot();
+    set({
+      nodes: get().nodes.map((node) => {
+        if (node.id === nodeId) {
+          node = { ...node, data: { ...node.data, ...data }};
+        }
+        return node;
+      }),
+    });
+  },
+
+  /**
+   * Adds a new node to the flow store.
+   */
+  addNode: (node: Node) => {
+    get().pushSnapshot();
+    set({ nodes: [...get().nodes, node] });
+  },
+
+  // undo redo default values
+  past: [],
+  future: [],
+  isBatchAction: false,
+
+  // handleRuleRegistry definitions
+  /**
+   * stores registered rules for handle connection validation
+   */
+  ruleRegistry: new Map(),
+
+  /**
+   * gets the rules registered by that handle described by the given node and handle ids
+   *
+   * @param {string} targetNodeId
+   * @param {string} targetHandleId
+   * @returns {HandleRule[]}
+   */
+  getTargetRules: (targetNodeId, targetHandleId) => {
+    const key = `${targetNodeId}:${targetHandleId}`;
+    const rules = get().ruleRegistry.get(key);
+
+    // helper function that handles a situation where no rules were registered
+    const missingRulesResponse = () => {
+      console.warn(
+        `No rules were registered for the following handle "${key}"!
+          returning and empty handleRule[] to avoid crashing`);
+      return []
+    }
+
+    return rules
+      ? rules
+      : missingRulesResponse()
+  },
+
+  /**
+   * registers a handle's connection rules
+   *
+   * @param {string} nodeId
+   * @param {string} handleId
+   * @param {HandleRule[]} rules
+   */
+  registerRules: (nodeId, handleId, rules) => {
+      const registry = get().ruleRegistry;
+      registry.set(`${nodeId}:${handleId}`, rules);
+      set({ ruleRegistry: registry }) ;
+  },
+
+  /**
+   * unregisters a handles connection rules
+   *
+   * @param {string} nodeId
+   * @param {string} handleId
+   */
+  unregisterHandleRules: (nodeId, handleId) => {
+    set( () => {
+      const registry = get().ruleRegistry;
+      registry.delete(`${nodeId}:${handleId}`);
+      return { ruleRegistry: registry };
+    })
+  },
+
+  /**
+   * unregisters connection rules for all handles on the given node
+   * used for cleaning up rules on node deletion
+   *
+   * @param {string} nodeId
+   */
+  unregisterNodeRules: (nodeId) => {
+    set(() => {
+      const registry = get().ruleRegistry;
+      registry.forEach((_,key) => {
+        if (key.startsWith(`${nodeId}:`)) registry.delete(key)
+      })
+      return { ruleRegistry: registry };
+    })
+  },
+  ...editorWarningRegistry(get, set),
+  }))
 );

-export default useFlowStore;
+
+
+export default useFlowStore;
+
--- a/src/pages/VisProgPage/visualProgrammingUI/VisProgTypes.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/VisProgTypes.tsx
@@ -1,46 +1,139 @@
-import {
-  type Edge,
-  type Node,
-  type OnNodesChange,
-  type OnEdgesChange,
-  type OnConnect,
-  type OnReconnect,
+// VisProgTypes.ts
+import type {
+  Edge,
+  OnNodesChange,
+  OnEdgesChange,
+  OnConnect,
+  OnReconnect,
+  Node,
+  OnEdgesDelete,
+  OnNodesDelete, DeleteElementsOptions
 } from '@xyflow/react';
-
-
-type defaultNodeData = {
-  label: string;
-};
-
-export type StartNode = Node<defaultNodeData, 'start'>;
-export type EndNode = Node<defaultNodeData, 'end'>;
-export type GoalNode = Node<defaultNodeData & { value: string; }, 'goal'>;
-export type NormNode = Node<defaultNodeData & { value: string; }, 'norm'>;
-export type PhaseNode = Node<defaultNodeData & { number: number; }, 'phase'>;
+import type {EditorWarningRegistry} from "./components/EditorWarnings.tsx";
+import type {HandleRule} from "./HandleRuleLogic.ts";
+import type { NodeTypes } from './NodeRegistry';
+import type {FlowSnapshot} from "./EditorUndoRedo.ts";


 /**
- * a type meant to house different node types, currently not used
- * but will allow us to more clearly define nodeTypes when we implement
- * computation of the Graph inside the ReactFlow editor
+ * Type representing all registered node types.
+ * This corresponds to the keys of NodeTypes in NodeRegistry.
 */
-export type AppNode = Node | StartNode | EndNode | NormNode | GoalNode | PhaseNode;
-
+export type AppNode = typeof NodeTypes;

 /**
- * The type for the Zustand store object used to manage the state of the ReactFlow editor
+ * The FlowState type defines the shape of the Zustand store used for managing the visual programming flow.
+ *
+ * Includes:
+ * - Nodes and edges currently in the flow
+ * - Callbacks for node and edge changes
+ * - Node deletion and updates
+ * - Edge reconnection handling
 */
 export type FlowState = {
-  nodes: AppNode[];
+  nodes: Node[];
  edges: Edge[];
  edgeReconnectSuccessful: boolean;
+  scrollable: boolean;
+
+  /** Handler for managing scrollable state */
+  setScrollable: (value: boolean) => void;
+
+  /** Handler for changes to nodes triggered by ReactFlow */
  onNodesChange: OnNodesChange;
+
+  onNodesDelete: OnNodesDelete;
+
+  onEdgesDelete: OnEdgesDelete;
+
+  /** Handler for changes to edges triggered by ReactFlow */
  onEdgesChange: OnEdgesChange;
+
+  /** Handler for creating a new connection between nodes */
  onConnect: OnConnect;
+
+  /** Handler for reconnecting an existing edge */
  onReconnect: OnReconnect;
+
+  /** Called when an edge reconnect process starts */
  onReconnectStart: () => void;
-  onReconnectEnd: (_: unknown, edge: { id: string }) => void;
-  deleteNode: (nodeId: string) => void;
-  setNodes: (nodes: AppNode[]) => void;
+
+  /**
+   * Called when an edge reconnect process ends.
+   * @param _ - event or unused parameter
+   * @param edge - the edge that finished reconnecting
+   */
+  onReconnectEnd: (_: unknown, edge: Edge) => void;
+
+  /**
+   * Deletes a node and any connected edges.
+   * @param nodeId - the ID of the node to delete
+   */
+  deleteNode: (nodeId: string,  deleteElements?: (params: DeleteElementsOptions) => Promise<{
+    deletedNodes: Node[]
+    deletedEdges: Edge[]
+  }>) => void;
+
+  /**
+   * Replaces the current nodes array in the store.
+   * @param nodes - new array of nodes
+   */
+  setNodes: (nodes: Node[]) => void;
+
+  /**
+   * Replaces the current edges array in the store.
+   * @param edges - new array of edges
+   */
  setEdges: (edges: Edge[]) => void;
-};
+
+  /**
+   * Updates the data of a node by merging new data with existing node data.
+   * @param nodeId - the ID of the node to update
+   * @param data - object containing new data fields to merge
+   */
+  updateNodeData: (nodeId: string, data: object) => void;
+
+  /**
+   * Adds a new node to the flow.
+   * @param node - the Node object to add
+   */
+  addNode: (node: Node) => void;
+} & UndoRedoState & HandleRuleRegistry & EditorWarningRegistry;
+
+export type UndoRedoState = {
+  // UndoRedo Types
+  past: FlowSnapshot[];
+  future: FlowSnapshot[];
+  pushSnapshot: () => void;
+  isBatchAction: boolean;
+  beginBatchAction: () => void;
+  endBatchAction: () => void;
+  undo: () => void;
+  redo: () => void;
+}
+
+export type HandleRuleRegistry = {
+  ruleRegistry: Map<string, HandleRule[]>;
+
+  getTargetRules: (
+    targetNodeId: string,
+    targetHandleId: string
+  ) => HandleRule[];
+
+  registerRules: (
+    nodeId: string,
+    handleId: string,
+    rules: HandleRule[]
+  ) => void;
+
+  unregisterHandleRules: (
+    nodeId: string,
+    handleId: string
+  ) => void;
+
+  // cleans up all registered rules of all handles of the provided node
+  unregisterNodeRules: (nodeId: string) => void
+}
+
+
+
--- a/src/pages/VisProgPage/visualProgrammingUI/components/DragDropSidebar.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/DragDropSidebar.tsx
@@ -1,138 +1,117 @@
-import {useDraggable} from '@neodrag/react';
-import {
-  useReactFlow,
-  type XYPosition
-} from '@xyflow/react';
-import {
-  type ReactNode,
-  useCallback,
-  useRef,
-  useState
-} from 'react';
-import useFlowStore from "../VisProgStores.tsx";
-import styles from "../../VisProg.module.css"
-import type {AppNode, PhaseNode, NormNode} from "../VisProgTypes.tsx";
-
-
+import { useDraggable } from '@neodrag/react';
+import { useReactFlow, type XYPosition } from '@xyflow/react';
+import { type ReactNode, useCallback, useRef, useState } from 'react';
+import useFlowStore from '../VisProgStores';
+import styles from '../../VisProg.module.css';
+import { NodeDefaults, type NodeTypes} from '../NodeRegistry'
+import {Tooltip} from "./NodeComponents.tsx";

 /**
- * DraggableNodeProps dictates the type properties of a DraggableNode
+ * Props for a draggable node within the drag-and-drop toolbar.
+ *
+ * @property className - Optional custom CSS classes for styling.
+ * @property children - The visual content or label rendered inside the draggable node.
+ * @property nodeType - The type of node represented (key from `NodeTypes`).
+ * @property onDrop - Function called when the node is dropped on the flow pane.
 */
 interface DraggableNodeProps {
  className?: string;
  children: ReactNode;
-  nodeType: string;
-  onDrop: (nodeType: string, position: XYPosition) => void;
+  nodeType: keyof typeof NodeTypes;
+  onDrop: (nodeType: keyof typeof NodeTypes, position: XYPosition) => void;
 }

 /**
- * Definition of a node inside the drag and drop toolbar,
- * these nodes require an onDrop function to be supplied
- * that dictates how the node is created in the graph.
+ * A draggable node element used in the drag-and-drop toolbar.
 *
- * @param className
- * @param children
- * @param nodeType
- * @param onDrop
- * @constructor
+ * Integrates with the NeoDrag library to handle drag events.
+ * On drop, it calls the provided `onDrop` function with the node type and drop position.
+ *
+ * @param props - The draggable node configuration.
+ * @returns A React element representing a draggable node.
 */
-function DraggableNode({className, children, nodeType, onDrop}: DraggableNodeProps) {
+function DraggableNode({ className, children, nodeType, onDrop }: DraggableNodeProps) {
  const draggableRef = useRef<HTMLDivElement>(null);
-  const [position, setPosition] = useState<XYPosition>({x: 0, y: 0});
+  const [position, setPosition] = useState<XYPosition>({ x: 0, y: 0 });

-  // @ts-expect-error comes from a package and doesn't appear to play nicely with strict typescript typing
+  // The NeoDrag hook enables smooth drag functionality for this element.
+  // @ts-expect-error: NeoDrag typing incompatibility — safe to ignore.
  useDraggable(draggableRef, {
-    position: position,
-    onDrag: ({offsetX, offsetY}) => {
-      // Calculate position relative to the viewport
-      setPosition({
-        x: offsetX,
-        y: offsetY,
-      });
+    position,
+    onDrag: ({ offsetX, offsetY }) => {
+      setPosition({ x: offsetX, y: offsetY });
    },
-    onDragEnd: ({event}) => {
-      setPosition({x: 0, y: 0});
-      onDrop(nodeType, {
-        x: event.clientX,
-        y: event.clientY,
-      });
+    onDragEnd: ({ event }) => {
+      setPosition({ x: 0, y: 0 });
+      onDrop(nodeType, { x: event.clientX, y: event.clientY });
    },
  });

  return (
-    <div className={className} ref={draggableRef}>
-      {children}
-    </div>
-  );
-}
-
-
-// eslint-disable-next-line react-refresh/only-export-components
-export function addNode(nodeType: string, position: XYPosition) {
-  const {setNodes} = useFlowStore.getState();
-  const nds : AppNode[] = useFlowStore.getState().nodes;
-  const newNode = () => {
-    switch (nodeType) {
-      case "phase":
-      {
-        const phaseNodes= nds.filter((node) => node.type === 'phase');
-        let phaseNumber;
-        if (phaseNodes.length > 0) {
-          const finalPhaseId : number = +(phaseNodes[phaseNodes.length - 1].id.split('-')[1]);
-          phaseNumber = finalPhaseId + 1;
-        } else {
-          phaseNumber = 1;
-        }
-        const phaseNode : PhaseNode = {
-          id: `phase-${phaseNumber}`,
-          type: nodeType,
-          position,
-          data: {label: 'new', number: phaseNumber},
-        }
-        return phaseNode;
-      }
-      case "norm":
-      {
-        const normNodes= nds.filter((node) => node.type === 'norm');
-        let normNumber
-        if (normNodes.length > 0) {
-          const finalNormId : number = +(normNodes[normNodes.length - 1].id.split('-')[1]);
-          normNumber = finalNormId + 1;
-        } else {
-          normNumber = 1;
-        }
-
-        const normNode : NormNode = {
-          id: `norm-${normNumber}`,
-          type: nodeType,
-          position,
-          data: {label: `new norm node`, value: "Pepper should be formal"},
-        }
-        return normNode;
-      }
-      default: {
-        throw new Error(`Node ${nodeType} not found`);
-      }
-    }
-  }
-
-  setNodes(nds.concat(newNode()));
+    <Tooltip nodeType={nodeType}>
+      <div>
+        <div className={className}
+             ref={draggableRef}
+             id={`draggable-${nodeType}`}
+             data-testid={`draggable-${nodeType}`}
+        >
+          {children}
+        </div>
+      </div>
+    </Tooltip>)
 }

 /**
- * the DndToolbar defines how the drag and drop toolbar component works
- * and includes the default onDrop behavior through handleNodeDrop
- * @constructor
+ * Adds a new node to the flow graph.
+ *
+ * Handles:
+ * - Automatic node ID generation based on existing nodes of the same type.
+ * - Loading of default data from the `NodeDefaults` registry.
+ * - Integration with the flow store to update global node state.
+ *
+ * @param nodeType - The type of node to create (from `NodeTypes`).
+ * @param position - The XY position in the flow canvas where the node will appear.
+ */
+function addNodeToFlow(nodeType: keyof typeof NodeTypes, position: XYPosition) {
+  const { addNode } = useFlowStore.getState();
+
+  // Load any predefined data for this node type.
+  const defaultData = NodeDefaults[nodeType] ?? {}
+  const id = crypto.randomUUID();
+  
+  // Create new node
+  const newNode = {
+    id: id,
+    type: nodeType,
+    position,
+    data: JSON.parse(JSON.stringify(defaultData))
+  }
+  addNode(newNode);
+}
+
+/**
+ * The drag-and-drop toolbar component for the visual programming interface.
+ *
+ * Displays draggable node templates based on entries in `NodeDefaults`.
+ * Each droppable node can be dragged into the flow pane to instantiate it.
+ *
+ * Automatically filters nodes whose `droppable` flag is set to `true`.
+ *
+ * @returns A React element representing the drag-and-drop toolbar.
 */
 export function DndToolbar() {
-  const {screenToFlowPosition} = useReactFlow();
+  const { screenToFlowPosition } = useReactFlow();
+
  /**
-   * handleNodeDrop implements the default onDrop behavior
+   * Handles dropping a node onto the flow pane.
+   * Translates screen coordinates into flow coordinates using React Flow utilities.
   */
  const handleNodeDrop = useCallback(
-    (nodeType: string, screenPosition: XYPosition) => {
+    (nodeType: keyof typeof NodeTypes, screenPosition: XYPosition) => {
      const flow = document.querySelector('.react-flow');
      const flowRect = flow?.getBoundingClientRect();
+      
+      // Only add the node if it is inside the flow canvas area.
      const isInFlow =
        flowRect &&
        screenPosition.x >= flowRect.left &&
@@ -140,28 +119,41 @@ export function DndToolbar() {
        screenPosition.y >= flowRect.top &&
        screenPosition.y <= flowRect.bottom;

-      // Create a new node and add it to the flow
      if (isInFlow) {
        const position = screenToFlowPosition(screenPosition);
-        addNode(nodeType, position);
+        addNodeToFlow(nodeType, position);
      }
    },
    [screenToFlowPosition],
  );

+
+  // Map over the default nodes to get all nodes that can be dropped from the toolbar.
+  const droppableNodes = Object.entries(NodeDefaults)
+  .filter(([, data]) => data.droppable)
+  .map(([type, data]) => ({ 
+    type: type as DraggableNodeProps['nodeType'], 
+    data 
+  }));
+
  return (
-    <div className={`flex-col gap-lg padding-md ${styles.innerDndPanel}`}>
+    <div className={`flex-col gap-lg padding-md ${styles.innerDndPanel}`} id={"draggable-sidebar"}>
      <div className="description">
        You can drag these nodes to the pane to create new nodes.
      </div>
      <div className={`flex-row gap-lg ${styles.dndNodeContainer}`}>
-        <DraggableNode className={styles.draggableNodePhase} nodeType="phase" onDrop={handleNodeDrop}>
-          phase Node
-        </DraggableNode>
-        <DraggableNode className={styles.draggableNodeNorm} nodeType="norm" onDrop={handleNodeDrop}>
-          norm Node
-        </DraggableNode>
+        {/* Maps over all the nodes that are droppable, and puts them in the panel */}
+        {droppableNodes.map(({type, data}) => (
+          <DraggableNode
+            key={type}
+            className={styles[`draggable-node-${type}`]} // Our current style signature for nodes
+            nodeType={type}
+            onDrop={handleNodeDrop}
+          >
+            {data.label}
+          </DraggableNode>
+        ))}
      </div>
    </div>
  );
-}
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/EditorWarnings.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/EditorWarnings.tsx
@@ -0,0 +1,245 @@
+/* contains all logic for the VisProgEditor warning system
+*
+* Missing but desirable features:
+* - Warning filtering:
+*     - if there is no completely connected chain of startNode-[PhaseNodes]-EndNode
+*       then hide any startNode, phaseNode, or endNode specific warnings
+*/
+import useFlowStore from "../VisProgStores.tsx";
+import type {FlowState} from "../VisProgTypes.tsx";
+
+// --| Type definitions |--
+
+export type WarningId = NodeId | "GLOBAL_WARNINGS";
+export type NodeId = string;
+
+
+export type WarningType =
+  | 'MISSING_INPUT'
+  | 'MISSING_OUTPUT'
+  | 'PLAN_IS_UNDEFINED'
+  | 'INCOMPLETE_PROGRAM'
+  | 'NOT_CONNECTED_TO_PROGRAM'
+  | string
+
+export type WarningSeverity =
+  | 'INFO' // Acceptable, but important to be aware of
+  | 'WARNING' // Acceptable, but probably undesirable behavior
+  | 'ERROR' // Prevents running program, should be fixed before running program is allowed
+
+/**
+ * warning scope, include a handleId if the warning is handle specific
+ */
+export type WarningScope = {
+  id: string;
+  handleId?: string;
+}
+
+export type EditorWarning = {
+  scope: WarningScope;
+  type: WarningType;
+  severity: WarningSeverity;
+  description: string;
+};
+
+/**
+ * a scoped WarningKey,
+ * the handleId scoping is only needed for handle specific errors
+ *
+ * "`WarningType`:`handleId`"
+ */
+export type WarningKey = string; // for warnings that can occur on a per-handle basis
+
+/**
+ * a composite key used in the severityIndex
+ *
+ * "`WarningId`|`WarningKey`"
+ */
+export type CompositeWarningKey = string;
+
+export type WarningRegistry = Map<WarningId , Map<WarningKey, EditorWarning>>;
+export type SeverityIndex = Map<WarningSeverity, Set<CompositeWarningKey>>;
+
+type ZustandSet = (partial: Partial<FlowState> | ((state: FlowState) => Partial<FlowState>)) => void;
+type ZustandGet = () => FlowState;
+
+export type EditorWarningRegistry = {
+  /**
+   * stores all editor warnings
+   */
+  editorWarningRegistry: WarningRegistry;
+  /**
+   * index of warnings by severity
+   */
+  severityIndex: SeverityIndex;
+
+  /**
+   * gets all warnings and returns them as a list of warnings
+   * @returns {EditorWarning[]}
+   */
+  getWarnings: () => EditorWarning[];
+
+  /**
+   * gets all warnings with the current severity
+   * @param {WarningSeverity} warningSeverity
+   * @returns {EditorWarning[]}
+   */
+  getWarningsBySeverity: (warningSeverity: WarningSeverity) => EditorWarning[];
+
+  /**
+   * checks if there are no warnings of breaking severity
+   * @returns {boolean}
+   */
+  isProgramValid: () => boolean;
+
+  /**
+   * registers a warning to the warningRegistry and the SeverityIndex
+   * @param {EditorWarning} warning
+   */
+  registerWarning: (warning: EditorWarning) => void;
+
+  /**
+   * unregisters a warning from the warningRegistry and the SeverityIndex
+   * @param {EditorWarning} warning
+   */
+  unregisterWarning: (id: WarningId, warningKey: WarningKey) => void
+
+  /**
+   * unregisters warnings from the warningRegistry and the SeverityIndex
+   * @param {WarningId} warning
+   */
+  unregisterWarningsForId: (id: WarningId) => void;
+}
+
+// --| implemented logic |--
+
+/**
+ * the id to use for global editor warnings
+ * @type {string}
+ */
+export const globalWarning = "GLOBAL_WARNINGS";
+
+export function editorWarningRegistry(get: ZustandGet, set: ZustandSet) : EditorWarningRegistry { return {
+  editorWarningRegistry: new Map<NodeId, Map<WarningKey, EditorWarning>>(),
+  severityIndex: new Map([
+    ['INFO', new Set<CompositeWarningKey>()],
+    ['WARNING', new Set<CompositeWarningKey>()],
+    ['ERROR', new Set<CompositeWarningKey>()],
+  ]),
+
+  getWarningsBySeverity: (warningSeverity) => {
+    const wRegistry = new Map([...get().editorWarningRegistry].map(([k, v]) => [k, new Map(v)]));
+    const sIndex = new Map(get().severityIndex);
+    const warningKeys = sIndex.get(warningSeverity);
+    const warnings: EditorWarning[] = [];
+
+    warningKeys?.forEach(
+      (compositeKey) => {
+        const [id, warningKey] = compositeKey.split('|');
+        const warning = wRegistry.get(id)?.get(warningKey);
+
+        if (warning) {
+          warnings.push(warning);
+        }
+      }
+    )
+
+    return warnings;
+  },
+
+  isProgramValid: () => {
+    const sIndex = get().severityIndex;
+    return (sIndex.get("ERROR")!.size === 0);
+  },
+
+  getWarnings: () => Array.from(get().editorWarningRegistry.values())
+      .flatMap(innerMap => Array.from(innerMap.values())),
+
+
+  registerWarning: (warning) => {
+    const { scope: {id, handleId}, type, severity } = warning;
+    const warningKey = handleId ? `${type}:${handleId}` : type;
+    const compositeKey = `${id}|${warningKey}`;
+    const wRegistry = new Map([...get().editorWarningRegistry].map(([k, v]) => [k, new Map(v)]));
+    const sIndex = new Map(get().severityIndex);
+    // add to warning registry
+    if (!wRegistry.has(id)) {
+      wRegistry.set(id, new Map());
+    }
+    wRegistry.get(id)!.set(warningKey, warning);
+
+
+    // add to severityIndex
+    if (!sIndex.get(severity)!.has(compositeKey)) {
+      sIndex.get(severity)!.add(compositeKey);
+    }
+
+    set({
+      editorWarningRegistry: wRegistry,
+      severityIndex: sIndex
+    })
+  },
+
+  unregisterWarning: (id, warningKey) => {
+    const wRegistry = new Map([...get().editorWarningRegistry].map(([k, v]) => [k, new Map(v)]));
+    const sIndex = new Map(get().severityIndex);
+    // verify if the warning was created already
+    const warning = wRegistry.get(id)?.get(warningKey);
+    if (!warning) return;
+
+    // remove from warning registry
+    wRegistry.get(id)!.delete(warningKey);
+
+
+    // remove from severityIndex
+    sIndex.get(warning.severity)!.delete(`${id}|${warningKey}`);
+
+    set({
+      editorWarningRegistry: wRegistry,
+      severityIndex: sIndex
+    })
+  },
+
+  unregisterWarningsForId: (id) => {
+    const wRegistry = new Map([...get().editorWarningRegistry].map(([k, v]) => [k, new Map(v)]));
+    const sIndex = new Map(get().severityIndex);
+
+    const nodeWarnings = wRegistry.get(id);
+
+    // remove from severity index
+    if (nodeWarnings) {
+      nodeWarnings.forEach((warning) => {
+        const warningKey = warning.scope.handleId
+          ? `${warning.type}:${warning.scope.handleId}`
+          : warning.type;
+        sIndex.get(warning.severity)?.delete(`${id}|${warningKey}`);
+      });
+    }
+
+    // remove from warning registry
+    wRegistry.delete(id);
+
+    set({
+      editorWarningRegistry: wRegistry,
+      severityIndex: sIndex
+    })
+  },
+}}
+
+
+
+/**
+ * returns a summary of the warningRegistry
+ * @returns {{info: number, warning: number, error: number, isValid: boolean}}
+ */
+export function warningSummary() {
+  const {severityIndex, isProgramValid} = useFlowStore.getState();
+  return {
+    info: severityIndex.get('INFO')!.size,
+    warning: severityIndex.get('WARNING')!.size,
+    error: severityIndex.get('ERROR')!.size,
+    isValid: isProgramValid(),
+  };
+}
+
+
--- a/src/pages/VisProgPage/visualProgrammingUI/components/GestureValueEditor.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/GestureValueEditor.module.css
@@ -0,0 +1,164 @@
+
+.gestureEditor {
+  display: flex;
+  flex-direction: column;
+  gap: 12px;
+  width: 100%;
+}
+
+.modeSelector {
+  display: flex;
+  align-items: center;
+  gap: 12px;
+}
+
+.modeLabel {
+  font-size: 14px;
+  font-weight: 500;
+  color: var(--text-secondary);
+  white-space: nowrap;
+}
+
+.toggleContainer {
+  display: flex;
+  background: rgba(78, 78, 78, 0.411);
+  border-radius: 6px;
+  padding: 2px;
+  border: 1px solid var(--border-color);
+}
+
+.toggleButton {
+  padding: 6px 12px;
+  background: none;
+  border: none;
+  border-radius: 4px;
+  font-size: 13px;
+  font-weight: 500;
+  cursor: pointer;
+  transition: all 0.2s ease;
+  color: var(--text-secondary);
+}
+
+.toggleButton:hover {
+  background: none;
+}
+
+.toggleButton.active {
+  box-shadow: 0 0 1px 0 rgba(9, 255, 0, 0.733);
+}
+
+.valueEditor {
+  width: 100%;
+}
+
+.textInput {
+  width: 100%;
+  padding: 8px 12px;
+  border: 1px solid var(--border-color);
+  border-radius: 4px;
+  font-size: 14px;
+  transition: border-color 0.2s ease;
+}
+
+.textInput:focus {
+  outline: none;
+  border-color: var(--primary-color);
+  box-shadow: 0 0 0 2px rgba(var(--primary-rgb), 0.1);
+}
+
+.tagSelector {
+  display: flex;
+  flex-direction: column;
+  gap: 8px;
+}
+
+.tagSelect {
+  width: 100%;
+  padding: 8px 12px;
+  border: 1px solid var(--border-color);
+  border-radius: 4px;
+  font-size: 14px;
+  background-color: rgba(135, 135, 135, 0.296);
+  cursor: pointer;
+}
+
+.tagSelect:focus {
+  outline: none;
+  border-color: rgb(0, 149, 25);
+}
+
+.tagList {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 6px;
+  max-height: 120px;
+  overflow-y: auto;
+  padding: 4px;
+  border: 1px solid rgba(var(--primary-rgb), 0.1);
+  border-radius: 4px;
+  background: var(--primary-color);
+}
+
+.tagButton {
+  padding: 4px 8px;
+  border: 1px solid gray;
+  border-radius: 4px;
+  background: var(--primary-rgb);
+  font-size: 12px;
+  cursor: pointer;
+  transition: all 0.2s ease;
+  white-space: nowrap;
+}
+
+.tagButton:hover {
+  background: gray;
+  border-color: gray;
+}
+
+.tagButton.selected {
+  background: rgba(var(--primary-rgb), 0.5);
+  color: var(--primary-rgb);
+  border-color: rgb(27, 223, 60);
+}
+
+.suggestionsDropdownLeft {
+  position: absolute;
+  left: -220px; 
+  top: 120px;
+
+  width: 200px;
+  max-height: 20vh;
+  overflow-y: auto;
+
+  background: var(--dropdown-menu-background-color);
+  border-radius: 12px;
+  box-shadow: 0 8px 24px var(--dropdown-menu-border);
+}
+
+.suggestionsDropdownLeft::before {
+  content: "Gesture Suggestions";
+  display: block;
+  padding: 8px 12px;
+  font-weight: 600;
+  border-bottom: 1px solid var(--border-light);
+}
+
+.suggestionItem {
+  padding: 8px 12px;
+  cursor: pointer;
+  transition: background-color 0.2s ease;
+  font-size: 14px;
+  border-bottom: 1px solid var(--border-light);
+}
+
+.suggestionItem:last-child {
+  border-bottom: none;
+}
+
+.suggestionItem:hover {
+  background-color: var(--background-hover);
+}
+
+.suggestionItem:active {
+  background-color: var(--primary-color-light);
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/GestureValueEditor.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/GestureValueEditor.tsx
@@ -0,0 +1,611 @@
+import { useState, useRef } from "react";
+import styles from './GestureValueEditor.module.css'
+
+/**
+ * Props for the GestureValueEditor component.
+ * - value: current gesture value (controlled by parent)
+ * - setValue: callback to update the gesture value in parent state
+ * - placeholder: optional placeholder text for the input field
+ */
+type GestureValueEditorProps = {
+  value: string;
+  setValue: (value: string) => void;
+  setType: (value: boolean) => void;
+  placeholder?: string;
+};
+
+/**
+ * List of high-level gesture "tags".
+ * These are human-readable categories or semantic labels.
+ * In a real app, these would likely be loaded from an external source.
+ */
+const GESTURE_TAGS = ["above", "affirmative", "afford", "agitated", "all", "allright", "alright", "any", 
+            "assuage", "attemper", "back", "bashful", "beg", "beseech", "blank", 
+            "body language", "bored", "bow", "but", "call", "calm", "choose", "choice", "cloud", 
+            "cogitate", "cool", "crazy", "disappointed", "down", "earth", "empty", "embarrassed", 
+            "enthusiastic", "entire", "estimate", "except", "exalted", "excited", "explain", "far", 
+            "field", "floor", "forlorn", "friendly", "front", "frustrated", "gentle", "gift", 
+            "give", "ground", "happy", "hello", "her", "here", "hey", "hi", "him", "hopeless", 
+            "hysterical", "I", "implore", "indicate", "joyful", "me", "meditate", "modest", 
+            "negative", "nervous", "no", "not know", "nothing", "offer", "ok", "once upon a time", 
+            "oppose", "or", "pacify", "pick", "placate", "please", "present", "proffer", "quiet", 
+            "reason", "refute", "reject", "rousing", "sad", "select", "shamefaced", "show", 
+            "show sky", "sky", "soothe", "sun", "supplicate", "tablet", "tall", "them", "there", 
+            "think", "timid", "top", "unless", "up", "upstairs", "void", "warm", "winner", "yeah", 
+            "yes", "yoo-hoo", "you", "your", "zero", "zestful"];
+
+/**
+ * List of concrete gesture animation paths.
+ * These represent specific animation assets and are used in "single" mode
+ * with autocomplete-style selection, also would be loaded from an external source.
+ */
+const GESTURE_SINGLES = [
+        "animations/Stand/BodyTalk/Listening/Listening_1",
+        "animations/Stand/BodyTalk/Listening/Listening_2",
+        "animations/Stand/BodyTalk/Listening/Listening_3",
+        "animations/Stand/BodyTalk/Listening/Listening_4",
+        "animations/Stand/BodyTalk/Listening/Listening_5",
+        "animations/Stand/BodyTalk/Listening/Listening_6",
+        "animations/Stand/BodyTalk/Listening/Listening_7",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_1",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_10",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_11",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_12",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_13",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_14",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_15",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_16",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_2",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_3",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_4",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_5",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_6",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_7",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_8",
+        "animations/Stand/BodyTalk/Speaking/BodyTalk_9",
+        "animations/Stand/BodyTalk/Thinking/Remember_1",
+        "animations/Stand/BodyTalk/Thinking/Remember_2",
+        "animations/Stand/BodyTalk/Thinking/Remember_3",
+        "animations/Stand/BodyTalk/Thinking/ThinkingLoop_1",
+        "animations/Stand/BodyTalk/Thinking/ThinkingLoop_2",
+        "animations/Stand/Emotions/Negative/Angry_1",
+        "animations/Stand/Emotions/Negative/Angry_2",
+        "animations/Stand/Emotions/Negative/Angry_3",
+        "animations/Stand/Emotions/Negative/Angry_4",
+        "animations/Stand/Emotions/Negative/Anxious_1",
+        "animations/Stand/Emotions/Negative/Bored_1",
+        "animations/Stand/Emotions/Negative/Bored_2",
+        "animations/Stand/Emotions/Negative/Disappointed_1",
+        "animations/Stand/Emotions/Negative/Exhausted_1",
+        "animations/Stand/Emotions/Negative/Exhausted_2",
+        "animations/Stand/Emotions/Negative/Fear_1",
+        "animations/Stand/Emotions/Negative/Fear_2",
+        "animations/Stand/Emotions/Negative/Fearful_1",
+        "animations/Stand/Emotions/Negative/Frustrated_1",
+        "animations/Stand/Emotions/Negative/Humiliated_1",
+        "animations/Stand/Emotions/Negative/Hurt_1",
+        "animations/Stand/Emotions/Negative/Hurt_2",
+        "animations/Stand/Emotions/Negative/Late_1",
+        "animations/Stand/Emotions/Negative/Sad_1",
+        "animations/Stand/Emotions/Negative/Sad_2",
+        "animations/Stand/Emotions/Negative/Shocked_1",
+        "animations/Stand/Emotions/Negative/Sorry_1",
+        "animations/Stand/Emotions/Negative/Surprise_1",
+        "animations/Stand/Emotions/Negative/Surprise_2",
+        "animations/Stand/Emotions/Negative/Surprise_3",
+        "animations/Stand/Emotions/Neutral/Alienated_1",
+        "animations/Stand/Emotions/Neutral/AskForAttention_1",
+        "animations/Stand/Emotions/Neutral/AskForAttention_2",
+        "animations/Stand/Emotions/Neutral/AskForAttention_3",
+        "animations/Stand/Emotions/Neutral/Cautious_1",
+        "animations/Stand/Emotions/Neutral/Confused_1",
+        "animations/Stand/Emotions/Neutral/Determined_1",
+        "animations/Stand/Emotions/Neutral/Embarrassed_1",
+        "animations/Stand/Emotions/Neutral/Hesitation_1",
+        "animations/Stand/Emotions/Neutral/Innocent_1",
+        "animations/Stand/Emotions/Neutral/Lonely_1",
+        "animations/Stand/Emotions/Neutral/Mischievous_1",
+        "animations/Stand/Emotions/Neutral/Puzzled_1",
+        "animations/Stand/Emotions/Neutral/Sneeze",
+        "animations/Stand/Emotions/Neutral/Stubborn_1",
+        "animations/Stand/Emotions/Neutral/Suspicious_1",
+        "animations/Stand/Emotions/Positive/Amused_1",
+        "animations/Stand/Emotions/Positive/Confident_1",
+        "animations/Stand/Emotions/Positive/Ecstatic_1",
+        "animations/Stand/Emotions/Positive/Enthusiastic_1",
+        "animations/Stand/Emotions/Positive/Excited_1",
+        "animations/Stand/Emotions/Positive/Excited_2",
+        "animations/Stand/Emotions/Positive/Excited_3",
+        "animations/Stand/Emotions/Positive/Happy_1",
+        "animations/Stand/Emotions/Positive/Happy_2",
+        "animations/Stand/Emotions/Positive/Happy_3",
+        "animations/Stand/Emotions/Positive/Happy_4",
+        "animations/Stand/Emotions/Positive/Hungry_1",
+        "animations/Stand/Emotions/Positive/Hysterical_1",
+        "animations/Stand/Emotions/Positive/Interested_1",
+        "animations/Stand/Emotions/Positive/Interested_2",
+        "animations/Stand/Emotions/Positive/Laugh_1",
+        "animations/Stand/Emotions/Positive/Laugh_2",
+        "animations/Stand/Emotions/Positive/Laugh_3",
+        "animations/Stand/Emotions/Positive/Mocker_1",
+        "animations/Stand/Emotions/Positive/Optimistic_1",
+        "animations/Stand/Emotions/Positive/Peaceful_1",
+        "animations/Stand/Emotions/Positive/Proud_1",
+        "animations/Stand/Emotions/Positive/Proud_2",
+        "animations/Stand/Emotions/Positive/Proud_3",
+        "animations/Stand/Emotions/Positive/Relieved_1",
+        "animations/Stand/Emotions/Positive/Shy_1",
+        "animations/Stand/Emotions/Positive/Shy_2",
+        "animations/Stand/Emotions/Positive/Sure_1",
+        "animations/Stand/Emotions/Positive/Winner_1",
+        "animations/Stand/Emotions/Positive/Winner_2",
+        "animations/Stand/Gestures/Angry_1",
+        "animations/Stand/Gestures/Angry_2",
+        "animations/Stand/Gestures/Angry_3",
+        "animations/Stand/Gestures/BowShort_1",
+        "animations/Stand/Gestures/BowShort_2",
+        "animations/Stand/Gestures/BowShort_3",
+        "animations/Stand/Gestures/But_1",
+        "animations/Stand/Gestures/CalmDown_1",
+        "animations/Stand/Gestures/CalmDown_2",
+        "animations/Stand/Gestures/CalmDown_3",
+        "animations/Stand/Gestures/CalmDown_4",
+        "animations/Stand/Gestures/CalmDown_5",
+        "animations/Stand/Gestures/CalmDown_6",
+        "animations/Stand/Gestures/Choice_1",
+        "animations/Stand/Gestures/ComeOn_1",
+        "animations/Stand/Gestures/Confused_1",
+        "animations/Stand/Gestures/Confused_2",
+        "animations/Stand/Gestures/CountFive_1",
+        "animations/Stand/Gestures/CountFour_1",
+        "animations/Stand/Gestures/CountMore_1",
+        "animations/Stand/Gestures/CountOne_1",
+        "animations/Stand/Gestures/CountThree_1",
+        "animations/Stand/Gestures/CountTwo_1",
+        "animations/Stand/Gestures/Desperate_1",
+        "animations/Stand/Gestures/Desperate_2",
+        "animations/Stand/Gestures/Desperate_3",
+        "animations/Stand/Gestures/Desperate_4",
+        "animations/Stand/Gestures/Desperate_5",
+        "animations/Stand/Gestures/DontUnderstand_1",
+        "animations/Stand/Gestures/Enthusiastic_3",
+        "animations/Stand/Gestures/Enthusiastic_4",
+        "animations/Stand/Gestures/Enthusiastic_5",
+        "animations/Stand/Gestures/Everything_1",
+        "animations/Stand/Gestures/Everything_2",
+        "animations/Stand/Gestures/Everything_3",
+        "animations/Stand/Gestures/Everything_4",
+        "animations/Stand/Gestures/Everything_6",
+        "animations/Stand/Gestures/Excited_1",
+        "animations/Stand/Gestures/Explain_1",
+        "animations/Stand/Gestures/Explain_10",
+        "animations/Stand/Gestures/Explain_11",
+        "animations/Stand/Gestures/Explain_2",
+        "animations/Stand/Gestures/Explain_3",
+        "animations/Stand/Gestures/Explain_4",
+        "animations/Stand/Gestures/Explain_5",
+        "animations/Stand/Gestures/Explain_6",
+        "animations/Stand/Gestures/Explain_7",
+        "animations/Stand/Gestures/Explain_8",
+        "animations/Stand/Gestures/Far_1",
+        "animations/Stand/Gestures/Far_2",
+        "animations/Stand/Gestures/Far_3",
+        "animations/Stand/Gestures/Follow_1",
+        "animations/Stand/Gestures/Give_1",
+        "animations/Stand/Gestures/Give_2",
+        "animations/Stand/Gestures/Give_3",
+        "animations/Stand/Gestures/Give_4",
+        "animations/Stand/Gestures/Give_5",
+        "animations/Stand/Gestures/Give_6",
+        "animations/Stand/Gestures/Great_1",
+        "animations/Stand/Gestures/HeSays_1",
+        "animations/Stand/Gestures/HeSays_2",
+        "animations/Stand/Gestures/HeSays_3",
+        "animations/Stand/Gestures/Hey_1",
+        "animations/Stand/Gestures/Hey_10",
+        "animations/Stand/Gestures/Hey_2",
+        "animations/Stand/Gestures/Hey_3",
+        "animations/Stand/Gestures/Hey_4",
+        "animations/Stand/Gestures/Hey_6",
+        "animations/Stand/Gestures/Hey_7",
+        "animations/Stand/Gestures/Hey_8",
+        "animations/Stand/Gestures/Hey_9",
+        "animations/Stand/Gestures/Hide_1",
+        "animations/Stand/Gestures/Hot_1",
+        "animations/Stand/Gestures/Hot_2",
+        "animations/Stand/Gestures/IDontKnow_1",
+        "animations/Stand/Gestures/IDontKnow_2",
+        "animations/Stand/Gestures/IDontKnow_3",
+        "animations/Stand/Gestures/IDontKnow_4",
+        "animations/Stand/Gestures/IDontKnow_5",
+        "animations/Stand/Gestures/IDontKnow_6",
+        "animations/Stand/Gestures/Joy_1",
+        "animations/Stand/Gestures/Kisses_1",
+        "animations/Stand/Gestures/Look_1",
+        "animations/Stand/Gestures/Look_2",
+        "animations/Stand/Gestures/Maybe_1",
+        "animations/Stand/Gestures/Me_1",
+        "animations/Stand/Gestures/Me_2",
+        "animations/Stand/Gestures/Me_4",
+        "animations/Stand/Gestures/Me_7",
+        "animations/Stand/Gestures/Me_8",
+        "animations/Stand/Gestures/Mime_1",
+        "animations/Stand/Gestures/Mime_2",
+        "animations/Stand/Gestures/Next_1",
+        "animations/Stand/Gestures/No_1",
+        "animations/Stand/Gestures/No_2",
+        "animations/Stand/Gestures/No_3",
+        "animations/Stand/Gestures/No_4",
+        "animations/Stand/Gestures/No_5",
+        "animations/Stand/Gestures/No_6",
+        "animations/Stand/Gestures/No_7",
+        "animations/Stand/Gestures/No_8",
+        "animations/Stand/Gestures/No_9",
+        "animations/Stand/Gestures/Nothing_1",
+        "animations/Stand/Gestures/Nothing_2",
+        "animations/Stand/Gestures/OnTheEvening_1",
+        "animations/Stand/Gestures/OnTheEvening_2",
+        "animations/Stand/Gestures/OnTheEvening_3",
+        "animations/Stand/Gestures/OnTheEvening_4",
+        "animations/Stand/Gestures/OnTheEvening_5",
+        "animations/Stand/Gestures/Please_1",
+        "animations/Stand/Gestures/Please_2",
+        "animations/Stand/Gestures/Please_3",
+        "animations/Stand/Gestures/Reject_1",
+        "animations/Stand/Gestures/Reject_2",
+        "animations/Stand/Gestures/Reject_3",
+        "animations/Stand/Gestures/Reject_4",
+        "animations/Stand/Gestures/Reject_5",
+        "animations/Stand/Gestures/Reject_6",
+        "animations/Stand/Gestures/Salute_1",
+        "animations/Stand/Gestures/Salute_2",
+        "animations/Stand/Gestures/Salute_3",
+        "animations/Stand/Gestures/ShowFloor_1",
+        "animations/Stand/Gestures/ShowFloor_2",
+        "animations/Stand/Gestures/ShowFloor_3",
+        "animations/Stand/Gestures/ShowFloor_4",
+        "animations/Stand/Gestures/ShowFloor_5",
+        "animations/Stand/Gestures/ShowSky_1",
+        "animations/Stand/Gestures/ShowSky_10",
+        "animations/Stand/Gestures/ShowSky_11",
+        "animations/Stand/Gestures/ShowSky_12",
+        "animations/Stand/Gestures/ShowSky_2",
+        "animations/Stand/Gestures/ShowSky_3",
+        "animations/Stand/Gestures/ShowSky_4",
+        "animations/Stand/Gestures/ShowSky_5",
+        "animations/Stand/Gestures/ShowSky_6",
+        "animations/Stand/Gestures/ShowSky_7",
+        "animations/Stand/Gestures/ShowSky_8",
+        "animations/Stand/Gestures/ShowSky_9",
+        "animations/Stand/Gestures/ShowTablet_1",
+        "animations/Stand/Gestures/ShowTablet_2",
+        "animations/Stand/Gestures/ShowTablet_3",
+        "animations/Stand/Gestures/Shy_1",
+        "animations/Stand/Gestures/Stretch_1",
+        "animations/Stand/Gestures/Stretch_2",
+        "animations/Stand/Gestures/Surprised_1",
+        "animations/Stand/Gestures/TakePlace_1",
+        "animations/Stand/Gestures/TakePlace_2",
+        "animations/Stand/Gestures/Take_1",
+        "animations/Stand/Gestures/Thinking_1",
+        "animations/Stand/Gestures/Thinking_2",
+        "animations/Stand/Gestures/Thinking_3",
+        "animations/Stand/Gestures/Thinking_4",
+        "animations/Stand/Gestures/Thinking_5",
+        "animations/Stand/Gestures/Thinking_6",
+        "animations/Stand/Gestures/Thinking_7",
+        "animations/Stand/Gestures/Thinking_8",
+        "animations/Stand/Gestures/This_1",
+        "animations/Stand/Gestures/This_10",
+        "animations/Stand/Gestures/This_11",
+        "animations/Stand/Gestures/This_12",
+        "animations/Stand/Gestures/This_13",
+        "animations/Stand/Gestures/This_14",
+        "animations/Stand/Gestures/This_15",
+        "animations/Stand/Gestures/This_2",
+        "animations/Stand/Gestures/This_3",
+        "animations/Stand/Gestures/This_4",
+        "animations/Stand/Gestures/This_5",
+        "animations/Stand/Gestures/This_6",
+        "animations/Stand/Gestures/This_7",
+        "animations/Stand/Gestures/This_8",
+        "animations/Stand/Gestures/This_9",
+        "animations/Stand/Gestures/WhatSThis_1",
+        "animations/Stand/Gestures/WhatSThis_10",
+        "animations/Stand/Gestures/WhatSThis_11",
+        "animations/Stand/Gestures/WhatSThis_12",
+        "animations/Stand/Gestures/WhatSThis_13",
+        "animations/Stand/Gestures/WhatSThis_14",
+        "animations/Stand/Gestures/WhatSThis_15",
+        "animations/Stand/Gestures/WhatSThis_16",
+        "animations/Stand/Gestures/WhatSThis_2",
+        "animations/Stand/Gestures/WhatSThis_3",
+        "animations/Stand/Gestures/WhatSThis_4",
+        "animations/Stand/Gestures/WhatSThis_5",
+        "animations/Stand/Gestures/WhatSThis_6",
+        "animations/Stand/Gestures/WhatSThis_7",
+        "animations/Stand/Gestures/WhatSThis_8",
+        "animations/Stand/Gestures/WhatSThis_9",
+        "animations/Stand/Gestures/Whisper_1",
+        "animations/Stand/Gestures/Wings_1",
+        "animations/Stand/Gestures/Wings_2",
+        "animations/Stand/Gestures/Wings_3",
+        "animations/Stand/Gestures/Wings_4",
+        "animations/Stand/Gestures/Wings_5",
+        "animations/Stand/Gestures/Yes_1",
+        "animations/Stand/Gestures/Yes_2",
+        "animations/Stand/Gestures/Yes_3",
+        "animations/Stand/Gestures/YouKnowWhat_1",
+        "animations/Stand/Gestures/YouKnowWhat_2",
+        "animations/Stand/Gestures/YouKnowWhat_3",
+        "animations/Stand/Gestures/YouKnowWhat_4",
+        "animations/Stand/Gestures/YouKnowWhat_5",
+        "animations/Stand/Gestures/YouKnowWhat_6",
+        "animations/Stand/Gestures/You_1",
+        "animations/Stand/Gestures/You_2",
+        "animations/Stand/Gestures/You_3",
+        "animations/Stand/Gestures/You_4",
+        "animations/Stand/Gestures/You_5",
+        "animations/Stand/Gestures/Yum_1",
+        "animations/Stand/Reactions/EthernetOff_1",
+        "animations/Stand/Reactions/EthernetOn_1",
+        "animations/Stand/Reactions/Heat_1",
+        "animations/Stand/Reactions/Heat_2",
+        "animations/Stand/Reactions/LightShine_1",
+        "animations/Stand/Reactions/LightShine_2",
+        "animations/Stand/Reactions/LightShine_3",
+        "animations/Stand/Reactions/LightShine_4",
+        "animations/Stand/Reactions/SeeColor_1",
+        "animations/Stand/Reactions/SeeColor_2",
+        "animations/Stand/Reactions/SeeColor_3",
+        "animations/Stand/Reactions/SeeSomething_1",
+        "animations/Stand/Reactions/SeeSomething_3",
+        "animations/Stand/Reactions/SeeSomething_4",
+        "animations/Stand/Reactions/SeeSomething_5",
+        "animations/Stand/Reactions/SeeSomething_6",
+        "animations/Stand/Reactions/SeeSomething_7",
+        "animations/Stand/Reactions/SeeSomething_8",
+        "animations/Stand/Reactions/ShakeBody_1",
+        "animations/Stand/Reactions/ShakeBody_2",
+        "animations/Stand/Reactions/ShakeBody_3",
+        "animations/Stand/Reactions/TouchHead_1",
+        "animations/Stand/Reactions/TouchHead_2",
+        "animations/Stand/Reactions/TouchHead_3",
+        "animations/Stand/Reactions/TouchHead_4",
+        "animations/Stand/Waiting/AirGuitar_1",
+        "animations/Stand/Waiting/BackRubs_1",
+        "animations/Stand/Waiting/Bandmaster_1",
+        "animations/Stand/Waiting/Binoculars_1",
+        "animations/Stand/Waiting/BreathLoop_1",
+        "animations/Stand/Waiting/BreathLoop_2",
+        "animations/Stand/Waiting/BreathLoop_3",
+        "animations/Stand/Waiting/CallSomeone_1",
+        "animations/Stand/Waiting/Drink_1",
+        "animations/Stand/Waiting/DriveCar_1",
+        "animations/Stand/Waiting/Fitness_1",
+        "animations/Stand/Waiting/Fitness_2",
+        "animations/Stand/Waiting/Fitness_3",
+        "animations/Stand/Waiting/FunnyDancer_1",
+        "animations/Stand/Waiting/HappyBirthday_1",
+        "animations/Stand/Waiting/Helicopter_1",
+        "animations/Stand/Waiting/HideEyes_1",
+        "animations/Stand/Waiting/HideHands_1",
+        "animations/Stand/Waiting/Innocent_1",
+        "animations/Stand/Waiting/Knight_1",
+        "animations/Stand/Waiting/KnockEye_1",
+        "animations/Stand/Waiting/KungFu_1",
+        "animations/Stand/Waiting/LookHand_1",
+        "animations/Stand/Waiting/LookHand_2",
+        "animations/Stand/Waiting/LoveYou_1",
+        "animations/Stand/Waiting/Monster_1",
+        "animations/Stand/Waiting/MysticalPower_1",
+        "animations/Stand/Waiting/PlayHands_1",
+        "animations/Stand/Waiting/PlayHands_2",
+        "animations/Stand/Waiting/PlayHands_3",
+        "animations/Stand/Waiting/Relaxation_1",
+        "animations/Stand/Waiting/Relaxation_2",
+        "animations/Stand/Waiting/Relaxation_3",
+        "animations/Stand/Waiting/Relaxation_4",
+        "animations/Stand/Waiting/Rest_1",
+        "animations/Stand/Waiting/Robot_1",
+        "animations/Stand/Waiting/ScratchBack_1",
+        "animations/Stand/Waiting/ScratchBottom_1",
+        "animations/Stand/Waiting/ScratchEye_1",
+        "animations/Stand/Waiting/ScratchHand_1",
+        "animations/Stand/Waiting/ScratchHead_1",
+        "animations/Stand/Waiting/ScratchLeg_1",
+        "animations/Stand/Waiting/ScratchTorso_1",
+        "animations/Stand/Waiting/ShowMuscles_1",
+        "animations/Stand/Waiting/ShowMuscles_2",
+        "animations/Stand/Waiting/ShowMuscles_3",
+        "animations/Stand/Waiting/ShowMuscles_4",
+        "animations/Stand/Waiting/ShowMuscles_5",
+        "animations/Stand/Waiting/ShowSky_1",
+        "animations/Stand/Waiting/ShowSky_2",
+        "animations/Stand/Waiting/SpaceShuttle_1",
+        "animations/Stand/Waiting/Stretch_1",
+        "animations/Stand/Waiting/Stretch_2",
+        "animations/Stand/Waiting/TakePicture_1",
+        "animations/Stand/Waiting/Taxi_1",
+        "animations/Stand/Waiting/Think_1",
+        "animations/Stand/Waiting/Think_2",
+        "animations/Stand/Waiting/Think_3",
+        "animations/Stand/Waiting/Think_4",
+        "animations/Stand/Waiting/Waddle_1",
+        "animations/Stand/Waiting/Waddle_2",
+        "animations/Stand/Waiting/WakeUp_1",
+        "animations/Stand/Waiting/Zombie_1"]
+
+
+/**
+ * Returns a gesture value editor component.
+ * @returns JSX.Element
+ */
+export default function GestureValueEditor({
+  value,
+  setValue,
+  setType,
+  placeholder = "Gesture name",
+}: GestureValueEditorProps) {
+
+  /** Input mode: semantic tag vs concrete animation path */
+  const [mode, setMode] = useState<"single" | "tag">("tag");
+
+  /** Raw text value for single-gesture input */
+  const [customValue, setCustomValue] = useState("");
+
+  /** Autocomplete dropdown state */
+  const [showSuggestions, setShowSuggestions] = useState(true);
+  const [filteredSuggestions, setFilteredSuggestions] = useState<string[]>([]);
+
+  /** Reserved for future click-outside / positioning logic */
+  const containerRef = useRef<HTMLDivElement>(null);
+
+  /** Switch between tag and single input modes */
+  const handleModeChange = (newMode: "single" | "tag") => {
+    setMode(newMode);
+
+    if (newMode === "single") {
+      setValue(customValue || value);
+      setType(false);
+      setFilteredSuggestions(GESTURE_SINGLES);
+      setShowSuggestions(true);
+    } else {
+      // Clear value if it does not match a valid tag
+      setType(true);
+      const isValidTag = GESTURE_TAGS.some(
+        tag => tag.toLowerCase() === value.toLowerCase()
+      );
+      if (!isValidTag) setValue("");
+      setShowSuggestions(false);
+    }
+  };
+
+  /** Select a semantic gesture tag */
+  const handleTagSelect = (tag: string) => {
+    setValue(tag);
+  };
+
+  /** Update single-gesture input and filter suggestions */
+  const handleCustomChange = (newValue: string) => {
+    setCustomValue(newValue);
+    setValue(newValue);
+
+    if (newValue.trim() === "") {
+      setFilteredSuggestions(GESTURE_SINGLES);
+      setShowSuggestions(true);
+    } else {
+      const filtered = GESTURE_SINGLES.filter(single =>
+        single.toLowerCase().includes(newValue.toLowerCase())
+      );
+      setFilteredSuggestions(filtered);
+      setShowSuggestions(filtered.length > 0);
+    }
+  };
+
+  /** Commit autocomplete selection */
+  const handleSuggestionSelect = (suggestion: string) => {
+    setCustomValue(suggestion);
+    setValue(suggestion);
+    setShowSuggestions(false);
+  };
+
+  /** Refresh suggestions on refocus */
+  const handleInputFocus = () => {
+    if (!customValue.trim()) return;
+
+    const filtered = GESTURE_SINGLES.filter(single =>
+      single.toLowerCase().includes(customValue.toLowerCase())
+    );
+    setFilteredSuggestions(filtered);
+    setShowSuggestions(filtered.length > 0);
+  };
+
+  /** Exists to allow delayed blur handling if needed */
+  const handleInputBlur = (_e: React.FocusEvent) => {};
+
+
+  /** Build the JSX component */
+  return (
+    <div className={styles.gestureEditor} ref={containerRef}>
+      {/* Mode toggle */}
+      <div className={styles.modeSelector}>
+        <label className={styles.modeLabel}>Input Mode:</label>
+        <div className={styles.toggleContainer}>
+          <button
+            type="button"
+            className={`${styles.toggleButton} ${mode === "single" ? styles.active : ""}`}
+            onClick={() => handleModeChange("single")}
+          >
+            Single
+          </button>
+          <button
+            type="button"
+            className={`${styles.toggleButton} ${mode === "tag" ? styles.active : ""}`}
+            onClick={() => handleModeChange("tag")}
+          >
+            Tag
+          </button>
+        </div>
+      </div>
+
+      <div className={styles.valueEditor} data-testid={"valueEditorTestID"}>
+        {mode === "single" ? (
+          <div className={styles.autocompleteContainer}>
+            {showSuggestions && (
+              <div className={styles.suggestionsDropdownLeft}>
+                {filteredSuggestions.map((suggestion) => (
+                  <div
+                    key={suggestion}
+                    className={styles.suggestionItem}
+                    onClick={() => handleSuggestionSelect(suggestion)}
+                    onMouseDown={(e) => e.preventDefault()} // prevent blur before click
+                  >
+                    {suggestion}
+                  </div>
+                ))}
+              </div>
+            )}
+            <input
+              type="text"
+              value={customValue}
+              onChange={(e) => handleCustomChange(e.target.value)}
+              onFocus={handleInputFocus}
+              onBlur={handleInputBlur}
+              placeholder={placeholder}
+              className={`${styles.textInput} ${showSuggestions ? styles.textInputWithSuggestions : ''}`}
+              autoComplete="off"
+            />
+          </div>
+        ) : (
+          <div className={styles.tagSelector}>
+            <select
+              value={value}
+              onChange={(e) => handleTagSelect(e.target.value)}
+              className={styles.tagSelect}
+              data-testid={"tagSelectorTestID"}
+            >
+              <option value="" >Select a gesture tag...</option>
+              {GESTURE_TAGS.map((tag) => (
+                <option key={tag} value={tag}>{tag}</option>
+              ))}
+            </select>
+
+            <div className={styles.tagList}>
+              {GESTURE_TAGS.map((tag) => (
+                <button
+                  key={tag}
+                  type="button"
+                  className={`${styles.tagButton} ${value === tag ? styles.selected : ""}`}
+                  onClick={() => handleTagSelect(tag)}
+                >
+                  {tag}
+                </button>
+              ))}
+            </div>
+          </div>
+        )}
+      </div>
+    </div>
+  );
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/NodeComponents.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/NodeComponents.tsx
@@ -0,0 +1,123 @@
+import {NodeToolbar, useReactFlow} from '@xyflow/react';
+import '@xyflow/react/dist/style.css';
+import {type JSX, useState} from "react";
+import {createPortal} from "react-dom";
+import styles from "../../VisProg.module.css";
+import {NodeTooltips} from "../NodeRegistry.ts";
+import useFlowStore from "../VisProgStores.tsx";
+
+
+/**
+ * Props for the Toolbar component.
+ *
+ * @property nodeId - The ID of the node this toolbar is attached to.
+ * @property allowDelete - If `true`, the delete button is enabled; otherwise disabled.
+ */
+type ToolbarProps = {
+  nodeId: string;
+  allowDelete: boolean;
+};
+
+/**
+ * Node Toolbar definition:
+ * Handles: node deleting functionality
+ * Can be integrated to any custom node component as a React component
+ *
+ * @param {string} nodeId - The ID of the node for which the toolbar is rendered.
+ * @param {boolean} allowDelete - Enables or disables the delete functionality.
+ * @returns {React.JSX.Element} A JSX element representing the toolbar.
+ * @constructor
+ */
+export function Toolbar({nodeId, allowDelete}: ToolbarProps) {
+  const {nodes, deleteNode} = useFlowStore();
+  const { deleteElements } = useReactFlow();
+
+  const deleteParentNode = () => {
+
+    deleteNode(nodeId, deleteElements);
+  };
+
+  const nodeType = nodes.find((node) => node.id === nodeId)?.type as keyof typeof NodeTooltips;
+  return (
+    <NodeToolbar className={"flex-row align-center"}>
+      <button className="Node-toolbar__deletebutton" onClick={deleteParentNode} disabled={!allowDelete}>delete</button>
+      <Tooltip nodeType={nodeType}>
+        <div className={styles.nodeToolbarTooltip}>i</div>
+      </Tooltip>
+    </NodeToolbar>);
+}
+
+
+type TooltipProps = {
+  nodeType?: keyof typeof NodeTooltips;
+  children: JSX.Element;
+};
+
+
+/**
+ * A general tooltip component, that can be used as a wrapper for any component
+ * that has a nodeType and a corresponding nodeTooltip.
+ *
+ * currently used to show tooltips for draggable-nodes and nodes inside the editor
+ *
+ * @param {"start" | "end" | "phase" | "norm" | "goal" | "trigger" | "basic_belief" | undefined} nodeType
+ * @param {React.JSX.Element} children
+ * @returns {React.JSX.Element}
+ * @constructor
+ */
+export function Tooltip({ nodeType, children }: TooltipProps) {
+  const [showTooltip, setShowTooltip] = useState(false);
+  const [disabled , setDisabled] = useState(false);
+  const [coords, setCoords] = useState({ top: 0, left: 0 });
+
+  const updateTooltipPos = () => {
+    const rect = document.getElementById("draggable-sidebar")!.getBoundingClientRect();
+    setCoords({
+      // Position exactly below the bottom edge of the draggable sidebar (plus a small gap)
+      top: rect.bottom + 10,
+      left: rect.left + rect.width / 2, // Keep it horizontally centered
+    });
+  };
+
+  return nodeType ?
+    (<div>
+      <div
+        onMouseDown={() => {
+          updateTooltipPos();
+          setShowTooltip(false);
+          setDisabled(true);
+        }}
+        onMouseUp={() => {
+          setDisabled(false);
+        }}
+        onMouseOver={() => {
+          if (!disabled) {
+            updateTooltipPos();
+            setShowTooltip(true);
+          }
+        }}
+        onMouseLeave={ () => setShowTooltip(false)}
+      >
+        {children}
+      </div>
+      {showTooltip && createPortal(
+        <div
+          className={"flex-row"}
+          style={{
+            pointerEvents: 'none',
+            position: 'fixed',
+            top: `${coords.top}px`,
+            left: `${coords.left}px`,
+            transform: 'translateX(-50%)', // Center based on the midpoint
+          }}
+        >
+          <span className={styles.customTooltipHeader}>{nodeType}</span>
+          <span className={styles.customTooltip}>
+            {NodeTooltips[nodeType] || "Available for drag"}
+          </span>
+        </div>,
+        document.body
+      )}
+    </div>
+  ) : children
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/NodeDefinitions.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/NodeDefinitions.tsx
@@ -1,128 +0,0 @@
-import {Handle, type NodeProps, NodeToolbar, Position} from '@xyflow/react';
-import '@xyflow/react/dist/style.css';
-import styles from '../../VisProg.module.css';
-import useFlowStore from "../VisProgStores.tsx";
-import type {
-  StartNode,
-  EndNode,
-  PhaseNode,
-  NormNode
-} from "../VisProgTypes.tsx";
-
-//
-
-type ToolbarProps = {
-  nodeId: string;
-  allowDelete: boolean;
-};
-
-
-/**
- * Node Toolbar definition:
- * handles: node deleting functionality
- * can be added to any custom node component as a React component
- *
- * @param {string} nodeId
- * @param {boolean} allowDelete
- * @returns {React.JSX.Element}
- * @constructor
- */
-export function Toolbar({nodeId, allowDelete}: ToolbarProps) {
-  const {deleteNode} = useFlowStore();
-
-  const deleteParentNode = ()=> {
-    deleteNode(nodeId);
-  }
-  return (
-    <NodeToolbar>
-      <button className="Node-toolbar__deletebutton" onClick={deleteParentNode} disabled={!allowDelete}>delete</button>
-    </NodeToolbar>);
-}
-
-
-// Definitions of Nodes
-
-/**
- * Start Node definition:
- *
- * @param {string} id
- * @param {defaultNodeData} data
- * @returns {React.JSX.Element}
- * @constructor
- */
-export const StartNodeComponent = ({id, data}: NodeProps<StartNode>) => {
-  return (
-    <>
-      <Toolbar nodeId={id} allowDelete={false}/>
-      <div className={styles.defaultNodeStart}>
-        <div> data test {data.label} </div>
-        <Handle type="source" position={Position.Right} id="start"/>
-      </div>
-    </>
-  );
-};
-
-
-/**
- * End node definition:
- *
- * @param {string} id
- * @param {defaultNodeData} data
- * @returns {React.JSX.Element}
- * @constructor
- */
-export const EndNodeComponent = ({id, data}: NodeProps<EndNode>) => {
-  return (
-    <>
-      <Toolbar nodeId={id} allowDelete={false}/>
-      <div className={styles.defaultNodeEnd}>
-        <div> {data.label} </div>
-        <Handle type="target" position={Position.Left} id="end"/>
-      </div>
-    </>
-  );
-};
-
-
-/**
- * Phase node definition:
- *
- * @param {string} id
- * @param {defaultNodeData & {number: number}} data
- * @returns {React.JSX.Element}
- * @constructor
- */
-export const PhaseNodeComponent = ({id, data}: NodeProps<PhaseNode>) => {
-  return (
-    <>
-      <Toolbar nodeId={id} allowDelete={true}/>
-      <div className={styles.defaultNodePhase}>
-        <div> phase {data.number} {data.label} </div>
-        <Handle type="target" position={Position.Left} id="target"/>
-        <Handle type="target" position={Position.Bottom} id="norms"/>
-        <Handle type="source" position={Position.Right} id="source"/>
-      </div>
-    </>
-  );
-};
-
-
-/**
- * Norm node definition:
- *
- * @param {string} id
- * @param {defaultNodeData & {value: string}} data
- * @returns {React.JSX.Element}
- * @constructor
- */
-export const NormNodeComponent = ({id, data}: NodeProps<NormNode>) => {
-  return (
-    <>
-      <Toolbar nodeId={id} allowDelete={true}/>
-      <div className={styles.defaultNodeNorm}>
-        <div> Norm {data.label} </div>
-        <Handle type="source" position={Position.Right} id="NormSource"/>
-      </div>
-    </>
-  );
-};
--- a/src/pages/VisProgPage/visualProgrammingUI/components/Plan.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/Plan.default.ts
@@ -0,0 +1,7 @@
+import type { Plan, PlanElement } from "./Plan";
+
+export const defaultPlan: Plan = {
+    name: "Default Plan",
+    id: "-1",
+    steps: [] as PlanElement[],
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/Plan.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/Plan.tsx
@@ -0,0 +1,124 @@
+import { type Node } from "@xyflow/react"
+import { GoalReduce } from "../nodes/GoalNode"
+
+
+export type Plan = {
+    name: string,
+    id: string,
+    steps: PlanElement[],
+}
+
+export type PlanElement = Goal | Action
+
+export type Goal = {
+    id: string // we let the reducer figure out the rest dynamically
+    type: "goal"
+}
+
+// Actions
+export type Action = SpeechAction | GestureAction | LLMAction
+export type SpeechAction = { id: string, text: string, type:"speech" }
+export type GestureAction = { id: string, gesture: string, isTag: boolean, type:"gesture" }
+export type LLMAction = { id: string, goal: string, type:"llm" }
+export type ActionTypes = "speech" | "gesture" | "llm";
+
+
+// Extract the wanted information from a plan within the reducing of nodes
+export function PlanReduce(_nodes: Node[], plan?: Plan, ) {
+    if (!plan) return ""
+    return {
+        id: plan.id,
+        steps: plan.steps.map((x) => StepReduce(x, _nodes))
+    }
+}
+
+
+// Extract the wanted information from a plan element.
+function StepReduce(planElement: PlanElement, _nodes: Node[]) : Record<string, unknown> {
+    // We have different types of plan elements, requiring differnt types of output
+    const nodes = _nodes
+    const thisNode = _nodes.find((x) => x.id === planElement.id)
+    switch (planElement.type) {
+        case ("speech"):
+            return {
+                id: planElement.id,
+                text: planElement.text,
+            }
+        case ("gesture"):
+            return {
+                id: planElement.id,
+                gesture: {
+                    type: planElement.isTag ? "tag" : "single",
+                    name: planElement.gesture 
+                },
+            }
+        case ("llm"):
+            return {
+                id: planElement.id,
+                goal: planElement.goal,
+            }
+        case ("goal"):
+            return thisNode ? GoalReduce(thisNode, nodes) : {}
+    }
+}
+
+/**
+ * Finds out whether the plan can iterate multiple times, or always stops after one action.
+ * This comes down to checking if the plan only has speech/ gesture actions, or others as well.
+ * @param plan: the plan to check
+ * @returns: a 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 || 
+     (
+        // 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);
+}
+
+/**
+ * Returns the value of the action.
+ * Since typescript can't polymorphicly access the value field,
+ * we need to switch over the types and return the correct field.
+ * @param action: action to retrieve the value from 
+ * @returns string | undefined
+ */
+export function GetActionValue(action: Action) {
+    let returnAction;
+    switch (action.type) {
+        case "gesture":
+            returnAction = action as GestureAction
+            return returnAction.gesture;
+        case "speech":
+            returnAction = action as SpeechAction
+            return returnAction.text;
+        case "llm":
+            returnAction = action as LLMAction
+            return returnAction.goal;
+        default:
+    }
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditingFunctions.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditingFunctions.tsx
@@ -0,0 +1,35 @@
+// This file is to avoid sharing both functions and components which eslint dislikes. :)
+import type { GoalNode } from "../nodes/GoalNode"
+import type { Goal, Plan } from "./Plan"
+
+/**
+ * Inserts a goal into a plan
+ * @param plan: plan to insert goal into
+ * @param goalNode: the goal node to insert into the plan.
+ * @returns: a new plan with the goal inside.
+ */
+export function insertGoalInPlan(plan: Plan, goalNode: GoalNode): Plan {
+    const planElement : Goal = {
+        id: goalNode.id,
+        type: "goal",
+    }
+
+    return {
+        ...plan,
+        steps: [...plan.steps, planElement],
+    }
+}
+
+
+/**
+ * Deletes a goal from  a plan
+ * @param plan: plan to delete goal from
+ * @param goalID: the goal node to delete.
+ * @returns: a new plan with the goal removed.
+ */
+export function deleteGoalInPlanByID(plan: Plan, goalID: string) {
+    const updatedPlan = {...plan,
+        steps: plan.steps.filter((x) => x.id !== goalID)
+    }
+    return updatedPlan.steps.length == 0 ? undefined : updatedPlan
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.module.css
@@ -0,0 +1,71 @@
+.planDialog {
+  overflow:visible;
+  width: 80vw;
+  max-width: 900px;
+  transition: width 0.25s ease;
+  overscroll-behavior: contain;
+}
+
+
+.planDialog::backdrop {
+  background: rgba(0, 0, 0, 0.4);
+}
+
+.planEditor {
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 1rem;
+  min-width: 600px;
+}
+
+.planEditorLeft {
+  position: relative;
+  display: flex;
+  flex-direction: column;
+  gap: 0.75rem;
+}
+
+.planEditorRight {
+  display: flex;
+  flex-direction: column;
+  gap: 0.5rem;
+  border-left: 1px solid var(--border-color, #ccc);
+  padding-left: 1rem;
+  max-height: 300px;
+  overflow-y: auto;
+}
+
+.planStep {
+  display: flex;
+  align-items: center;
+  gap: 0.5rem;
+  cursor: pointer;
+  transition: text-decoration 0.2s;
+}
+
+
+.planStep:hover {
+  text-decoration: line-through;
+}
+
+.stepType {
+  opacity: 0.7;
+  font-size: 0.85em;
+}
+
+
+.stepIndex {
+  opacity: 0.6;
+}
+
+.emptySteps {
+  opacity: 0.5;
+  font-style: italic;
+}
+
+.stepSuggestion {
+  opacity: 0.5;
+  font-style: italic;
+}
+
+
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.tsx
@@ -0,0 +1,250 @@
+import {useRef, useState} from "react";
+import useFlowStore from "../VisProgStores.tsx";
+import styles from './PlanEditor.module.css';
+import { GetActionValue, type Action, type ActionTypes, type Plan } from "../components/Plan";
+import { defaultPlan } from "../components/Plan.default";
+import { TextField } from "../../../../components/TextField";
+import GestureValueEditor from "./GestureValueEditor"; 
+
+type PlanEditorDialogProps = {
+  plan?: Plan;
+  onSave: (plan: Plan | undefined) => void;
+  description? : string;
+};
+
+export default function PlanEditorDialog({
+  plan,
+  onSave,
+  description,
+}: PlanEditorDialogProps) {
+  // UseStates and references
+  const dialogRef = useRef<HTMLDialogElement | null>(null);
+  const [draftPlan, setDraftPlan] = useState<Plan | null>(null);
+  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;
+
+  //Button Actions
+  const openCreate = () => {
+    setScrollable(false);
+    setDraftPlan({...structuredClone(defaultPlan), id: crypto.randomUUID()});
+    dialogRef.current?.showModal();
+  };
+
+  const openCreateWithDescription = () => {
+    setScrollable(false);
+    setDraftPlan({...structuredClone(defaultPlan), id: crypto.randomUUID(), name: description!});
+    setNewActionType("llm")
+    setNewActionValue(description!)
+    dialogRef.current?.showModal();
+  }
+
+  const openEdit = () => {
+    setScrollable(false);
+    if (!plan) return;
+    setDraftPlan(structuredClone(plan));
+    dialogRef.current?.showModal();
+  };
+
+  const close = () => {
+    setScrollable(true);
+    dialogRef.current?.close();
+    setDraftPlan(null);
+  };
+
+  const buildAction = (): Action => {
+    const id = crypto.randomUUID();
+    setHasInteractedWithPlan(true)
+    switch (newActionType) {
+    case "speech":
+     return { id, text: newActionValue, type: "speech" };
+    case "gesture":
+        return { id, gesture: newActionValue, isTag: newActionGestureType, type: "gesture" };
+    case "llm":
+        return { id, goal: newActionValue, type: "llm" };
+    }
+  };
+
+  return (<>
+      {/* Create and edit buttons */}
+      {!plan && (
+          <button className={styles.nodeButton} onClick={description ? openCreateWithDescription : openCreate}>
+          Create Plan
+          </button>
+      )}
+      {plan && (
+          <button className={styles.nodeButton} onClick={openEdit}>
+          Edit Plan
+          </button>
+      )}
+
+      {/* Start of dialog (plan editor) */}
+      <dialog
+        ref={dialogRef}
+        className={`${styles.planDialog}`}
+        //onWheel={(e) => e.stopPropagation()}
+        data-testid={"PlanEditorDialogTestID"}
+      >
+      <form method="dialog" className="flex-col gap-md">
+          <h3> {draftPlan?.id === plan?.id ? "Edit Plan" : "Create Plan"} </h3>
+          {/* Plan name text field */}
+          {draftPlan && (
+              <TextField
+                  value={draftPlan.name}
+                  setValue={(name) =>
+                  setDraftPlan({ ...draftPlan, name })}
+              placeholder="Plan name"
+              data-testid="name_text_field"/>
+          )}
+
+          {/* Entire "bottom" part (adder and steps) without cancel, confirm and reset */}
+          {draftPlan && (<div className={styles.planEditor}>
+              <div className={styles.planEditorLeft}>
+              {/* Left Side (Action Adder) */}
+                  <h4>Add Action</h4>
+                  {(!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>)}
+                  <label>
+                      Action Type <wbr />
+                      {/* Type selection */}
+                      <select
+                          value={newActionType}
+                          onChange={(e) => {
+                              setNewActionType(e.target.value as ActionTypes);
+                              // Reset value when action type changes
+                              setNewActionValue("");
+                          }}>
+                      <option value="speech">Speech Action</option>
+                      <option value="gesture">Gesture Action</option>
+                      <option value="llm">LLM Action</option>
+                      </select>
+                  </label>
+
+                  {/* Action value editor*/}
+                  {newActionType === "gesture" ? (
+                      // Gesture get their own editor component
+                      <GestureValueEditor
+                        value={newActionValue}
+                        setValue={setNewActionValue}
+                        setType={setNewActionGestureType}
+                        placeholder="Gesture name"
+                      />
+                  ) : (
+                      <TextField
+                          value={newActionValue}
+                          setValue={setNewActionValue}
+                          placeholder={
+                              newActionType === "speech" ? "Speech text"
+                              : "LLM goal"
+                          }
+                      />
+                  )}
+
+                  {/* Adding steps */}
+                  <button
+                      type="button"
+                      disabled={!newActionValue}
+                      onClick={() => {
+                          if (!draftPlan) return;
+                          // Add action to steps
+                          const action = buildAction();
+                          setDraftPlan({
+                              ...draftPlan,
+                              steps: [...draftPlan.steps, action],});
+
+                          // Reset current action building
+                          setNewActionValue("");
+                          setNewActionType("speech");
+                      }}>
+                  Add Step
+                </button>
+              </div>
+
+              {/* Right Side (Steps shown) */}
+              <div className={styles.planEditorRight}>
+                  <h4>Steps</h4>
+
+                  {/* Show if there are no steps yet */}
+                  {draftPlan.steps.length === 0 && (
+                      <div className={styles.emptySteps}>
+                      No steps yet
+                      </div>
+                  )}
+
+
+                  {/* Map over all steps */}
+                  {draftPlan.steps.map((step, index) => (
+                      <div
+                      role="button"
+                      tabIndex={0}
+                      key={step.id}
+                      className={styles.planStep}
+                      // Extra logic for screen readers to access using keyboard
+                      onKeyDown={(e) => {
+                          if (e.key === "Enter" || e.key === " ") {
+                          setDraftPlan({
+                          ...draftPlan,
+                          steps: draftPlan.steps.filter((s) => s.id !== step.id),});
+                          }}}
+                      onClick={() => {
+                          setDraftPlan({
+                          ...draftPlan,
+                          steps: draftPlan.steps.filter((s) => s.id !== step.id),});
+                      }}>
+
+                      <span className={styles.stepIndex}>{index + 1}.</span>
+                      <span className={styles.stepType}>{step.type}:</span>
+                      <span className={styles.stepName}>
+                        {
+                        // This just tries to find the goals name, i know it looks ugly:(
+                        step.type === "goal"
+                        ? ((nodes.find(x => x.id === step.id)?.data.name as string) == "" ? 
+                        "unnamed goal": (nodes.find(x => x.id === step.id)?.data.name as string))
+                        : (GetActionValue(step) ?? "")}
+                      </span>
+                  </div>
+                ))}
+              </div>
+            </div>
+          )}
+
+          {/* Buttons */}
+          <div className="flex-row gap-md">
+              {/* Close button */}
+              <button type="button" onClick={close}>
+              Cancel
+              </button>
+
+              {/* Confirm/ Create button */}
+              <button
+              type="button"
+              disabled={!draftPlan}
+              onClick={() => {
+                  if (!draftPlan) return;
+                  onSave(draftPlan);
+                  close();
+              }}>
+              {draftPlan?.id === plan?.id ? "Confirm" : "Create"}
+              </button>
+
+              {/* Reset button */}
+              <button
+              type="button"
+              disabled={!draftPlan}
+              onClick={() => {
+                  onSave(undefined);
+                  close();
+              }}>
+              Reset
+              </button>
+        </div>
+      </form>
+    </dialog>
+  </>
+);
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/RuleBasedHandle.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/RuleBasedHandle.module.css
@@ -0,0 +1,52 @@
+:global(.react-flow__handle.source){
+    border-radius: 100%;
+}
+:global(.react-flow__handle.target){
+    border-radius: 15%;
+}
+
+
+
+:global(.react-flow__handle.connected) {
+    background: lightgray;
+    border-color: green;
+    filter: drop-shadow(0 0 0.15rem green);
+}
+
+:global(.singleConnectionHandle.connected) {
+    background: #55dd99;
+}
+
+:global(.react-flow__handle.unconnected){
+    background: lightgray;
+    border-color: gray;
+}
+
+:global(.singleConnectionHandle.unconnected){
+    background: lightsalmon;
+    border-color: #ff6060;
+    filter: drop-shadow(0 0 0.15rem #ff6060);
+}
+
+:global(.react-flow__handle.connectingto) {
+    background: #ff6060;
+    border-color: coral;
+    filter: drop-shadow(0 0 0.15rem coral);
+}
+
+:global(.react-flow__handle.valid) {
+    background: #55dd99;
+    border-color: green;
+    filter: drop-shadow(0 0 0.15rem green);
+}
+
+:global(.react-flow__handle) {
+    width: calc(8px / var(--flow-zoom, 1));
+    height: calc(8px / var(--flow-zoom, 1));
+    transition: width 0.1s ease, height 0.1s ease;
+    min-width: 8px;
+    min-height: 8px;
+}
+
+
+
--- a/src/pages/VisProgPage/visualProgrammingUI/components/RuleBasedHandle.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/RuleBasedHandle.tsx
@@ -0,0 +1,78 @@
+import {
+  Handle,
+  type HandleProps,
+  type Connection,
+  useNodeId, useNodeConnections
+} from '@xyflow/react';
+import { type HandleRule, useHandleRules} from "../HandleRuleLogic.ts";
+import "./RuleBasedHandle.module.css";
+
+
+
+export function MultiConnectionHandle({
+  id,
+  type,
+  rules = [],
+  ...otherProps
+} : HandleProps & { rules?: HandleRule[]}) {
+  let nodeId = useNodeId();
+  // this check is used to make sure that the handle code doesn't break when used inside a test,
+  // since useNodeId would be undefined if the handle is not used inside a node
+  nodeId = nodeId ? nodeId : "mockId";
+  const validate = useHandleRules(nodeId, id!, type!, rules);
+
+
+  const connections = useNodeConnections({
+    id: nodeId,
+    handleType: type,
+    handleId: id!
+  })
+
+  return (
+    <Handle
+      {...otherProps}
+      id={id}
+      type={type}
+      className={"multiConnectionHandle" + (connections.length === 0 ? " unconnected" : " connected") + ` ${type}`}
+      isValidConnection={(connection) => {
+        const result = validate(connection as Connection);
+        return result.isSatisfied;
+      }}
+    />
+  );
+}
+
+export function SingleConnectionHandle({
+  id,
+  type,
+  rules = [],
+  ...otherProps
+} : HandleProps & { rules?: HandleRule[]}) {
+  let nodeId = useNodeId();
+  // this check is used to make sure that the handle code doesn't break when used inside a test,
+  // since useNodeId would be undefined if the handle is not used inside a node
+  nodeId = nodeId ? nodeId : "mockId";
+  const validate = useHandleRules(nodeId, id!, type!, rules);
+
+  const connections = useNodeConnections({
+    id: nodeId,
+    handleType: type,
+    handleId: id!
+  })
+
+
+  return (
+    <Handle
+      {...otherProps}
+      id={id}
+      type={type}
+      className={"singleConnectionHandle" + (connections.length === 0 ? " unconnected" : " connected") + ` ${type}`}
+      isConnectable={connections.length === 0}
+      isValidConnection={(connection) => {
+        const result = validate(connection as Connection);
+        return result.isSatisfied;
+      }}
+    />
+  );
+}
+
--- a/src/pages/VisProgPage/visualProgrammingUI/components/SaveLoadPanel.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/SaveLoadPanel.module.css
@@ -0,0 +1,30 @@
+.save-load-panel {
+  border-radius: 0 0 5pt 5pt;
+  background-color: canvas;
+}
+
+label.file-input-button {
+  cursor: pointer;
+  outline: forestgreen solid 2pt;
+  filter: drop-shadow(0 0 0.25rem forestgreen);
+  transition: filter 200ms;
+
+  input[type="file"] {
+    display: none;
+  }
+
+  &:hover {
+    filter: drop-shadow(0 0 0.5rem forestgreen);
+  }
+}
+
+.save-button {
+  text-decoration: none;
+  outline: dodgerblue solid 2pt;
+  filter: drop-shadow(0 0 0.25rem dodgerblue);
+  transition: filter 200ms;
+
+  &:hover {
+    filter: drop-shadow(0 0 0.5rem dodgerblue);
+  }
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/SaveLoadPanel.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/SaveLoadPanel.tsx
@@ -0,0 +1,69 @@
+import {type ChangeEvent, useRef, useState} from "react";
+import useFlowStore from "../VisProgStores";
+import visProgStyles from "../../VisProg.module.css";
+import styles from "./SaveLoadPanel.module.css";
+import { makeProjectBlob, type SavedProject } from "../../../../utils/SaveLoad";
+
+export default function SaveLoadPanel() {
+  const nodes = useFlowStore((s) => s.nodes);
+  const edges = useFlowStore((s) => s.edges);
+  const setNodes = useFlowStore((s) => s.setNodes);
+  const setEdges = useFlowStore((s) => s.setEdges);
+
+  const [saveUrl, setSaveUrl] = useState<string | null>(null);
+
+  // ref to the file input
+  const inputRef = useRef<HTMLInputElement | null>(null);
+
+  const onSave = async (nameGuess = "visual-program") => {
+    const blob = makeProjectBlob(nameGuess, nodes, edges);
+    const url = URL.createObjectURL(blob);
+    setSaveUrl(url);
+  };
+
+  // input change handler updates the graph with a parsed JSON file
+  const handleFileChange = async (e: ChangeEvent<HTMLInputElement>) => {
+    const file = e.target.files?.[0];
+    if (!file) return;
+    try {
+      const text = await file.text();
+      const parsed = JSON.parse(text) as SavedProject;
+      if (!parsed.nodes || !parsed.edges) throw new Error("Invalid file format");
+      setNodes(parsed.nodes);
+      setEdges(parsed.edges);
+    } catch (e) {
+      console.error(e);
+      alert("Loading failed. See console.");
+    } finally {
+      // allow re-selecting same file next time
+      if (inputRef.current) inputRef.current.value = "";
+    }
+  };
+
+  const defaultName = "visual-program";
+  return (
+    <div className={`flex-col gap-lg padding-md border-lg ${styles.saveLoadPanel}`}>
+      <div className="description">You can save and load your graph here.</div>
+      <div className={`flex-row gap-lg justify-center`}>
+        <a
+          href={saveUrl ?? "#"}
+          onClick={() => onSave(defaultName)}
+          download={`${defaultName}.json`}
+          className={`${visProgStyles.draggableNode} ${styles.saveButton}`}
+        >
+          Save Graph
+        </a>
+
+        <label className={`${visProgStyles.draggableNode} ${styles.fileInputButton}`}>
+          <input
+            ref={inputRef}
+            type="file"
+            accept=".visprog.json,.json,.txt,application/json,text/plain"
+            onChange={handleFileChange}
+          />
+          Load Graph
+        </label>
+      </div>
+    </div>
+  );
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/WarningSidebar.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/WarningSidebar.module.css
@@ -0,0 +1,203 @@
+.warnings-sidebar {
+    min-width: auto;
+    max-width: 340px;
+    margin-right: 0;
+    height: 100%;
+    background: canvas;
+    display: flex;
+    flex-direction: row;
+}
+
+.warnings-toggle-bar {
+    background-color: ButtonFace;
+    justify-items: center;
+    align-content: center;
+    width: 1rem;
+    cursor: pointer;
+}
+
+.warnings-toggle-bar.error:first-child:has(.arrow-right){
+    background-color: hsl(from red h s 75%);
+}
+.warnings-toggle-bar.warning:first-child:has(.arrow-right) {
+    background-color: hsl(from orange h s 75%);
+}
+.warnings-toggle-bar.info:first-child:has(.arrow-right) {
+    background-color: hsl(from steelblue h s 75%);
+}
+
+.warnings-toggle-bar:hover {
+    background-color: GrayText !important ;
+    .arrow-left {
+        border-right-color: ButtonFace;
+        transition: transform 0.15s ease-in-out;
+        transform: rotateY(180deg);
+    }
+    .arrow-right {
+        border-left-color: ButtonFace;
+        transition: transform 0.15s ease-in-out;
+        transform: rotateY(180deg);
+    }
+}
+
+
+.warnings-content {
+    width: 320px;
+    flex: 1;
+    flex-direction: column;
+    border-left: 2px solid CanvasText;
+}
+
+.warnings-header {
+    padding: 12px;
+    border-bottom: 2px solid CanvasText;
+}
+
+.severity-tabs {
+    display: flex;
+    gap: 4px;
+}
+
+.severity-tab {
+    flex: 1;
+    padding: 4px;
+    background: ButtonFace;
+    color: GrayText;
+    border: none;
+    cursor: pointer;
+}
+
+.count {
+    padding: 4px;
+    color: GrayText;
+    border: none;
+    cursor: pointer;
+}
+
+.severity-tab.active {
+    color: ButtonText;
+    border: 2px solid currentColor;
+    .count {
+        color: ButtonText;
+    }
+}
+
+.warning-group-header {
+    background: ButtonFace;
+    padding: 6px;
+    font-weight: bold;
+}
+
+.warnings-list {
+    flex: 1;
+    min-height: 0;
+    overflow-y: scroll;
+}
+
+.warnings-empty {
+    margin: auto;
+}
+
+.warning-item {
+    display: flex;
+    flex-direction: column;
+    margin: 5px;
+    gap: 2px;
+    padding: 0;
+    border-radius: 5px;
+    cursor: pointer;
+    color: GrayText;
+}
+
+.warning-item:hover {
+    background: ButtonFace;
+}
+
+.warning-item--error {
+    border: 2px solid red;
+    background-color: hsl(from red h s 96%);
+    .item-header{
+        background-color: red;
+        .type{
+            color: hsl(from red h s 96%);
+        }
+    }
+
+}
+
+.warning-item--error:hover {
+    background-color: hsl(from red h s 75%);
+}
+
+.warning-item--warning {
+    border: 2px solid orange;
+    background-color: hsl(from orange h s 96%);
+    .item-header{
+        background-color: orange;
+        .type{
+            color: hsl(from orange h s 96%);
+        }
+    }
+}
+
+.warning-item--warning:hover {
+    background-color: hsl(from orange h s 75%);
+}
+
+.warning-item--info {
+    border: 2px solid steelblue;
+    background-color: hsl(from steelblue h s 96%);
+    .item-header{
+        background-color: steelblue;
+        .type{
+            color: hsl(from steelblue h s 96%);
+        }
+    }
+}
+
+.warning-item--info:hover {
+    background-color: hsl(from steelblue h s 75%);
+}
+
+.warning-item .item-header {
+    padding: 8px 8px;
+    opacity: 1;
+    font-weight: bolder;
+}
+.warning-item .item-header .type{
+    padding: 2px 8px;
+    font-size: 0.9rem;
+}
+
+.warning-item .description {
+    padding: 5px 10px;
+    font-size: 0.8rem;
+}
+
+.auto-hide {
+    background-color: Canvas;
+    border-top: 2px solid CanvasText;
+    margin-top: auto;
+    width: 100%;
+    height: 2.5rem;
+    display: flex;
+    align-items: center;
+    padding: 0 12px;
+}
+
+/* arrows for toggleBar */
+.arrow-right {
+    width: 0;
+    height: 0;
+    border-top: 0.5rem solid transparent;
+    border-bottom: 0.5rem solid transparent;
+    border-left: 0.6rem solid GrayText;
+}
+
+.arrow-left {
+    width: 0;
+    height: 0;
+    border-top: 0.5rem solid transparent;
+    border-bottom: 0.5rem solid transparent;
+    border-right: 0.6rem solid GrayText;
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/WarningSidebar.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/WarningSidebar.tsx
@@ -0,0 +1,225 @@
+import {useReactFlow, useStoreApi} from "@xyflow/react";
+import clsx from "clsx";
+import {useEffect, useState} from "react";
+import useFlowStore from "../VisProgStores.tsx";
+import {
+  warningSummary,
+  type WarningSeverity,
+  type EditorWarning, globalWarning
+} from "./EditorWarnings.tsx";
+import styles from "./WarningSidebar.module.css";
+
+/**
+ * the warning sidebar, shows all warnings
+ *
+ * @returns {React.JSX.Element}
+ * @constructor
+ */
+export function WarningsSidebar() {
+  const warnings = useFlowStore.getState().getWarnings();
+  const [hide, setHide] = useState(false);
+  const [severityFilter, setSeverityFilter] = useState<WarningSeverity | 'ALL'>('ALL');
+  const [autoHide, setAutoHide] = useState(false);
+
+  // let autohide change hide status only when autohide is toggled
+  // and allow for user to change the hide state even if autohide is enabled
+  const hasWarnings = warnings.length > 0;
+  useEffect(() => {
+    if (autoHide) {
+      setHide(!hasWarnings);
+    }
+  }, [autoHide, hasWarnings]);
+
+  const filtered = severityFilter === 'ALL'
+    ? warnings
+    : warnings.filter(w => w.severity === severityFilter);
+
+
+  const summary = warningSummary();
+  // Finds the first key where the count > 0
+  const getHighestSeverity = () => {
+    if (summary.error > 0) return styles.error;
+    if (summary.warning > 0) return styles.warning;
+    if (summary.info > 0) return styles.info;
+    return '';
+  };
+
+  return (
+    <aside className={`flex-row`} >
+      <div
+        className={`${styles.warningsToggleBar} ${getHighestSeverity()}`}
+        onClick={() => setHide(!hide)}
+        title={"toggle warnings"}
+      >
+        <div className={`${hide ? styles.arrowRight : styles.arrowLeft}`}></div>
+      </div>
+      <div 
+        id="warningSidebar" 
+        className={styles.warningsContent} 
+        style={hide ? {display: "none"} : {display: "flex"}}
+      >
+        <WarningsHeader
+          severityFilter={severityFilter}
+          onChange={setSeverityFilter}
+        />
+
+        <WarningsList warnings={filtered} />
+        <div className={styles.autoHide}>
+          <input
+            id="autoHideSwitch"
+            type={"checkbox"}
+            checked={autoHide}
+            onChange={(e) => setAutoHide(e.target.checked)}
+          /><label>Hide if there are no warnings</label>
+        </div>
+      </div>
+    </aside>
+
+  );
+}
+
+/**
+ * the header of the warning sidebar, contains severity filtering buttons
+ *
+ * @param {WarningSeverity | "ALL"} severityFilter
+ * @param {(severity: (WarningSeverity | "ALL")) => void} onChange
+ * @returns {React.JSX.Element}
+ * @constructor
+ */
+function WarningsHeader({
+  severityFilter,
+  onChange,
+}: {
+  severityFilter: WarningSeverity | 'ALL';
+  onChange: (severity: WarningSeverity | 'ALL') => void;
+}) {
+  const summary = warningSummary();
+
+  return (
+    <div className={styles.warningsHeader}>
+      <h3>Warnings</h3>
+      <div className={styles.severityTabs}>
+        {(['ALL', 'ERROR', 'WARNING', 'INFO'] as const).map(severity => (
+          <button
+            key={severity}
+            className={clsx(styles.severityTab, severityFilter === severity && styles.active)}
+            onClick={() => onChange(severity)}
+          >
+            {severity}
+            {severity !== 'ALL' && (
+              <span className={styles.count}>
+                {summary[severity.toLowerCase() as keyof typeof summary]}
+              </span>
+            )}
+          </button>
+        ))}
+      </div>
+    </div>
+  );
+}
+
+
+/**
+ *  the list of warnings in the warning sidebar
+ *
+ * @param {{warnings: EditorWarning[]}} props
+ * @returns {React.JSX.Element}
+ * @constructor
+ */
+function WarningsList(props: { warnings: EditorWarning[] }) {
+  const splitWarnings = {
+    global: props.warnings.filter(w => w.scope.id === globalWarning),
+    other: props.warnings.filter(w => w.scope.id !== globalWarning),
+  }
+  if (props.warnings.length === 0) {
+    return (
+      <div className={styles.warningsEmpty}>
+        No warnings!
+      </div>
+    )
+  }
+  return (
+    <div className={styles.warningsList}>
+        <div className={styles.warningGroupHeader}>global:</div>
+        <div className={styles.warningsGroup}>
+          {splitWarnings.global.map((warning) => (
+            <WarningListItem warning={warning} key={`${warning.scope.id}|${warning.type}` + (warning.scope.handleId
+              ? `:${warning.scope.handleId}`
+              : "")}
+            />
+          ))}
+          {splitWarnings.global.length === 0 && "No global warnings!"}
+        </div>
+        <div className={styles.warningGroupHeader}>other:</div>
+        <div className={styles.warningsGroup}>
+          {splitWarnings.other.map((warning) => (
+            <WarningListItem warning={warning} key={`${warning.scope.id}|${warning.type}` + (warning.scope.handleId
+              ? `:${warning.scope.handleId}`
+              : "")}
+            />
+          ))}
+          {splitWarnings.other.length === 0 && "No other warnings!"}
+        </div>
+    </div>
+  );
+}
+
+/**
+ * a single warning in the warning sidebar
+ *
+ * @param {{warning: EditorWarning, key: string}} props
+ * @returns {React.JSX.Element}
+ * @constructor
+ */
+function WarningListItem(props: { warning: EditorWarning, key: string}) {
+  const jumpToNode = useJumpToNode();
+
+  return (
+    <div
+      className={clsx(styles.warningItem, styles[`warning-item--${props.warning.severity.toLowerCase()}`],)}
+      onClick={() => jumpToNode(props.warning.scope.id)}
+    >
+      <div className={styles.itemHeader}>
+        <span className={styles.type}>{props.warning.type}</span>
+      </div>
+
+      <div className={styles.description}>
+        {props.warning.description}
+      </div>
+    </div>
+  );
+}
+
+/**
+ * moves the editor to the provided node
+ * @returns {(nodeId: string) => void}
+ */
+function useJumpToNode() {
+  const { getNode, setCenter, getViewport } = useReactFlow();
+  const { addSelectedNodes } = useStoreApi().getState();
+
+
+  return (nodeId: string) => {
+    // user can't jump to global warning, so prevent further logic from running if the warning is a globalWarning
+    if (nodeId === globalWarning) return;
+    const node = getNode(nodeId);
+    if (!node) return;
+
+    const nodeElement = document.querySelector(`.react-flow__node[data-id="${nodeId}"]`) as HTMLElement;
+    const { position } = node;
+    const viewport = getViewport();
+    const { width, height } = nodeElement.getBoundingClientRect();
+
+    //move to node
+    setCenter(
+      position!.x + ((width / viewport.zoom) / 2),
+      position!.y + ((height / viewport.zoom) / 2),
+      {duration: 300, interpolate: "smooth" }
+    ).then(() => {
+      addSelectedNodes([nodeId]);
+    });
+
+
+
+  };
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.default.ts
@@ -0,0 +1,12 @@
+import type { BasicBeliefNodeData } from "./BasicBeliefNode.tsx";
+
+
+/**
+ * Default data for this node
+ */
+export const BasicBeliefNodeDefaults: BasicBeliefNodeData = {
+  label: "Belief",
+  droppable: true,
+  belief: {type: "keyword", id: "", value: "", label: "Keyword said:"},
+  hasReduce: true,
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.tsx
@@ -0,0 +1,231 @@
+import {
+  type NodeProps,
+  Position,
+  type Node,
+} from '@xyflow/react';
+import { Toolbar } from '../components/NodeComponents.tsx';
+import styles from '../../VisProg.module.css';
+import {MultiConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {allowOnlyConnectionsFromHandle} from "../HandleRules.ts";
+import useFlowStore from '../VisProgStores.tsx';
+import { TextField } from '../../../../components/TextField.tsx';
+import { MultilineTextField } from '../../../../components/MultilineTextField.tsx';
+import {noMatchingLeftRightBelief} from "./BeliefGlobals.ts";
+
+/**
+ * The default data structure for a BasicBelief node
+ *
+ * Represents configuration for a node that activates when a specific condition is met,
+ * such as keywords being spoken or emotions detected.
+ *
+ * @property label: the display label of this BasicBelief node.
+ * @property droppable: Whether this node can be dropped from the toolbar (default: true).
+ * @property BasicBeliefType - The type of BasicBelief ("keywords" or a custom string).
+ * @property BasicBeliefs - The list of keyword BasicBeliefs (if applicable).
+ * @property hasReduce - Whether this node supports reduction logic.
+ */
+export type BasicBeliefNodeData = {
+  label: string;
+  droppable: boolean;
+  belief: BasicBeliefType;
+  hasReduce: boolean;
+};
+
+// These are all the types a basic belief could be.
+export type BasicBeliefType = Keyword | Semantic | DetectedObject | Emotion
+type Keyword = { type: "keyword", id: string, value: string, label: "Keyword said:"};
+type Semantic = { type: "semantic", id: string, value: string, description: string, label: "Detected with LLM:"};
+type DetectedObject = { type: "object", id: string, value: string, label: "Object found:"};
+type Emotion = { type: "emotion", id: string, value: string, label: "Emotion recognised:"};
+
+export type BasicBeliefNode = Node<BasicBeliefNodeData>
+
+// update the tooltip to reflect newly added connection options for a belief
+export const BasicBeliefTooltip = `
+  A belief describes a condition that must be met
+  in order for a connected norm to be activated`;
+
+/**
+ * This function is called whenever a connection is made with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the received connection
+ */
+export function BasicBeliefConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is made with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the created connection
+ */
+export function BasicBeliefConnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the disconnected connection
+ */
+export function BasicBeliefDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the diconnected connection
+ */
+export function BasicBeliefDisconnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * Defines how a BasicBelief node should be rendered
+ * @param props - Node properties provided by React Flow, including `id` and `data`.
+ * @returns The rendered BasicBeliefNode React element (React.JSX.Element).
+ */
+export default function BasicBeliefNode(props: NodeProps<BasicBeliefNode>) {
+  const data = props.data;
+  const {updateNodeData} = useFlowStore();
+  const updateValue = (value: string) => updateNodeData(props.id, {...data, belief: {...data.belief, value: value}});
+  const label_input_id = `basic_belief_${props.id}_label_input`;
+
+  type BeliefString = BasicBeliefType["type"];
+
+  function updateBeliefType(newType: BeliefString) {
+    updateNodeData(props.id, {
+      ...data,
+      belief: {
+        ...data.belief,
+        type: newType,
+        value:
+          newType === "emotion"
+            ? emotionOptions[0] 
+            : data.belief.value,               
+      },
+    });
+  }
+
+
+  const setBeliefDescription = (value: string) => {
+    updateNodeData(props.id, {...data, belief: {...data.belief, description: value}});
+  }
+
+  // Use this
+  const emotionOptions = ["Happy", "Angry", "Sad", "Cheerful"]
+
+
+  let placeholder = ""
+  let wrapping = ""
+  switch (props.data.belief.type) {
+    case ("keyword"):
+      placeholder = "keyword..."
+      wrapping = '"'
+      break; 
+    case ("semantic"):
+      placeholder = "short description..."
+      wrapping = '"'
+      break; 
+    case ("object"):
+      placeholder = "object..."
+      break; 
+    case ("emotion"):
+      // TODO: emotion should probably be a drop-down menu rather than a string
+      // So this placeholder won't hold for always
+      placeholder = "emotion..."
+      break;
+    default:
+      break;
+  }
+
+  return (
+    <>
+      <Toolbar nodeId={props.id} allowDelete={true}/>
+      <div className={`${styles.defaultNode} ${styles.nodeBasicBelief /*TODO: Change this*/}`}>
+        <div className={"flex-center-x gap-sm"}>
+          <label htmlFor={label_input_id}>Belief:</label>
+        </div>
+        <div className={"flex-row gap-sm"}>
+          <select
+            value={data.belief.type}
+            onChange={(e) => updateBeliefType(e.target.value as BeliefString)}
+            >
+            <option value="keyword">Keyword said:</option>
+            <option value="semantic">Detected with LLM:</option>
+            <option value="object">Object found:</option>
+            <option value="emotion">Emotion recognised:</option>
+          </select>
+          {wrapping}
+          {data.belief.type === "emotion" && (
+            <select
+              value={data.belief.value}
+              onChange={(e) => updateValue(e.target.value)}
+            >
+              {emotionOptions.map((emotion) => (
+                <option key={emotion} value={emotion.toLowerCase()}>
+                  {emotion}
+                </option>
+              ))}
+            </select>
+          )}
+
+          {data.belief.type !== "emotion" && 
+          (<TextField
+            id={label_input_id}
+            value={data.belief.value}
+            setValue={updateValue}
+            placeholder={placeholder}
+          />)}
+          {wrapping}
+        </div>
+        {data.belief.type === "semantic" && (
+          <div className={"flex-wrap padding-sm"}>
+            <MultilineTextField
+                        value={data.belief.description}
+                        setValue={setBeliefDescription}
+                        placeholder={"Describe a detailed desciption of this LLM belief..."}
+                      />
+          </div>
+          )}
+        <MultiConnectionHandle type="source" position={Position.Right} id="source" rules={[
+          noMatchingLeftRightBelief,
+          allowOnlyConnectionsFromHandle([{nodeType:"trigger",handleId:"TriggerBeliefs"}, {nodeType:"norm",handleId:"NormBeliefs"}]),
+        ]}  title="Connect to any number of trigger and/or normNode(-s)"/>
+      </div>
+    </>
+  );
+};
+
+/**
+ * Reduces each BasicBelief, including its children down into its core data.
+ * @param node - The BasicBelief node to reduce.
+ * @param _nodes - The list of all nodes in the current flow graph.
+ * @returns A simplified object containing the node label and its list of BasicBeliefs.
+ */
+export function BasicBeliefReduce(node: Node, _nodes: Node[]) {
+  const data = node.data as BasicBeliefNodeData;
+  const result: Record<string, unknown> = {
+        id: node.id, 
+  };
+
+  switch (data.belief.type) {
+    case "emotion":
+      result["emotion"] = data.belief.value;
+      break;
+    case "keyword":
+      result["keyword"] = data.belief.value;
+      break;
+    case "object":
+      result["object"] = data.belief.value;
+      break;
+    case "semantic":
+      result["name"] = data.belief.value;
+      result["description"] = data.belief.description;
+      break;
+    default:
+      break;
+  }
+  return result
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/BeliefGlobals.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/BeliefGlobals.ts
@@ -0,0 +1,63 @@
+import {getOutgoers, type Node} from '@xyflow/react';
+import {type HandleRule, type RuleResult, ruleResult} from "../HandleRuleLogic.ts";
+import useFlowStore from "../VisProgStores.tsx";
+import {BasicBeliefReduce} from "./BasicBeliefNode.tsx";
+import {type InferredBeliefNodeData, InferredBeliefReduce} from "./InferredBeliefNode.tsx";
+
+export function BeliefGlobalReduce(beliefNode: Node, nodes: Node[]) {
+  switch (beliefNode.type) {
+    case 'basic_belief':
+      return BasicBeliefReduce(beliefNode, nodes);
+    case 'inferred_belief':
+      return InferredBeliefReduce(beliefNode, nodes);
+  }
+}
+
+export const noMatchingLeftRightBelief : HandleRule = (connection, _)=> {
+  const { nodes } = useFlowStore.getState();
+  const thisNode = nodes.find(node => node.id === connection.target && node.type === 'inferred_belief');
+  if (!thisNode) return ruleResult.satisfied;
+
+  const iBelief = (thisNode.data as InferredBeliefNodeData).inferredBelief;
+  return (iBelief.left === connection.source || iBelief.right === connection.source)
+    ? ruleResult.notSatisfied("Connecting one belief to both input handles of an inferred belief node is not allowed")
+    : ruleResult.satisfied;
+}
+/**
+ * makes it impossible to connect Inferred belief nodes
+ * if the connection would create a cyclical connection between inferred beliefs
+ */
+export const noBeliefCycles: HandleRule = (connection, _): RuleResult => {
+  const {nodes, edges} = useFlowStore.getState();
+  const defaultErrorMessage = "Cyclical connection exists between inferred beliefs";
+
+  /**
+   * recursively checks for cyclical connections between InferredBelief nodes
+   *
+   * to check for a cycle provide the source of an attempted connection as the targetNode for the cycle check,
+   * the currentNodeId should be initialised with the id of the targetNode of the attempted connection.
+   *
+   * @param {string} targetNodeId - the id of the node we are looking for as the endpoint of a cyclical connection
+   * @param {string} currentNodeId - the id of the node we are checking for outgoing connections to the provided target node
+   * @returns {RuleResult}
+   */
+  function checkForCycle(targetNodeId: string, currentNodeId: string): RuleResult {
+    const outgoingBeliefs = getOutgoers({id: currentNodeId}, nodes, edges)
+      .filter(node => node.type === 'inferred_belief');
+
+    if (outgoingBeliefs.length === 0) return ruleResult.satisfied;
+    if (outgoingBeliefs.some(node => node.id === targetNodeId)) return ruleResult
+      .notSatisfied(defaultErrorMessage);
+
+    const next = outgoingBeliefs.map(node => checkForCycle(targetNodeId, node.id))
+      .find(result => !result.isSatisfied);
+
+    return next
+      ? next
+      : ruleResult.satisfied;
+  }
+
+  return connection.source === connection.target
+    ? ruleResult.notSatisfied(defaultErrorMessage)
+    : checkForCycle(connection.source, connection.target);
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/EndNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/EndNode.default.ts
@@ -0,0 +1,10 @@
+import type { EndNodeData } from "./EndNode";
+
+/**
+ * Default data for this node.
+ */
+export const EndNodeDefaults: EndNodeData = {
+  label: "End Node",
+  droppable: false,
+  hasReduce: true
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/EndNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/EndNode.tsx
@@ -0,0 +1,120 @@
+import {
+  type NodeProps,
+  Position,
+  type Node, useNodeConnections
+} from '@xyflow/react';
+import {useEffect} from "react";
+import type {EditorWarning} from "../components/EditorWarnings.tsx";
+import { Toolbar } from '../components/NodeComponents';
+import styles from '../../VisProg.module.css';
+import {SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {allowOnlyConnectionsFromType} from "../HandleRules.ts";
+import useFlowStore from "../VisProgStores.tsx";
+
+
+
+/**
+ * The typing of this node's data
+ */
+export type EndNodeData = {
+  label: string;
+  droppable: boolean;
+  hasReduce: boolean;
+};
+
+export type EndNode = Node<EndNodeData>
+
+/**
+ * Default function to render an end node given its properties
+ * @param props the node's properties
+ * @returns React.JSX.Element
+ */
+export default function EndNode(props: NodeProps<EndNode>) {
+  const {registerWarning, unregisterWarning} = useFlowStore.getState();
+  const connections = useNodeConnections({
+    id: props.id,
+    handleId: 'target'
+  })
+
+  useEffect(() => {
+    const noConnectionWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'target'
+      },
+      type: 'MISSING_INPUT',
+      severity: "ERROR",
+      description: "the endNode does not have an incoming connection from a phaseNode"
+    }
+
+    if (connections.length === 0) { registerWarning(noConnectionWarning); }
+    else { unregisterWarning(props.id, `${noConnectionWarning.type}:target`); }
+  }, [connections.length, props.id, registerWarning, unregisterWarning]);
+
+  return (
+    <>
+      <Toolbar nodeId={props.id} allowDelete={false}/>
+      <div className={`${styles.defaultNode} ${styles.nodeEnd}`}>
+        <div className={"flex-row gap-sm"}>
+        End
+        </div>
+        <SingleConnectionHandle type="target" position={Position.Left} id="target" rules={[
+          allowOnlyConnectionsFromType(["phase"])
+        ]} title="Connect to a phaseNode"/>
+      </div>
+    </>
+  );
+}
+
+/**
+ * Functionality for reducing this node into its more compact json program
+ * @param node the node to reduce
+ * @param _nodes all nodes present
+ * @returns Dictionary, {id: node.id}
+ */
+export function EndReduce(node: Node, _nodes: Node[]) {
+  // Replace this for nodes functionality
+  return {
+    id: node.id
+  }
+}
+
+export const EndTooltip = `
+  The end node signifies the endpoint of your program; 
+  the output of the final phase of your program should connect to the end node`;
+
+/**
+ * This function is called whenever a connection is made with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the received connection
+ */
+export function EndConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is made with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the created connection
+ */
+export function EndConnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the disconnected connection
+ */
+export function EndDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the diconnected connection
+ */
+export function EndDisconnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.default.ts
@@ -0,0 +1,14 @@
+import type { GoalNodeData } from "./GoalNode";
+
+/**
+ * Default data for this node
+ */
+export const GoalNodeDefaults: GoalNodeData = {
+  label: "Goal Node",
+  name: "",
+  droppable: true,
+  description: "",
+  achieved: false,
+  hasReduce: true,
+  can_fail: false,
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx
@@ -0,0 +1,225 @@
+import {
+  type NodeProps,
+  Position,
+  type Node
+} from '@xyflow/react';
+import {useEffect} from "react";
+import type {EditorWarning} from "../components/EditorWarnings.tsx";
+import { Toolbar } from '../components/NodeComponents';
+import styles from '../../VisProg.module.css';
+import { TextField } from '../../../../components/TextField';
+import {MultiConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {allowOnlyConnectionsFromHandle, allowOnlyConnectionsFromType} from "../HandleRules.ts";
+import useFlowStore from '../VisProgStores';
+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';
+import { deleteGoalInPlanByID, insertGoalInPlan } from '../components/PlanEditingFunctions.tsx';
+
+/**
+ * The default data dot a phase node
+ * @param label: the label of this phase
+ * @param droppable: whether this node is droppable from the drop bar (initialized as true)
+ * @param desciption: description of the goal - this will be checked for completion
+ * @param hasReduce: whether this node has reducing functionality (true by default)
+ * @param can_fail: whether this plan should be checked- this plan could possible fail
+ * @param plan: The (possible) attached plan to this goal
+ */
+export type GoalNodeData = {
+  label: string;
+  name: string;
+  description: string;
+  droppable: boolean;
+  achieved: boolean;
+  hasReduce: boolean;
+  can_fail: boolean;
+  plan?: Plan;
+};
+
+export type GoalNode = Node<GoalNodeData>
+
+
+/**
+ * Defines how a Goal node should be rendered
+ * @param props NodeProps, like id, label, children
+ * @returns React.JSX.Element
+ */
+export default function GoalNode({id, data}: NodeProps<GoalNode>) {
+  const {updateNodeData, registerWarning, unregisterWarning} = useFlowStore();
+  const _nodes = useFlowStore().nodes;
+
+  const text_input_id = `goal_${id}_text_input`;
+  const checkbox_id = `goal_${id}_checkbox`;
+  const planIterate = DoesPlanIterate(_nodes, data.plan);
+  const hasCheckSubGoal = data.plan !== undefined && HasCheckingSubGoal(data.plan, _nodes)
+
+  const setDescription = (value: string) => {
+    updateNodeData(id, {...data, description: value});
+  }
+
+  const setName= (value: string) => {
+    updateNodeData(id, {...data, name: value})
+  }
+
+  const setFailable = (value: boolean) => {
+    updateNodeData(id, {...data, can_fail: value});
+  }
+
+
+  useEffect(() => {
+    const noPlanWarning : EditorWarning = {
+      scope: {
+        id: id,
+        handleId: undefined
+      },
+      type: 'PLAN_IS_UNDEFINED',
+      severity: 'ERROR',
+      description: "This goalNode is missing a plan, please make sure to create a plan by using the create plan button"
+    };
+
+    if (!data.plan){
+      registerWarning(noPlanWarning);
+      return;
+    }
+    unregisterWarning(id, noPlanWarning.type);
+  },[data.plan, id, registerWarning, unregisterWarning])
+  return <>
+    <Toolbar nodeId={id} allowDelete={true}/>
+    <div className={`${styles.defaultNode} ${styles.nodeGoal} flex-col gap-sm`}>
+      <div className={"flex-row gap-md"}>
+        <label htmlFor={text_input_id}>Goal:</label>
+        <TextField
+          id={text_input_id}
+          value={data.name}
+          setValue={(val) => setName(val)}
+          placeholder={"To ..."}
+        />
+      </div>
+      
+      {(data.can_fail || hasCheckSubGoal) && (<div>
+        <label htmlFor={text_input_id}>Description/ Condition of goal:</label>
+        <div className={"flex-wrap"}>
+          <MultilineTextField
+            id={text_input_id}
+            value={data.description}
+            setValue={setDescription}
+            placeholder={"Describe the condition of this goal..."}
+          />
+        </div>
+      </div>)}
+      <div>
+        <label> {!data.plan ? "No plan set to execute while goal is not reached. 🔴" : "Will follow plan '" + data.plan.name + "' until all steps complete. 🟢"} </label>
+      </div>
+      {data.plan && (<div className={"flex-row gap-md align-center " + (planIterate ? "" : styles.planNoIterate)}>
+        {planIterate ? "" : <s></s>}
+        <label htmlFor={checkbox_id}>{!planIterate ? "This plan always succeeds!" : "Check if this plan fails"}:</label>
+        <input
+          id={checkbox_id}
+          type={"checkbox"}
+          disabled={!planIterate || (data.plan && HasCheckingSubGoal(data.plan, _nodes))}
+          checked={!planIterate || data.can_fail || (data.plan && HasCheckingSubGoal(data.plan, _nodes))}
+          onChange={(e) => planIterate ? setFailable(e.target.checked) : setFailable(false)}
+        />
+      </div>
+)}
+
+      <div>
+        <PlanEditorDialog
+                  plan={data.plan}
+                  onSave={(plan) => {
+                    updateNodeData(id, {
+                      ...data,
+                      plan,
+                    });
+                  }} 
+                  description={data.name}
+        />
+      </div>
+      <MultiConnectionHandle type="source" position={Position.Right} id="GoalSource" rules={[
+        allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"data"}]),
+      ]} title="Connect to any number of phase and/or goalNode(-s)"/>
+
+      <MultiConnectionHandle type="target" position={Position.Bottom} id="GoalTarget" rules={[
+        allowOnlyConnectionsFromType(["goal"])]
+      } title="Connect to any number of goalNode(-s)"/>
+
+
+    </div>
+  </>;
+}
+
+
+/**
+ * Reduces each Goal, including its children down into its relevant data.
+ * @param node The Node Properties of this node.
+ * @param _nodes all the nodes in the graph
+ */
+export function GoalReduce(node: Node, _nodes: Node[]) {
+  const data = node.data as GoalNodeData;
+    return {  
+      id: node.id,
+      name: data.name,
+      description: data.description,
+      can_fail: data.can_fail || (data.plan && HasCheckingSubGoal(data.plan, _nodes)),  
+      plan: data.plan ? PlanReduce(_nodes, data.plan) : "",
+    }
+}
+
+
+export const GoalTooltip = `
+  The goal node allows you to set goals that Pepper has to achieve
+  before moving to the next phase of your program`;
+
+/**
+ * This function is called whenever a connection is made with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the received connection
+ */
+export function GoalConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  // Goals should only be targeted by other goals, for them to be part of our plan.
+  const nodes = useFlowStore.getState().nodes;
+  const otherNode = nodes.find((x) => x.id === _sourceNodeId)
+  if (!otherNode || otherNode.type !== "goal") return;
+
+  const data = _thisNode.data as GoalNodeData 
+
+  // First, let's see if we have a plan currently. If not, let's create a default plan with this goal inside.:)
+  if (!data.plan) {
+    data.plan = insertGoalInPlan({...structuredClone(defaultPlan), id: crypto.randomUUID()} as Plan, otherNode as GoalNode)
+  }
+  
+  // Else, lets just insert this goal into our current plan.
+  else {
+    data.plan = insertGoalInPlan(structuredClone(data.plan), otherNode as GoalNode)
+  }
+}
+
+/**
+ * This function is called whenever a connection is made with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the created connection
+ */
+export function GoalConnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the disconnected connection
+ */
+export function GoalDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  // We should probably check if our disconnection was by a goal, since it would mean we have to remove it from our plan list.
+  const data = _thisNode.data as GoalNodeData 
+  data.plan = deleteGoalInPlanByID(structuredClone(data.plan) as Plan, _sourceNodeId)
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the diconnected connection
+ */
+export function GoalDisconnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.default.ts
@@ -0,0 +1,16 @@
+import type { InferredBeliefNodeData } from "./InferredBeliefNode.tsx";
+
+
+/**
+ * Default data for this node
+ */
+export const InferredBeliefNodeDefaults: InferredBeliefNodeData = {
+  label: "AND/OR",
+  droppable: true,
+  inferredBelief: {
+    left: undefined,
+    operator: true,
+    right: undefined
+  },
+  hasReduce: true,
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.module.css
@@ -0,0 +1,80 @@
+.operator-switch {
+    display: inline-flex;
+    align-items: center;
+    gap: 0.5em;
+    cursor: pointer;
+    font-family: sans-serif;
+    /* Change this font-size to scale the whole component */
+    font-size: 12px;
+}
+
+/* hide the default checkbox */
+.operator-switch input {
+    display: none;
+}
+
+/* The Track */
+.switch-visual {
+    position: relative;
+    /* height is now 3x the font size */
+    height: 3em;
+    aspect-ratio: 1 / 2;
+    background-color: ButtonFace;
+    border-radius: 2em;
+    transition: 0.2s;
+}
+
+/* The Knob */
+.switch-visual::after {
+    content: "";
+    position: absolute;
+    top: 0.1em;
+    left: 0.1em;
+    width: 1em;
+    height: 1em;
+    background: Canvas;
+    border: 0.175em solid mediumpurple;
+    border-radius: 50%;
+    transition: transform 0.2s ease-in-out, border-color 0.2s;
+}
+
+/* Labels */
+.switch-labels {
+    display: flex;
+    flex-direction: column;
+    justify-content: space-between;
+    height: 3em; /* Matches the track height */
+    font-weight: 800;
+    color: Canvas;
+    line-height: 1.4;
+    padding: 0.2em 0;
+}
+
+.operator-switch input:checked + .switch-visual::after {
+    /* Moves the slider down */
+    transform: translateY(1.4em);
+}
+
+/*change the colours to highlight the selected operator*/
+.operator-switch input:checked ~ .switch-labels{
+    :first-child {
+        transition: ease-in-out color 0.2s;
+        color: ButtonFace;
+    }
+    :last-child {
+        transition: ease-in-out color 0.2s;
+        color: mediumpurple;
+    }
+}
+
+.operator-switch input:not(:checked) ~ .switch-labels{
+    :first-child {
+        transition: ease-in-out color 0.2s;
+        color: mediumpurple;
+    }
+    :last-child {
+        transition: ease-in-out color 0.2s;
+        color: ButtonFace;
+    }
+
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.tsx
@@ -0,0 +1,200 @@
+import {getConnectedEdges, type Node, type NodeProps, Position, useNodeConnections} from '@xyflow/react';
+import {useEffect, useState} from "react";
+import styles from '../../VisProg.module.css';
+import type {EditorWarning} from "../components/EditorWarnings.tsx";
+import {Toolbar} from '../components/NodeComponents.tsx';
+import {MultiConnectionHandle, SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {allowOnlyConnectionsFromType} from "../HandleRules.ts";
+import useFlowStore from "../VisProgStores.tsx";
+import {BeliefGlobalReduce, noBeliefCycles, noMatchingLeftRightBelief} from "./BeliefGlobals.ts";
+import switchStyles from './InferredBeliefNode.module.css';
+
+
+/**
+ * The default data structure for an InferredBelief node
+ */
+export type InferredBeliefNodeData = {
+  label: string;
+  droppable: boolean;
+  inferredBelief: InferredBelief;
+  hasReduce: boolean;
+};
+
+/**
+ * stores a boolean to represent the operator
+ * and a left and right BeliefNode (can be both an inferred and a basic belief)
+ * in the form of their corresponding id's
+ */
+export type InferredBelief = {
+  left: string | undefined,
+  operator: boolean,
+  right: string | undefined,
+}
+
+export type InferredBeliefNode = Node<InferredBeliefNodeData>;
+
+/**
+ * This function is called whenever a connection is made with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the received connection
+ */
+export function InferredBeliefConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  const data = _thisNode.data as InferredBeliefNodeData;
+
+  if ((useFlowStore.getState().nodes.find((node) => node.id === _sourceNodeId
+    && ['basic_belief', 'inferred_belief'].includes(node.type!)))
+  ) {
+    const connectedEdges = getConnectedEdges([_thisNode], useFlowStore.getState().edges);
+    switch(connectedEdges.find(edge => edge.source === _sourceNodeId)?.targetHandle){
+      case 'beliefLeft': data.inferredBelief.left = _sourceNodeId; break;
+      case 'beliefRight': data.inferredBelief.right = _sourceNodeId; break;
+    }
+  }
+}
+
+/**
+ * This function is called whenever a connection is made with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the created connection
+ */
+export function InferredBeliefConnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the disconnected connection
+ */
+export function InferredBeliefDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  const data = _thisNode.data as InferredBeliefNodeData;
+
+  if (_sourceNodeId === data.inferredBelief.left) data.inferredBelief.left = undefined;
+  if (_sourceNodeId === data.inferredBelief.right) data.inferredBelief.right = undefined;
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the diconnected connection
+ */
+export function InferredBeliefDisconnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+export const InferredBeliefTooltip = `
+  Combines two beliefs into a single belief using logical inference, 
+  the node can be toggled between using "AND" and "OR" mode for inference`;
+/**
+ * Defines how an InferredBelief node should be rendered
+ * @param {NodeProps<InferredBeliefNode>} props - Node properties provided by React Flow, including `id` and `data`.
+ * @returns The rendered InferredBeliefNode React element. (React.JSX.Element)
+ */
+export default function InferredBeliefNode(props: NodeProps<InferredBeliefNode>) {
+  const data = props.data;
+  const { updateNodeData, registerWarning, unregisterWarning } = useFlowStore();
+  // start of as an AND operator, true: "AND", false: "OR"
+  const [enforceAllBeliefs, setEnforceAllBeliefs] = useState(true);
+
+  // used to toggle operator
+  function onToggle() {
+    const newOperator = !enforceAllBeliefs; // compute the new value
+    setEnforceAllBeliefs(newOperator);
+
+    updateNodeData(props.id, {
+      ...data,
+      inferredBelief: {
+        ...data.inferredBelief,
+        operator: enforceAllBeliefs,
+      }
+    });
+  }
+
+  const beliefConnections = useNodeConnections({
+    id: props.id,
+    handleType: "target",
+  })
+
+  useEffect(() => {
+    const noBeliefsWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: undefined
+      },
+      type: 'MISSING_INPUT',
+      severity: 'ERROR',
+      description: `This AND/OR node is missing one or more beliefs, 
+      please make sure to use both inputs of an AND/OR node`
+    };
+
+    if (beliefConnections.length < 2){
+      registerWarning(noBeliefsWarning);
+      return;
+    }
+    unregisterWarning(props.id, noBeliefsWarning.type);
+  },[beliefConnections.length, props.id, registerWarning, unregisterWarning])
+  return (
+    <>
+      <Toolbar nodeId={props.id} allowDelete={true}/>
+      <div className={`${styles.defaultNode} ${styles.nodeInferredBelief}`}>
+        {/* The checkbox used to toggle the operator between 'AND' and 'OR' */}
+        <label className={switchStyles.operatorSwitch}>
+          <input
+            type="checkbox"
+            checked={data.inferredBelief.operator}
+            onChange={onToggle}
+          />
+          <div className={switchStyles.switchVisual}></div>
+          <div className={switchStyles.switchLabels}>
+            <span title={"Belief is fulfilled if either of the supplied beliefs is true"}>OR</span>
+            <span title={"Belief is fulfilled if all of the supplied beliefs are true"}>AND</span>
+          </div>
+        </label>
+
+
+        {/* outgoing connections */}
+        <MultiConnectionHandle type="source" position={Position.Right} id="source" rules={[
+          allowOnlyConnectionsFromType(["norm", "trigger"]),
+          noBeliefCycles,
+          noMatchingLeftRightBelief
+        ]}/>
+
+        {/* incoming connections */}
+        <SingleConnectionHandle type="target" position={Position.Left} style={{top: '30%'}} id="beliefLeft" rules={[
+          allowOnlyConnectionsFromType(["basic_belief", "inferred_belief"]),
+          noBeliefCycles,
+          noMatchingLeftRightBelief
+        ]}/>
+        <SingleConnectionHandle type="target" position={Position.Left} style={{top: '70%'}} id="beliefRight" rules={[
+          allowOnlyConnectionsFromType(["basic_belief", "inferred_belief"]),
+          noBeliefCycles,
+          noMatchingLeftRightBelief
+        ]}/>
+      </div>
+    </>
+  );
+};
+
+/**
+ * Reduces each BasicBelief, including its children down into its core data.
+ * @param {Node} node - The BasicBelief node to reduce.
+ * @param {Node[]} nodes - The list of all nodes in the current flow graph.
+ * @returns A simplified object containing the node label and its list of BasicBeliefs.
+ */
+export function InferredBeliefReduce(node: Node, nodes: Node[]) {
+  const data = node.data as InferredBeliefNodeData;
+  const leftBelief = nodes.find((node) => node.id === data.inferredBelief.left);
+  const rightBelief = nodes.find((node) => node.id === data.inferredBelief.right);
+
+  if (!leftBelief) { throw new Error("No Left belief found")}
+  if (!rightBelief) { throw new Error("No Right Belief found")}
+
+  const result: Record<string, unknown> = {
+    id: node.id,
+    left: BeliefGlobalReduce(leftBelief, nodes),
+    operator: data.inferredBelief.operator ? "AND" : "OR",
+    right: BeliefGlobalReduce(rightBelief, nodes),
+  };
+
+  return result
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.default.ts
@@ -0,0 +1,13 @@
+import type { NormNodeData } from "./NormNode";
+
+/**
+ * Default data for this node
+ */
+export const NormNodeDefaults: NormNodeData = {
+  label: "Norm Node",
+  droppable: true,
+  condition: undefined,
+  norm: "",
+  hasReduce: true,
+  critical: false,
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.tsx
@@ -0,0 +1,160 @@
+import {
+  type NodeProps,
+  Position,
+  type Node,
+} from '@xyflow/react';
+import { Toolbar } from '../components/NodeComponents';
+import styles from '../../VisProg.module.css';
+import { TextField } from '../../../../components/TextField';
+import {MultiConnectionHandle, SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {allowOnlyConnectionsFromHandle, allowOnlyConnectionsFromType} from "../HandleRules.ts";
+import useFlowStore from '../VisProgStores';
+import {BeliefGlobalReduce} from "./BeliefGlobals.ts";
+
+/**
+ * The default data dot a phase node
+ * @param label: the label of this phase
+ * @param droppable: whether this node is droppable from the drop bar (initialized as true)
+ * @param norm: list of strings of norms for this node
+ * @param hasReduce: whether this node has reducing functionality (true by default)
+ */
+export type NormNodeData = {
+  label: string;
+  droppable: boolean;
+  condition?: string; // id of this node's belief.
+  norm: string;
+  hasReduce: boolean;
+  critical: boolean;
+};
+
+export type NormNode = Node<NormNodeData>
+
+/**
+ * Defines how a Norm node should be rendered
+ * @param props NodeProps, like id, label, children
+ * @returns React.JSX.Element
+ */
+export default function NormNode(props: NodeProps<NormNode>) {
+  const data = props.data;
+  const {updateNodeData} = useFlowStore();
+
+  const text_input_id = `norm_${props.id}_text_input`;
+  const checkbox_id = `goal_${props.id}_checkbox`;
+
+  const setValue = (value: string) => {
+    updateNodeData(props.id, {norm: value});
+  }
+
+  const setCritical = (value: boolean) => {
+    updateNodeData(props.id, {...data, critical: value});
+  }
+
+  return <>
+    <Toolbar nodeId={props.id} allowDelete={true}/>
+    <div className={`${styles.defaultNode} ${styles.nodeNorm}`}>
+      <div className={"flex-row gap-sm"}>
+        <label htmlFor={text_input_id}>Norm :</label>
+        <TextField
+          id={text_input_id}
+          value={data.norm}
+          setValue={(val) => setValue(val)}
+          placeholder={"Pepper should ..."}
+        />
+      </div>
+      <div className={"flex-row gap-md align-center"}>
+        <label htmlFor={checkbox_id}>Critical:</label>
+        <input
+          id={checkbox_id}
+          type={"checkbox"}
+          checked={data.critical || false}
+          onChange={(e) => setCritical(e.target.checked)}
+        />
+      </div>
+
+
+      {data.condition && (<div className={"flex-row gap-md align-center"} data-testid="norm-condition-information">
+        <label htmlFor={checkbox_id}>Condition/ Belief attached.</label>
+      </div>)}
+
+
+      <MultiConnectionHandle type="source" position={Position.Right} id="norms" rules={[
+        allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"data"}])
+      ]} title="Connect to any number of phaseNode(-s)"/>
+      <SingleConnectionHandle type="target" position={Position.Bottom} id="NormBeliefs" rules={[
+        allowOnlyConnectionsFromType(["basic_belief", "inferred_belief"])
+      ]} title="Connect to a beliefNode or a set of beliefs combined using the AND/OR node"/>
+    </div>
+  </>;
+};
+
+
+/**
+ * Reduces each Norm, including its children down into its relevant data.
+ * @param node The Node Properties of this node.
+ * @param nodes all the nodes in the graph
+ */
+export function NormReduce(node: Node, nodes: Node[]) {
+  const data = node.data as NormNodeData;
+
+  // conditions nodes - make sure to check for empty arrays
+  const result: Record<string, unknown> = {
+    id: node.id,
+    label: data.label,
+    norm: data.norm,
+    critical: data.critical,
+  };
+
+  if (data.condition) {
+    const conditionNode = nodes.find((node) => node.id === data.condition);
+    // In case something went wrong, and our condition doesn't actually exist;
+    if (conditionNode == undefined) return result;
+    result["condition"] = BeliefGlobalReduce(conditionNode, nodes)
+  }
+  return result
+}
+
+export const NormTooltip = `
+  A norm describes a behavioral rule Pepper must follow during the connected phase(-s),
+  for example: "respond using formal language"`;
+
+/**
+ * This function is called whenever a connection is made with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the received connection
+ */
+export function NormConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  const data = _thisNode.data as NormNodeData;
+  // If we got a belief connected, this is the condition for the norm.
+  if ((useFlowStore.getState().nodes.find((node) => node.id === _sourceNodeId && ['basic_belief', 'inferred_belief'].includes(node.type!)))) {
+      data.condition = _sourceNodeId;
+    }
+}
+
+/**
+ * This function is called whenever a connection is made with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the created connection
+ */
+export function NormConnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the disconnected connection
+ */
+export function NormDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  const data = _thisNode.data as NormNodeData;
+  // remove if the target of disconnection was our condition
+  if (_sourceNodeId == data.condition) data.condition = undefined
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the diconnected connection
+ */
+export function NormDisconnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.default.ts
@@ -0,0 +1,13 @@
+import type { PhaseNodeData } from "./PhaseNode";
+
+/**
+ * Default data for this node
+ */
+export const PhaseNodeDefaults: PhaseNodeData = {
+  label: "Phase Node",
+  droppable: true,
+  children: [],
+  hasReduce: true,
+  nextPhaseId: null,
+  isFirstPhase: false,
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx
@@ -0,0 +1,305 @@
+import {
+  type NodeProps,
+  Position,
+  type Node, useNodeConnections
+} from '@xyflow/react';
+import {useEffect, useRef} from "react";
+import {type EditorWarning} from "../components/EditorWarnings.tsx";
+import { Toolbar } from '../components/NodeComponents';
+import styles from '../../VisProg.module.css';
+import {SingleConnectionHandle, MultiConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {allowOnlyConnectionsFromType, noSelfConnections} from "../HandleRules.ts";
+import { NodeReduces, NodesInPhase, NodeTypes} from '../NodeRegistry';
+import useFlowStore from '../VisProgStores';
+import { TextField } from '../../../../components/TextField';
+
+/**
+ * The default data dot a phase node
+ * @param label: the label of this phase
+ * @param droppable: whether this node is droppable from the drop bar (initialized as true)
+ * @param children: ID's of children of this node
+ * @param hasReduce: whether this node has reducing functionality (true by default)
+ * @param nextPhaseId:
+ */
+export type PhaseNodeData = {
+  label: string;
+  droppable: boolean;
+  children: string[];
+  hasReduce: boolean;
+  nextPhaseId: string | "end" | null;
+  isFirstPhase: boolean;
+};
+
+export type PhaseNode = Node<PhaseNodeData>
+
+/**
+ * Defines how a phase node should be rendered
+ * @param props NodeProps, like id, label, children
+ * @returns React.JSX.Element
+ */
+export default function PhaseNode(props: NodeProps<PhaseNode>) {
+  const data = props.data;
+  const {updateNodeData, registerWarning, unregisterWarning} = useFlowStore();
+  const updateLabel = (value: string) => updateNodeData(props.id, {...data, label: value});
+  const label_input_id = `phase_${props.id}_label_input`;
+
+  const connections = useNodeConnections({
+    id: props.id,
+    handleType: "target",
+    handleId: 'data'
+  })
+  
+  const phaseOutCons = useNodeConnections({
+    id: props.id,
+    handleType: "source",
+    handleId: 'source',
+  })
+
+  const phaseInCons = useNodeConnections({
+    id: props.id,
+    handleType: "target",
+    handleId: 'target',
+  })
+
+
+
+  useEffect(() => {
+    const noConnectionWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'data'
+      },
+      type: 'MISSING_INPUT',
+      severity: "WARNING",
+      description: "the phaseNode has no incoming goals, norms, and/or triggers"
+    }
+
+    if (connections.length === 0) { registerWarning(noConnectionWarning); return; }
+    unregisterWarning(props.id, `${noConnectionWarning.type}:data`);
+  }, [connections.length, props.id, registerWarning, unregisterWarning]);
+
+  useEffect(() => {
+    const notConnectedInfo : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: undefined,
+      },
+      type: 'NOT_CONNECTED_TO_PROGRAM',
+      severity: "INFO",
+      description: "The PhaseNode is not connected to other nodes"
+    };
+    const noIncomingPhaseWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'target'
+      },
+      type: 'MISSING_INPUT',
+      severity: "WARNING",
+      description: "the phaseNode has no incoming connection from a phase or the startNode"
+    }
+    const noOutgoingPhaseWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'source'
+      },
+      type: 'MISSING_OUTPUT',
+      severity: "WARNING",
+      description: "the phaseNode has no outgoing connection to a phase or the endNode"
+    }
+
+    // register relevant warning and unregister others
+    if (phaseInCons.length === 0 && phaseOutCons.length === 0) {
+      registerWarning(notConnectedInfo);
+      unregisterWarning(props.id, `${noOutgoingPhaseWarning.type}:${noOutgoingPhaseWarning.scope.handleId}`);
+      unregisterWarning(props.id, `${noIncomingPhaseWarning.type}:${noIncomingPhaseWarning.scope.handleId}`);
+      return;
+    }
+    if (phaseOutCons.length === 0) {
+      registerWarning(noOutgoingPhaseWarning);
+      unregisterWarning(props.id, `${noIncomingPhaseWarning.type}:${noIncomingPhaseWarning.scope.handleId}`);
+      unregisterWarning(notConnectedInfo.scope.id, notConnectedInfo.type);
+      return;
+    }
+    if (phaseInCons.length === 0) {
+      registerWarning(noIncomingPhaseWarning);
+      unregisterWarning(props.id, `${noOutgoingPhaseWarning.type}:${noOutgoingPhaseWarning.scope.handleId}`);
+      unregisterWarning(notConnectedInfo.scope.id, notConnectedInfo.type);
+      return;
+    }
+    // unregister all warnings if none should be present
+    unregisterWarning(notConnectedInfo.scope.id, notConnectedInfo.type);
+    unregisterWarning(props.id, `${noOutgoingPhaseWarning.type}:${noOutgoingPhaseWarning.scope.handleId}`);
+    unregisterWarning(props.id, `${noIncomingPhaseWarning.type}:${noIncomingPhaseWarning.scope.handleId}`);
+  }, [phaseInCons.length, phaseOutCons.length, props.id, registerWarning, unregisterWarning]);
+  const ref = useRef<HTMLDivElement>(null);
+
+  useEffect(() => {
+    if (ref.current) {
+      const { width, height } = ref.current.getBoundingClientRect();
+
+      console.log('Node width:', width, 'height:', height);
+    }
+  }, []);
+  return (
+    <>
+      <Toolbar nodeId={props.id} allowDelete={true}/>
+      <div className={`${styles.defaultNode} ${styles.nodePhase}`}>
+        <div className={"flex-row gap-sm"}>
+          <label htmlFor={label_input_id}>Name:</label>
+          <TextField
+            id={label_input_id}
+            value={data.label}
+            setValue={updateLabel}
+            placeholder={"Phase ..."}
+          />
+        </div>
+        <SingleConnectionHandle type="target" position={Position.Left} id="target" rules={[
+          noSelfConnections,
+          allowOnlyConnectionsFromType(["phase", "start"]),
+        ]} title="Connect to a phase or the startNode"/>
+        <MultiConnectionHandle type="target" position={Position.Bottom} id="data" rules={[
+          allowOnlyConnectionsFromType(["norm", "goal", "trigger"])
+        ]} title="Connect to any number of norm, goal, and TriggerNode(-s)"/>
+        <SingleConnectionHandle type="source" position={Position.Right} id="source" rules={[
+          noSelfConnections,
+          allowOnlyConnectionsFromType(["phase", "end"]),
+        ]} title="Connect to a phase or the endNode"/>
+      </div>
+    </>
+  );
+};
+
+/**
+ * Reduces each phase, including its children down into its relevant data.
+ * @param node the node which is being reduced
+ * @param nodes all the nodes currently in the flow.
+ * @returns A collection of all reduced nodes in this phase, starting with this phases' reduced data.  
+ */
+export function PhaseReduce(node: Node, nodes: Node[]) {
+    const thisNode = node as PhaseNode;
+    const data = thisNode.data as PhaseNodeData;
+
+    // node typings that are not in phase
+    const nodesNotInPhase: string[] = Object.entries(NodesInPhase)
+        .filter(([, f]) => !f())
+        .map(([t]) => t);
+
+    // node typings that then are in phase
+    const nodesInPhase: string[] = Object.entries(NodeTypes)
+        .filter(([t]) => !nodesNotInPhase.includes(t))
+        .map(([t]) => t);
+
+    // children nodes - make sure to check for empty arrays
+    let childrenNodes: Node[] = [];
+    if (data.children) 
+      childrenNodes = nodes.filter((node) => data.children.includes(node.id));
+
+    // Build the result object
+    const result: Record<string, unknown> = {
+        id: thisNode.id,
+        name: data.label,
+    };
+
+    nodesInPhase.forEach((type) => {
+        const typedChildren = childrenNodes.filter((child) => child.type == type);
+        const reducer = NodeReduces[type as keyof typeof NodeReduces];
+        if (!reducer) {
+            console.warn(`No reducer found for node type ${type}`);
+            result[type + "s"] = [];
+        } else {
+            result[type + "s"] = [];
+            for (const typedChild of typedChildren) {
+              (result[type + "s"] as object[]).push(reducer(typedChild, nodes))
+            }
+        }
+    });
+
+    return result;
+}
+
+export const PhaseTooltip = `
+  A phase is a single stage of the program, during a phase Pepper will behave
+  in accordance with any connected norms, goals and triggers`;
+
+/**
+ * This function is called whenever a connection is made with this node type as the target (phase)
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the received connection
+ */
+export function PhaseConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  const data = _thisNode.data as PhaseNodeData
+
+  const nodes = useFlowStore.getState().nodes;
+  const sourceNode = nodes.find((node) => node.id === _sourceNodeId)!
+  switch (sourceNode.type) {
+    case "phase": break;
+    case "start": data.isFirstPhase = true; break;
+    // we only add none phase or start nodes to the children
+    // endNodes cannot be the source of an outgoing connection
+    // so we don't need to cover them with a special case
+    // before handling the default behavior
+    default: data.children.push(_sourceNodeId); break;
+  }
+}
+
+/**
+ * This function is called whenever a connection is made with this node type as the source (phase)
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the created connection
+ */
+export function PhaseConnectionSource(_thisNode: Node, _targetNodeId: string) {
+  const data = _thisNode.data as PhaseNodeData
+  const nodes = useFlowStore.getState().nodes;
+
+  const targetNode = nodes.find((node) => node.id === _targetNodeId)
+  if (!targetNode) {throw new Error("Source node not found")}
+
+  // we set the nextPhaseId to the next target's id if the target is a phaseNode,
+  // or "end" if the target node is the end node
+  switch (targetNode.type) {
+    case 'phase': data.nextPhaseId = _targetNodeId; break;
+    case 'end': data.nextPhaseId = "end"; break;
+    default: break;
+  }
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the target (phase)
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the disconnected connection
+ */
+export function PhaseDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  const data = _thisNode.data as PhaseNodeData
+
+  const nodes = useFlowStore.getState().nodes;
+  const sourceNode = nodes.find((node) => node.id === _sourceNodeId)
+  const sourceType = sourceNode ? sourceNode.type : "deleted";
+  switch (sourceType) {
+    case "phase": break;
+    case "start": data.isFirstPhase = false; break;
+    // we only add none phase or start nodes to the children
+    // endNodes cannot be the source of an outgoing connection
+    // so we don't need to cover them with a special case
+    // before handling the default behavior
+    default:
+      data.children = data.children.filter((child) => { if (child != _sourceNodeId) return child; });
+      break;
+  }
+
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the source (phase)
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the diconnected connection
+ */
+export function PhaseDisconnectionSource(_thisNode: Node, _targetNodeId: string) {
+  const data = _thisNode.data as PhaseNodeData
+  const nodes = useFlowStore.getState().nodes;
+
+  // if the target is a phase or end node set the nextPhaseId to null,
+  // as we are no longer connected to a subsequent phaseNode or to the endNode
+  if (nodes.some((node) => node.id === _targetNodeId && ['phase', 'end'].includes(node.type!))){
+    data.nextPhaseId = null;
+  }
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/StartNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/StartNode.default.ts
@@ -0,0 +1,10 @@
+import type { StartNodeData } from "./StartNode";
+
+/**
+ * Default data for this node.
+ */
+export const StartNodeDefaults: StartNodeData = {
+  label: "Start Node",
+  droppable: false,
+  hasReduce: true
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/StartNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/StartNode.tsx
@@ -0,0 +1,118 @@
+import {
+  type NodeProps,
+  Position,
+  type Node, useNodeConnections
+} from '@xyflow/react';
+import {useEffect} from "react";
+import { Toolbar } from '../components/NodeComponents';
+import styles from '../../VisProg.module.css';
+import {SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {type EditorWarning} from "../components/EditorWarnings.tsx";
+import {allowOnlyConnectionsFromHandle} from "../HandleRules.ts";
+import useFlowStore from "../VisProgStores.tsx";
+
+
+export type StartNodeData = {
+  label: string;
+  droppable: boolean;
+  hasReduce: boolean;
+};
+
+
+export type StartNode = Node<StartNodeData>
+
+
+/**
+ * Defines how a Norm node should be rendered
+ * @param props NodeProps, like id, label, children
+ * @returns React.JSX.Element
+ */
+export default function StartNode(props: NodeProps<StartNode>) {
+  const {registerWarning, unregisterWarning} = useFlowStore.getState();
+  const connections = useNodeConnections({
+    id: props.id,
+    handleId: 'source'
+  })
+
+  useEffect(() => {
+    const noConnectionWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'source'
+      },
+      type: 'MISSING_OUTPUT',
+      severity: "ERROR",
+      description: "the startNode does not have an outgoing connection to a phaseNode"
+    }
+
+    if (connections.length === 0) { registerWarning(noConnectionWarning); }
+    else { unregisterWarning(props.id, `${noConnectionWarning.type}:source`); }
+  }, [connections.length, props.id, registerWarning, unregisterWarning]);
+
+  return (
+    <>
+      <Toolbar nodeId={props.id} allowDelete={false}/>
+      <div className={`${styles.defaultNode} ${styles.nodeStart}`}>
+        <div className={"flex-row gap-sm"}>
+          Start
+        </div>
+        <SingleConnectionHandle type="source" position={Position.Right} id="source" rules={[
+          allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"target"}])
+        ]} title="Connect to a phaseNode"/>
+      </div>
+    </>
+  );
+}
+
+/**
+ * The reduce function for this node type.
+ * @param node this node
+ * @param _nodes all the nodes in the graph
+ * @returns a reduced structure of this node
+ */
+export function StartReduce(node: Node, _nodes: Node[]) {
+  // Replace this for nodes functionality
+  return {
+    id: node.id
+  }
+}
+
+export const StartTooltip = `
+  The start node acts as the starting point for a program, 
+  it should be connected to the left handle of the first phase of your program`;
+
+/**
+ * This function is called whenever a connection is made with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the received connection
+ */
+export function StartConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is made with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the created connection
+ */
+export function StartConnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the disconnected connection
+ */
+export function StartDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the diconnected connection
+ */
+export function StartDisconnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.default.ts
@@ -0,0 +1,11 @@
+import type { TriggerNodeData } from "./TriggerNode";
+
+/**
+ * Default data for this node
+ */
+export const TriggerNodeDefaults: TriggerNodeData = {
+  label: "Trigger Node",
+  name: "",
+  droppable: true,
+  hasReduce: true,
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.tsx
@@ -0,0 +1,275 @@
+import {
+  type NodeProps,
+  Position,
+  type Node, useNodeConnections
+} from '@xyflow/react';
+import {useEffect} from "react";
+import type {EditorWarning} from "../components/EditorWarnings.tsx";
+import { Toolbar } from '../components/NodeComponents';
+import styles from '../../VisProg.module.css';
+import {MultiConnectionHandle, SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {allowOnlyConnectionsFromHandle, allowOnlyConnectionsFromType} from "../HandleRules.ts";
+import useFlowStore from '../VisProgStores';
+import {PlanReduce, type Plan } from '../components/Plan';
+import PlanEditorDialog from '../components/PlanEditor';
+import {BeliefGlobalReduce} from "./BeliefGlobals.ts";
+import type { GoalNode } from './GoalNode.tsx';
+import { defaultPlan } from '../components/Plan.default.ts';
+import { deleteGoalInPlanByID, insertGoalInPlan } from '../components/PlanEditingFunctions.tsx';
+import { TextField } from '../../../../components/TextField.tsx';
+
+/**
+ * The default data structure for a Trigger node
+ *
+ * Represents configuration for a node that activates when a specific condition is met,
+ * such as keywords being spoken or emotions detected.
+ *
+ * @property label: the display label of this Trigger node.
+ * @property droppable: Whether this node can be dropped from the toolbar (default: true).
+ * @property hasReduce - Whether this node supports reduction logic.
+ */
+export type TriggerNodeData = {
+  label: string;
+  name: string;
+  droppable: boolean;
+  condition?: string; // id of the belief
+  plan?: Plan;
+  hasReduce: boolean;
+};
+
+
+export type TriggerNode = Node<TriggerNodeData>
+
+/**
+ * Defines how a Trigger node should be rendered
+ * @param props - Node properties provided by React Flow, including `id` and `data`.
+ * @returns The rendered TriggerNode React element (React.JSX.Element).
+ */
+export default function TriggerNode(props: NodeProps<TriggerNode>) {
+  const data = props.data;
+  const {updateNodeData, registerWarning, unregisterWarning} = useFlowStore();
+
+  const setName= (value: string) => {
+    updateNodeData(props.id, {...data, name: value})
+  }
+
+  const beliefInput = useNodeConnections({
+    id: props.id,
+    handleType: "target",
+    handleId: "TriggerBeliefs"
+  })
+
+  const outputCons = useNodeConnections({
+    id: props.id,
+    handleType: "source",
+    handleId: "TriggerSource"
+  })
+
+  useEffect(() => {
+    const noPhaseConnectionWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'TriggerSource'
+      },
+      type: 'MISSING_OUTPUT',
+      severity: 'INFO',
+      description: "This triggerNode is missing a condition/belief, please make sure to connect a belief node to "
+    };
+
+    if (outputCons.length === 0){
+      registerWarning(noPhaseConnectionWarning);
+      return;
+    }
+    unregisterWarning(props.id, `${noPhaseConnectionWarning.type}:${noPhaseConnectionWarning.scope.handleId}`);
+  },[outputCons.length, props.id, registerWarning, unregisterWarning])
+
+  useEffect(() => {
+    const noBeliefWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'TriggerBeliefs'
+      },
+      type: 'MISSING_INPUT',
+      severity: 'ERROR',
+      description: "This triggerNode is missing a condition/belief, please make sure to connect a belief node to "
+    };
+
+    if (beliefInput.length === 0 && outputCons.length !== 0){
+      registerWarning(noBeliefWarning);
+      return;
+    }
+    unregisterWarning(props.id, `${noBeliefWarning.type}:${noBeliefWarning.scope.handleId}`);
+  },[beliefInput.length, outputCons.length, props.id, registerWarning, unregisterWarning])
+
+  useEffect(() => {
+    const noPlanWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: undefined
+      },
+      type: 'PLAN_IS_UNDEFINED',
+      severity: 'ERROR',
+      description: "This triggerNode is missing a plan, please make sure to create a plan by using the create plan button"
+    };
+
+    if (!data.plan && outputCons.length !== 0){
+      registerWarning(noPlanWarning);
+      return;
+    }
+    unregisterWarning(props.id, noPlanWarning.type);
+  },[data.plan, outputCons.length, props.id, registerWarning, unregisterWarning])
+  return <>
+
+    <Toolbar nodeId={props.id} allowDelete={true}/>
+    <div className={`${styles.defaultNode} ${styles.nodeTrigger} flex-col gap-sm`}>
+      <TextField
+                value={props.data.name}
+                setValue={(val) => setName(val)}
+                placeholder={"Name of this trigger..."}
+      />
+      <div className={"flex-row gap-md"}>Triggers when the condition is met.</div>
+      <div className={"flex-row gap-md"}>Condition/ Belief is currently {data.condition ? "" : "not"} set. {data.condition ? "🟢" : "🔴"}</div>
+      <div className={"flex-row gap-md"}>Plan{data.plan ? (": " + data.plan.name) : ""} is currently {data.plan ? "" : "not"} set. {data.plan ? "🟢" : "🔴"}</div>
+      <MultiConnectionHandle type="source" position={Position.Right} id="TriggerSource" rules={[
+        allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"data"}]),
+      ]} title="Connect to any number of phaseNodes"/>
+      <SingleConnectionHandle
+        type="target"
+        position={Position.Bottom}
+        id="TriggerBeliefs"
+        style={{ left: '40%' }}
+        rules={[
+          allowOnlyConnectionsFromType(["basic_belief","inferred_belief"]),
+        ]}
+        title="Connect to a beliefNode or a set of beliefs combined using the AND/OR node"
+      />
+      
+      <MultiConnectionHandle
+        type="target"
+        position={Position.Bottom}
+        id="GoalTarget"
+        style={{ left: '60%' }}
+        rules={[
+          allowOnlyConnectionsFromType(['goal']),
+        ]}
+        title="Connect to any number of goalNodes"
+      />
+
+      <PlanEditorDialog
+          plan={data.plan}
+          onSave={(plan) => {
+            updateNodeData(props.id, {
+              ...data,
+              plan,
+            });
+          }}
+      />
+    </div>
+  </>;
+}
+
+/**
+ * Reduces each Trigger, including its children down into its core data.
+ * @param node - The Trigger node to reduce.
+ * @param nodes - The list of all nodes in the current flow graph.
+ * @returns A simplified object containing the node label and its list of triggers.
+ */
+export function TriggerReduce(node: Node, nodes: Node[]) {
+  const data = node.data as TriggerNodeData;
+  const conditionNode = data.condition ? nodes.find((n)=>n.id===data.condition) : undefined
+  const conditionData = conditionNode ? BeliefGlobalReduce(conditionNode, nodes) : ""
+  return {
+    id: node.id,
+    name: node.data.name,
+    condition: conditionData, // Make sure we have a condition before reducing, or default to ""
+    plan: !data.plan ? "" : PlanReduce(nodes, data.plan), // Make sure we have a plan when reducing, or default to ""
+  }
+  
+}
+
+
+export const TriggerTooltip = `
+  A trigger node is used to make Pepper execute a predefined plan -
+  consisting of one or more actions - when the connected beliefs are met`;
+
+/**
+ * This function is called whenever a connection is made with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the received connection
+ */
+export function TriggerConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  // no additional connection logic exists yet
+  const data = _thisNode.data as TriggerNodeData;
+  // If we got a belief connected, this is the condition for the norm.
+  const nodes = useFlowStore.getState().nodes;
+  const otherNode = nodes.find((x) => x.id === _sourceNodeId)
+  if (!otherNode) return;
+
+  if (['basic_belief', 'inferred_belief'].includes(otherNode.type!)) {
+      data.condition = _sourceNodeId;
+  }
+
+  else if (otherNode.type === 'goal') {
+      // First, let's see if we have a plan currently. If not, let's create a default plan with this goal inside.:)
+    if (!data.plan) {
+      data.plan = insertGoalInPlan({...structuredClone(defaultPlan), id: crypto.randomUUID()} as Plan, otherNode as GoalNode)
+    }
+
+    // Else, lets just insert this goal into our current plan.
+    else {
+      data.plan = insertGoalInPlan(structuredClone(data.plan), otherNode as GoalNode)
+    }
+  }
+}
+
+/**
+ * This function is called whenever a connection is made with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the created connection
+ */
+export function TriggerConnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the disconnected connection
+ */
+export function TriggerDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  // no additional connection logic exists yet
+  const data = _thisNode.data as TriggerNodeData;
+    // remove if the target of disconnection was our condition
+    if (_sourceNodeId == data.condition) data.condition = undefined
+
+  data.plan = deleteGoalInPlanByID(structuredClone(data.plan) as Plan, _sourceNodeId)
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the diconnected connection
+ */
+export function TriggerDisconnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+// Definitions for the possible triggers, being keywords and emotions
+
+/** Represents a single keyword trigger entry. */
+type Keyword = { id: string, keyword: string };
+
+/** Properties for an emotion-type trigger node. */
+export type EmotionTriggerNodeProps = {
+  type: "emotion";
+  value: string;
+}
+
+/** Props for a keyword-type trigger node. */
+export type KeywordTriggerNodeProps = {
+  type: "keywords";
+  value: Keyword[];
+}
+
+/** Union type for all possible Trigger node configurations. */
+export type TriggerNodeProps = EmotionTriggerNodeProps | KeywordTriggerNodeProps;
--- a/src/utils/SaveLoad.ts
+++ b/src/utils/SaveLoad.ts
@@ -0,0 +1,19 @@
+import {type Edge, type Node } from "@xyflow/react";
+
+export type SavedProject = {
+  name: string;
+  savedASavedProject: string; // ISO timestamp
+  nodes: Node[];
+  edges: Edge[];
+};
+
+// Creates a JSON Blob containing the current visual program (nodes + edges)
+export function makeProjectBlob(name: string, nodes: Node[], edges: Edge[]): Blob {
+  const payload = {
+    name,
+    savedAt: new Date().toISOString(),
+    nodes,
+    edges,
+  };
+  return new Blob([JSON.stringify(payload, null, 2)], { type: "application/json" });
+}
--- a/src/utils/cellStore.ts
+++ b/src/utils/cellStore.ts
@@ -0,0 +1,96 @@
+import {useSyncExternalStore} from "react";
+
+type Unsub = () => void;
+
+
+/**
+ * A simple reactive state container that holds a value of type `T` that provides methods to get, set, and subscribe.
+ */
+export type Cell<T> = {
+  /**
+   * Returns the current value stored in the cell.
+   */
+  get: () => T;
+  /**
+   * Updates the cell's value, pass either a direct value or an updater function.
+   *
+   * @example
+   * ```ts
+   * count.set(5);
+   * count.set(prev => prev + 1);
+   * ```
+   */
+  set: (next: T | ((prev: T) => T)) => void;
+
+  /**
+   * Subscribe to changes in the cell's value, meaning the provided callback is called whenever the value changes.
+   * Returns an unsubscribe function.
+   *
+   * @example
+   * ```ts
+   * const unsubscribe = count.subscribe(() => console.log(count.get()));
+   * // later:
+   * unsubscribe();
+   * ```
+   */
+  subscribe: (callback: () => void) => Unsub;
+};
+
+/**
+ * Creates a new reactive state container (`Cell`) with an initial value.
+ *
+ * This function allows you to store and mutate state outside of React,
+ * while still supporting subscriptions for reactivity.
+ *
+ * @param initial - The initial value for the cell.
+ * @returns A Cell object with `get`, `set`, and `subscribe` methods.
+ *
+ * @example
+ * ```ts
+ * const count = cell(0);
+ * count.set(10);
+ * console.log(count.get()); // 10
+ * ```
+ */
+export function cell<T>(initial: T): Cell<T> {
+  let value = initial;
+  const listeners = new Set<() => void>();
+  return {
+    get: () => value,
+    set: (next) => {
+      value = typeof next === "function" ? (next as (v: T) => T)(value) : next;
+      for (const l of listeners) l();
+    },
+    subscribe: (callback) => {
+      listeners.add(callback);
+      return () => listeners.delete(callback);
+    },
+  };
+}
+
+/**
+ * React hook that subscribes a component to a Cell.
+ *
+ * Automatically re-renders the component whenever the Cell's value changes.
+ * Uses React’s built-in `useSyncExternalStore` for correct subscription behavior.
+ *
+ * @param c - The cell to subscribe to.
+ * @returns The current value of the cell.
+ *
+ * @example
+ * ```tsx
+ * const count = cell(0);
+ *
+ * function Counter() {
+ *   const value = useCell(count);
+ *   return (
+ *     <button onClick={() => count.set(v => v + 1)}>
+ *       Count: {value}
+ *     </button>
+ *   );
+ * }
+ * ```
+ */
+export function useCell<T>(c: Cell<T>) {
+  return useSyncExternalStore(c.subscribe, c.get, c.get);
+}
--- a/src/utils/duplicateIndices.ts
+++ b/src/utils/duplicateIndices.ts
@@ -0,0 +1,19 @@
+/**
+ * Find the indices of all elements that occur more than once.
+ *
+ * @param array The array to search for duplicates.
+ * @returns An array of indices where an element occurs more than once, in no particular order.
+ */
+export default function duplicateIndices<T>(array: T[]): number[] {
+  const positions = new Map<T, number[]>();
+
+  array.forEach((value, i) => {
+    if (!positions.has(value)) positions.set(value, []);
+    positions.get(value)!.push(i);
+  });
+
+  // flatten all index lists with more than one element
+  return Array.from(positions.values())
+    .filter(idxs => idxs.length > 1)
+    .flat();
+}
--- a/src/utils/formatDuration.ts
+++ b/src/utils/formatDuration.ts
@@ -0,0 +1,21 @@
+/**
+ * Format a time duration like `HH:MM:SS.mmm`.
+ *
+ * @param durationMs time duration in milliseconds.
+ * @return formatted time string.
+ */
+export default function formatDuration(durationMs: number): string {
+  const isNegative = durationMs < 0;
+  if (isNegative) durationMs = -durationMs;
+
+  const hours = Math.floor(durationMs / 3600000);
+  const minutes = Math.floor((durationMs % 3600000) / 60000);
+  const seconds = Math.floor((durationMs % 60000) / 1000);
+  const milliseconds = Math.floor(durationMs % 1000);
+
+  return (isNegative ? '-' : '') +
+    `${hours.toString().padStart(2, '0')}:` +
+    `${minutes.toString().padStart(2, '0')}:` +
+    `${seconds.toString().padStart(2, '0')}.` +
+    `${milliseconds.toString().padStart(3, '0')}`;
+}
--- a/src/utils/orderPhaseNodes.ts
+++ b/src/utils/orderPhaseNodes.ts
@@ -0,0 +1,40 @@
+import type {PhaseNode} from "../pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx";
+
+/**
+ * takes an array of phaseNodes and orders them according to their nextPhaseId attributes,
+ * starting with the phase that has isFirstPhase = true
+ *
+ * @param {PhaseNode[]} nodes an unordered phaseNode array
+ * @returns {PhaseNode[]} the ordered phaseNode array
+ */
+export default function orderPhaseNodeArray(nodes: PhaseNode[]) : PhaseNode[] {
+  // find the first phaseNode of the sequence
+  const start = nodes.find(node => node.data.isFirstPhase);
+  if (!start) {
+    throw new Error('No phaseNode with isFirstObject = true found');
+  }
+
+  // prepare for ordering of phaseNodes
+  const orderedPhaseNodes: PhaseNode[] = [];
+  const IdMap = new Map(nodes.map(node => [node.id, node]));
+  let currentNode: PhaseNode | undefined = start;
+
+  // populate orderedPhaseNodes array with the phaseNodes in the correct order
+  while (currentNode) {
+    orderedPhaseNodes.push(currentNode);
+
+    if (!currentNode.data.nextPhaseId) {
+      throw new Error("Incomplete phase sequence, program does not reach the end node");
+    }
+
+    if (currentNode.data.nextPhaseId === "end") break;
+
+    currentNode = IdMap.get(currentNode.data.nextPhaseId);
+
+    if (!currentNode) {
+      throw new Error(`Incomplete phase sequence, phaseNode with id "${orderedPhaseNodes.at(-1)?.data.nextPhaseId}" not found`);
+    }
+  }
+
+  return orderedPhaseNodes;
+}
--- a/src/utils/priorityFiltering.ts
+++ b/src/utils/priorityFiltering.ts
@@ -0,0 +1,24 @@
+export type PriorityFilterPredicate<T> = {
+  priority: number;
+  predicate: (element: T) => boolean | null; // The predicate and its priority are ignored if it returns null.
+}
+
+/**
+ * Applies a list of priority predicates to an element. For all predicates that don't return null, if the ones with the highest level return true, then this function returns true.
+ * @param element The element to apply the predicates to.
+ * @param predicates The list of predicates to apply.
+ */
+export function applyPriorityPredicates<T>(element: T, predicates: PriorityFilterPredicate<T>[]): boolean {
+  let highestPriority = -1;
+  let highestKeep = true;
+  for (const predicate of predicates) {
+    if (predicate.priority >= highestPriority) {
+      const predicateKeep = predicate.predicate(element);
+      if (predicateKeep === null) continue; // This predicate doesn't care about the element, so skip it
+      if (predicate.priority > highestPriority) highestKeep = true;
+      highestPriority = predicate.priority;
+      highestKeep = highestKeep && predicateKeep;
+    }
+  }
+  return highestKeep;
+}
--- a/src/utils/programStore.ts
+++ b/src/utils/programStore.ts
@@ -0,0 +1,81 @@
+import {create} from "zustand";
+
+// the type of a reduced program
+export type ReducedProgram = { phases: Record<string, unknown>[] };
+
+/**
+ * the type definition of the programStore
+ */
+export type ProgramState = {
+  // Basic store functionality:
+  currentProgram: ReducedProgram;
+  setProgramState: (state: ReducedProgram) => void;
+  getProgramState: () => ReducedProgram;
+
+  // Utility functions:
+  // to avoid having to manually go through the entire state for every instance where data is required
+  getPhaseIds: () => string[];
+  getNormsInPhase: (currentPhaseId: string) => Record<string, unknown>[];
+  getGoalsInPhase: (currentPhaseId: string) => Record<string, unknown>[];
+  getTriggersInPhase: (currentPhaseId: string) => Record<string, unknown>[];
+  // if more specific utility functions are needed they can be added here:
+}
+
+/**
+ * the ProgramStore can be used to access all information of the most recently sent program,
+ * it contains basic functions to set and get the current program.
+ * And it contains some utility functions that allow you to easily gain access
+ * to the norms, triggers and goals of a specific phase.
+ */
+const useProgramStore = create<ProgramState>((set, get) => ({
+  currentProgram: { phases: [] as Record<string, unknown>[]},
+  /**
+   * sets the current program by cloning the provided program using a structuredClone
+   */
+  setProgramState: (program: ReducedProgram) => set({currentProgram: structuredClone(program)}),
+  /**
+   * gets the current program
+   */
+  getProgramState: () => get().currentProgram,
+
+  // utility functions:
+  /**
+   * gets the ids of all phases in the program
+   */
+  getPhaseIds: () => get().currentProgram.phases.map(entry => entry["id"] as string),
+  /**
+   * gets the norms for the provided phase
+   */
+  getNormsInPhase: (currentPhaseId) => {
+    const program = get().currentProgram;
+    const phase = program.phases.find(val => val["id"] === currentPhaseId);
+    if (phase) {
+      return phase["norms"] as Record<string, unknown>[];
+    }
+    throw new Error(`phase with id:"${currentPhaseId}" not found`)
+  },
+  /**
+   * gets the goals for the provided phase
+   */
+  getGoalsInPhase: (currentPhaseId) => {
+    const program = get().currentProgram;
+    const phase = program.phases.find(val => val["id"] === currentPhaseId);
+    if (phase) {
+      return phase["goals"] as Record<string, unknown>[];
+    }
+    throw new Error(`phase with id:"${currentPhaseId}" not found`)
+  },
+  /**
+   * gets the triggers for the provided phase
+   */
+  getTriggersInPhase: (currentPhaseId) => {
+    const program = get().currentProgram;
+    const phase = program.phases.find(val => val["id"] === currentPhaseId);
+    if (phase) {
+      return phase["triggers"] as Record<string, unknown>[];
+    }
+    throw new Error(`phase with id:"${currentPhaseId}" not found`)
+  }
+}));
+
+export default useProgramStore;
--- a/test/components/Logging/Filters.test.tsx
+++ b/test/components/Logging/Filters.test.tsx
@@ -0,0 +1,328 @@
+import {render, screen, waitFor, fireEvent} from "@testing-library/react";
+import userEvent from "@testing-library/user-event";
+import * as React from "react";
+
+type ControlledUseState = typeof React.useState & {
+  __forceNextReturn?: (value: any) => jest.Mock;
+  __resetMockState?: () => void;
+};
+
+jest.mock("react", () => {
+  const actual = jest.requireActual("react");
+  const queue: Array<{value: any; setter: jest.Mock}> = [];
+  const mockUseState = ((initial: any) => {
+    if (queue.length) {
+      const {value, setter} = queue.shift()!;
+      return [value, setter];
+    }
+    return actual.useState(initial);
+  }) as ControlledUseState;
+
+  mockUseState.__forceNextReturn = (value: any) => {
+    const setter = jest.fn();
+    queue.push({value, setter});
+    return setter;
+  };
+  mockUseState.__resetMockState = () => {
+    queue.length = 0;
+  };
+
+  return {
+    __esModule: true,
+    ...actual,
+    useState: mockUseState,
+  };
+});
+import Filters from "../../../src/components/Logging/Filters.tsx";
+import type {LogFilterPredicate, LogRecord} from "../../../src/components/Logging/useLogs.ts";
+
+const GLOBAL = "global_log_level";
+const AGENT_PREFIX = "agent_log_level_";
+const optionMapping = new Map([
+  ["ALL", 0],
+  ["DEBUG", 10],
+  ["INFO", 20],
+  ["WARNING", 30],
+  ["ERROR", 40],
+  ["CRITICAL", 50],
+  ["NONE", 999_999_999_999],
+]);
+
+const controlledUseState = React.useState as ControlledUseState;
+
+afterEach(() => {
+  controlledUseState.__resetMockState?.();
+});
+
+function getCallArg<T>(mock: jest.Mock, index = 0): T {
+  return mock.mock.calls[index][0] as T;
+}
+
+function sampleRecord(levelno: number, name = "any.logger"): LogRecord {
+  return {
+    levelname: "UNKNOWN",
+    levelno,
+    name,
+    message: "Whatever",
+    created: 0,
+    relativeCreated: 0,
+    firstCreated: 0,
+    firstRelativeCreated: 0,
+  };
+}
+
+// --------------------------------------------------------------------------
+
+describe("Filters", () => {
+  describe("Global level filter", () => {
+    it("initializes to INFO when missing", async () => {
+      const setFilterPredicates = jest.fn();
+      const filterPredicates = new Map<string, LogFilterPredicate>();
+
+      const view = render(
+        <Filters
+          filterPredicates={filterPredicates}
+          setFilterPredicates={setFilterPredicates}
+          agentNames={new Set<string>()}
+        />
+      );
+
+      // Effect sets default to INFO
+      await waitFor(() => {
+        expect(setFilterPredicates).toHaveBeenCalled();
+      });
+
+      const updater = getCallArg<(prev: Map<string, LogFilterPredicate>) => Map<string, LogFilterPredicate>>(setFilterPredicates);
+      const newMap = updater(filterPredicates);
+      const global = newMap.get(GLOBAL)!;
+
+      expect(global.value).toBe("INFO");
+      expect(global.priority).toBe(0);
+      // Predicate gate at INFO (>= 20)
+      expect(global.predicate(sampleRecord(10))).toBe(false);
+      expect(global.predicate(sampleRecord(20))).toBe(true);
+
+      // UI shows INFO selected after parent state updates
+      view.rerender(
+        <Filters
+          filterPredicates={newMap}
+          setFilterPredicates={setFilterPredicates}
+          agentNames={new Set<string>()}
+        />
+      );
+
+      const globalSelect = screen.getByLabelText("Global:");
+      expect((globalSelect as HTMLSelectElement).value).toBe("INFO");
+    });
+
+    it("updates predicate when selecting a higher level", async () => {
+      // Start with INFO already present
+      const existing = new Map<string, LogFilterPredicate>([
+        [
+          GLOBAL,
+          {
+            value: "INFO",
+            priority: 0,
+            predicate: (r: any) => r.levelno >= optionMapping.get("INFO")!
+          }
+        ]
+      ]);
+
+      const setFilterPredicates = jest.fn();
+      const user = userEvent.setup();
+
+      render(
+        <Filters
+          filterPredicates={existing}
+          setFilterPredicates={setFilterPredicates}
+          agentNames={new Set<string>()}
+        />
+      );
+
+      const select = screen.getByLabelText("Global:");
+      await user.selectOptions(select, "ERROR");
+
+      const updater = getCallArg<(prev: Map<string, LogFilterPredicate>) => Map<string, LogFilterPredicate>>(setFilterPredicates);
+      const updated = updater(existing);
+      const global = updated.get(GLOBAL)!;
+
+      expect(global.value).toBe("ERROR");
+      expect(global.priority).toBe(0);
+      expect(global.predicate(sampleRecord(30))).toBe(false);
+      expect(global.predicate(sampleRecord(40))).toBe(true);
+    });
+  });
+
+  describe("Agent level filters", () => {
+    it("adds an agent using the current global level when none specified", async () => {
+      // Global set to WARNING
+      const existing = new Map<string, LogFilterPredicate>([
+        [
+          GLOBAL,
+          {
+            value: "WARNING",
+            priority: 0,
+            predicate: (r: any) => r.levelno >= optionMapping.get("WARNING")!
+          }
+        ]
+      ]);
+
+      const setFilterPredicates = jest.fn();
+      const user = userEvent.setup();
+
+      render(
+        <Filters
+          filterPredicates={existing}
+          setFilterPredicates={setFilterPredicates}
+          agentNames={new Set<string>(["pepper.speech", "vision.agent"])}
+        />
+      );
+
+      const addSelect = screen.getByLabelText("Add:");
+      await user.selectOptions(addSelect, "pepper.speech");
+
+      // Agent setter is functional: prev => next
+      const updater = getCallArg<(prev: Map<string, LogFilterPredicate>) => Map<string, LogFilterPredicate>>(setFilterPredicates);
+      const next = updater(existing);
+
+      const key = AGENT_PREFIX + "pepper.speech";
+      const agentPred = next.get(key)!;
+
+      expect(agentPred.priority).toBe(1);
+      expect(agentPred.value).toEqual({agentName: "pepper.speech", level: "WARNING"});
+      // When agentName matches, enforce WARNING (>= 30)
+      expect(agentPred.predicate(sampleRecord(20, "pepper.speech"))).toBe(false);
+      expect(agentPred.predicate(sampleRecord(30, "pepper.speech"))).toBe(true);
+      // Other agents -> null
+      expect(agentPred.predicate(sampleRecord(999, "other"))).toBeNull();
+    });
+
+    it("changes an agent's level when its select is updated", async () => {
+      // Prepopulate agent predicate at WARNING
+      const key = AGENT_PREFIX + "pepper.speech";
+      const existing = new Map<string, LogFilterPredicate>([
+        [
+          GLOBAL,
+          {
+            value: "INFO",
+            priority: 0,
+            predicate: (r: any) => r.levelno >= optionMapping.get("INFO")!
+          }
+        ],
+        [
+          key,
+          {
+            value: {agentName: "pepper.speech", level: "WARNING"},
+            priority: 1,
+            predicate: (r: any) => (r.name === "pepper.speech" ? r.levelno >= optionMapping.get("WARNING")! : null)
+          }
+        ]
+      ]);
+
+      const setFilterPredicates = jest.fn();
+      const user = userEvent.setup();
+
+      const element = render(
+        <Filters
+          filterPredicates={existing}
+          setFilterPredicates={setFilterPredicates}
+          agentNames={new Set(["pepper.speech"])}
+        />
+      );
+
+      const agentSelect = element.container.querySelector("select#log_level_pepper\\.speech")!;
+
+      await user.selectOptions(agentSelect, "ERROR");
+
+      const updater = getCallArg<(prev: Map<string, LogFilterPredicate>) => Map<string, LogFilterPredicate>>(setFilterPredicates);
+      const next = updater(existing);
+      const updated = next.get(key)!;
+
+      expect(updated.value).toEqual({agentName: "pepper.speech", level: "ERROR"});
+      // Threshold moved to ERROR (>= 40)
+      expect(updated.predicate(sampleRecord(30, "pepper.speech"))).toBe(false);
+      expect(updated.predicate(sampleRecord(40, "pepper.speech"))).toBe(true);
+    });
+
+    it("deletes an agent predicate when clicking its name button", async () => {
+      const key = AGENT_PREFIX + "pepper.speech";
+      const existing = new Map<string, LogFilterPredicate>([
+        [
+          GLOBAL,
+          {
+            value: "INFO",
+            priority: 0,
+            predicate: (r: any) => r.levelno >= optionMapping.get("INFO")!
+          }
+        ],
+        [
+          key,
+          {
+            value: {agentName: "pepper.speech", level: "INFO"},
+            priority: 1,
+            predicate: (r: any) => (r.name === "pepper.speech" ? r.levelno >= optionMapping.get("INFO")! : null)
+          }
+        ]
+      ]);
+
+      const setFilterPredicates = jest.fn();
+      const user = userEvent.setup();
+
+      render(
+        <Filters
+          filterPredicates={existing}
+          setFilterPredicates={setFilterPredicates}
+          agentNames={new Set<string>(["pepper.speech"])}
+        />
+      );
+
+      const deleteBtn = screen.getByRole("button", {name: "speech:"});
+      await user.click(deleteBtn);
+
+      const updater = getCallArg<(prev: Map<string, LogFilterPredicate>) => Map<string, LogFilterPredicate>>(setFilterPredicates);
+      const next = updater(existing);
+      expect(next.has(key)).toBe(false);
+    });
+  });
+
+  describe("Filter popup behavior", () => {
+    function renderWithPopupOpen() {
+      const existing = new Map<string, LogFilterPredicate>([
+        [
+          GLOBAL,
+          {
+            value: "INFO",
+            priority: 0,
+            predicate: (r: any) => r.levelno >= optionMapping.get("INFO")!
+          }
+        ]
+      ]);
+      const setFilterPredicates = jest.fn();
+      const forceNext = controlledUseState.__forceNextReturn;
+      if (!forceNext) throw new Error("useState mock missing helper");
+      const setOpen = forceNext(true);
+
+      render(
+        <Filters
+          filterPredicates={existing}
+          setFilterPredicates={setFilterPredicates}
+          agentNames={new Set(["pepper.vision"])}
+        />
+      );
+
+      return { setOpen };
+    }
+
+    it("closes the popup when clicking outside", () => {
+      const { setOpen } = renderWithPopupOpen();
+      fireEvent.mouseDown(document.body);
+      expect(setOpen).toHaveBeenCalledWith(false);
+    });
+
+    it("closes the popup when pressing Escape", () => {
+      const { setOpen } = renderWithPopupOpen();
+      fireEvent.keyDown(document, { key: "Escape" });
+      expect(setOpen).toHaveBeenCalledWith(false);
+    });
+  });
+});
--- a/test/components/Logging/Logging.test.tsx
+++ b/test/components/Logging/Logging.test.tsx
@@ -0,0 +1,239 @@
+import {render, screen, fireEvent, act, waitFor} from "@testing-library/react";
+import userEvent from "@testing-library/user-event";
+import "@testing-library/jest-dom";
+import type {Cell} from "../../../src/utils/cellStore.ts";
+import {cell} from "../../../src/utils/cellStore.ts";
+import type {LogFilterPredicate, LogRecord} from "../../../src/components/Logging/useLogs.ts";
+
+const mockFiltersRender = jest.fn();
+const loggingStoreRef: { current: null | { setState: (state: Partial<LoggingSettingsState>) => void } } = { current: null };
+
+type LoggingSettingsState = {
+  showRelativeTime: boolean;
+  setShowRelativeTime: (show: boolean) => void;
+  scrollToBottom: boolean;
+  setScrollToBottom: (scroll: boolean) => void;
+};
+
+jest.mock("zustand", () => {
+  const actual = jest.requireActual("zustand");
+  const actualCreate = actual.create;
+  return {
+    __esModule: true,
+    ...actual,
+    create: (...args: any[]) => {
+      const store = actualCreate(...args);
+      const state = store.getState();
+      if ("setShowRelativeTime" in state && "setScrollToBottom" in state) {
+        loggingStoreRef.current = store;
+      }
+      return store;
+    },
+  };
+});
+
+jest.mock("../../../src/components/Logging/Filters.tsx", () => {
+  const React = jest.requireActual("react");
+  return {
+    __esModule: true,
+    default: (props: any) => {
+      mockFiltersRender(props);
+      return React.createElement("div", {"data-testid": "filters-mock"}, "filters");
+    },
+  };
+});
+
+jest.mock("../../../src/components/Logging/useLogs.ts", () => {
+  const actual = jest.requireActual("../../../src/components/Logging/useLogs.ts");
+  return {
+    __esModule: true,
+    ...actual,
+    useLogs: jest.fn(),
+  };
+});
+
+import {useLogs} from "../../../src/components/Logging/useLogs.ts";
+const mockUseLogs = useLogs as jest.MockedFunction<typeof useLogs>;
+
+type LoggingComponent = typeof import("../../../src/components/Logging/Logging.tsx").default;
+let Logging: LoggingComponent;
+
+beforeAll(async () => {
+  if (!Element.prototype.scrollIntoView) {
+    Object.defineProperty(Element.prototype, "scrollIntoView", {
+      configurable: true,
+      writable: true,
+      value: function () {},
+    });
+  }
+
+  ({default: Logging} = await import("../../../src/components/Logging/Logging.tsx"));
+});
+
+beforeEach(() => {
+  mockUseLogs.mockReset();
+  mockFiltersRender.mockReset();
+  mockUseLogs.mockReturnValue({filteredLogs: [], distinctNames: new Set()});
+  resetLoggingStore();
+});
+
+afterEach(() => {
+  jest.restoreAllMocks();
+});
+
+function resetLoggingStore() {
+  loggingStoreRef.current?.setState({
+    showRelativeTime: false,
+    scrollToBottom: true,
+  });
+}
+
+function makeRecord(overrides: Partial<LogRecord> = {}): LogRecord {
+  return {
+    name: "pepper.logger",
+    message: "default",
+    levelname: "INFO",
+    levelno: 20,
+    created: 1,
+    relativeCreated: 1,
+    firstCreated: 1,
+    firstRelativeCreated: 1,
+    ...overrides,
+  };
+}
+
+function makeCell(overrides: Partial<LogRecord> = {}): Cell<LogRecord> {
+  return cell(makeRecord(overrides));
+}
+
+describe("Logging component", () => {
+  it("renders log messages and toggles the timestamp between absolute and relative view", async () => {
+    const logCell = makeCell({
+      name: "pepper.trace.logging",
+      message: "Ping",
+      levelname: "WARNING",
+      levelno: 30,
+      created: 1_700_000_000,
+      relativeCreated: 12_345,
+      firstCreated: 1_700_000_000,
+      firstRelativeCreated: 12_345,
+    });
+
+    const names = new Set(["pepper.trace.logging"]);
+    mockUseLogs.mockReturnValue({filteredLogs: [logCell], distinctNames: names});
+
+    jest.spyOn(Date.prototype, "toLocaleTimeString").mockReturnValue("ABS TIME");
+    const user = userEvent.setup();
+
+    render(<Logging/>);
+
+    expect(screen.getByText("Logs")).toBeDefined();
+    expect(screen.getByText("WARNING")).toBeDefined();
+    expect(screen.getByText("logging")).toBeDefined();
+    expect(screen.getByText("Ping")).toBeDefined();
+
+    let timestamp = screen.queryByText("ABS TIME");
+    if (!timestamp) {
+      // if previous test left the store toggled, click once to show absolute time
+      timestamp = screen.getByText("00:00:12.345");
+      await user.click(timestamp);
+      timestamp = screen.getByText("ABS TIME");
+    }
+
+    await user.click(timestamp);
+    expect(screen.getByText("00:00:12.345")).toBeDefined();
+  });
+
+  it("shows the scroll-to-bottom button after a manual scroll and scrolls when clicked", async () => {
+    const logs = [
+      makeCell({message: "first", firstRelativeCreated: 1}),
+      makeCell({message: "second", firstRelativeCreated: 2}),
+    ];
+    mockUseLogs.mockReturnValue({filteredLogs: logs, distinctNames: new Set()});
+
+    const scrollSpy = jest.spyOn(Element.prototype, "scrollIntoView").mockImplementation(() => {});
+    const user = userEvent.setup();
+    const view = render(<Logging/>);
+
+    expect(screen.queryByRole("button", {name: "Scroll to bottom"})).toBeNull();
+
+    const scrollable = view.container.querySelector(".scroll-y");
+    expect(scrollable).toBeTruthy();
+
+    fireEvent.wheel(scrollable!);
+
+    const button = await screen.findByRole("button", {name: "Scroll to bottom"});
+    await user.click(button);
+
+    expect(scrollSpy).toHaveBeenCalled();
+    await waitFor(() => {
+      expect(screen.queryByRole("button", {name: "Scroll to bottom"})).toBeNull();
+    });
+  });
+
+  it("scrolls the last element into view when a log cell updates", async () => {
+    const logCell = makeCell({message: "Initial", firstRelativeCreated: 42});
+    mockUseLogs.mockReturnValue({filteredLogs: [logCell], distinctNames: new Set()});
+
+    const scrollSpy = jest.spyOn(Element.prototype, "scrollIntoView").mockImplementation(() => {});
+    render(<Logging/>);
+
+    await waitFor(() => {
+      expect(scrollSpy).toHaveBeenCalledTimes(1);
+    });
+    scrollSpy.mockClear();
+
+    act(() => {
+      const current = logCell.get();
+      logCell.set({...current, message: "Updated"});
+    });
+
+    expect(screen.getByText("Updated")).toBeDefined();
+    await waitFor(() => {
+      expect(scrollSpy).toHaveBeenCalledTimes(1);
+    });
+  });
+
+  it("passes filter state to Filters and re-invokes useLogs when predicates change", async () => {
+    const distinct = new Set(["pepper.core"]);
+    mockUseLogs.mockImplementation((_filters: Map<string, LogFilterPredicate>) => ({
+      filteredLogs: [],
+      distinctNames: distinct,
+    }));
+
+    render(<Logging/>);
+
+    expect(mockFiltersRender).toHaveBeenCalledTimes(1);
+    const firstProps = mockFiltersRender.mock.calls[0][0];
+    expect(firstProps.agentNames).toBe(distinct);
+
+    const initialMap = firstProps.filterPredicates;
+    expect(initialMap).toBeInstanceOf(Map);
+    expect(initialMap.size).toBe(0);
+    expect(mockUseLogs).toHaveBeenCalledWith(initialMap);
+
+    const updatedPredicate: LogFilterPredicate = {
+      value: "custom",
+      priority: 0,
+      predicate: () => true,
+    };
+
+    act(() => {
+      firstProps.setFilterPredicates((prev: Map<string, LogFilterPredicate>) => {
+        const next = new Map(prev);
+        next.set("custom", updatedPredicate);
+        return next;
+      });
+    });
+
+    await waitFor(() => {
+      expect(mockUseLogs).toHaveBeenCalledTimes(2);
+    });
+
+    const nextFilters = mockUseLogs.mock.calls[1][0];
+    expect(nextFilters.get("custom")).toBe(updatedPredicate);
+
+    const secondProps = mockFiltersRender.mock.calls[mockFiltersRender.mock.calls.length - 1][0];
+    expect(secondProps.filterPredicates).toBe(nextFilters);
+  });
+});
--- a/test/components/Logging/useLogs.test.tsx
+++ b/test/components/Logging/useLogs.test.tsx
@@ -0,0 +1,246 @@
+import { render, screen, act } from "@testing-library/react";
+import "@testing-library/jest-dom";
+import {type LogRecord, useLogs} from "../../../src/components/Logging/useLogs.ts";
+import {type cell, useCell} from "../../../src/utils/cellStore.ts";
+import { StrictMode } from "react";
+
+jest.mock("../../../src/utils/priorityFiltering.ts", () => ({
+  applyPriorityPredicates: jest.fn((_log, preds: any[]) =>
+    preds.every(() => true) // default: pass all
+  ),
+}));
+import {applyPriorityPredicates} from "../../../src/utils/priorityFiltering.ts";
+
+class MockEventSource {
+  url: string;
+  onmessage: ((event: { data: string }) => void) | null = null;
+  onerror: ((event: unknown) => void) | null = null;
+  close = jest.fn();
+
+  constructor(url: string) {
+    this.url = url;
+    // expose the latest instance for tests:
+    (globalThis as any).__es = this;
+  }
+}
+
+beforeAll(() => {
+  globalThis.EventSource = MockEventSource as any;
+});
+
+afterEach(() => {
+  // reset mock so previous instance not reused accidentally
+  (globalThis as any).__es = undefined;
+  jest.clearAllMocks();
+});
+
+function LogsProbe({ filters }: { filters: Map<string, any> }) {
+  const { filteredLogs, distinctNames } = useLogs(filters);
+
+  return (
+    <div>
+      <div data-testid="names-count">{distinctNames.size}</div>
+      <ul data-testid="logs">
+        {filteredLogs.map((c, i) => (
+          <LogItem key={i} cell={c} index={i} />
+        ))}
+      </ul>
+    </div>
+  );
+}
+
+function LogItem({ cell: c, index }: { cell: ReturnType<typeof cell<LogRecord>>; index: number }) {
+  const value = useCell(c);
+  return (
+    <li data-testid={`log-${index}`}>
+      <span data-testid={`log-${index}-name`}>{value.name}</span>
+      <span data-testid={`log-${index}-msg`}>{value.message}</span>
+      <span data-testid={`log-${index}-first`}>{String(value.firstCreated)}</span>
+      <span data-testid={`log-${index}-created`}>{String(value.created)}</span>
+      <span data-testid={`log-${index}-ref`}>{value.reference ?? ""}</span>
+    </li>
+  );
+}
+
+function emit(log: LogRecord) {
+  const eventSource = (globalThis as any).__es as MockEventSource;
+  if (!eventSource || !eventSource.onmessage) throw new Error("EventSource not initialized");
+  act(() => {
+    eventSource.onmessage!({ data: JSON.stringify(log) });
+  });
+}
+
+describe("useLogs (unit)", () => {
+  it("creates EventSource once and closes on unmount", () => {
+    const filters = new Map(); // allow all by default
+    const { unmount } = render(
+      <StrictMode>
+        <LogsProbe filters={filters} />
+      </StrictMode>
+    );
+    const es = (globalThis as any).__es as MockEventSource;
+    expect(es).toBeTruthy();
+    expect(es.url).toBe("http://localhost:8000/logs/stream");
+
+    unmount();
+    expect(es.close).toHaveBeenCalledTimes(1);
+  });
+
+  it("appends filtered logs and collects distinct names", () => {
+    const filters = new Map();
+    render(
+      <StrictMode>
+        <LogsProbe filters={filters} />
+      </StrictMode>
+    );
+
+    expect(screen.getByTestId("names-count")).toHaveTextContent("0");
+
+    emit({
+      levelname: "DEBUG",
+      levelno: 10,
+      name: "alpha",
+      message: "m1",
+      created: 1,
+      relativeCreated: 1,
+      firstCreated: 1,
+      firstRelativeCreated: 1,
+    });
+    emit({
+      levelname: "DEBUG",
+      levelno: 10,
+      name: "beta",
+      message: "m2",
+      created: 2,
+      relativeCreated: 2,
+      firstCreated: 2,
+      firstRelativeCreated: 2,
+    });
+    emit({
+      levelname: "DEBUG",
+      levelno: 10,
+      name: "alpha",
+      message: "m3",
+      created: 3,
+      relativeCreated: 3,
+      firstCreated: 3,
+      firstRelativeCreated: 3,
+    });
+
+    // 3 messages (no reference), 2 distinct names
+    expect(screen.getAllByRole("listitem")).toHaveLength(3);
+    expect(screen.getByTestId("names-count")).toHaveTextContent("2");
+
+    expect(screen.getByTestId("log-0-name")).toHaveTextContent("alpha");
+    expect(screen.getByTestId("log-1-name")).toHaveTextContent("beta");
+    expect(screen.getByTestId("log-2-name")).toHaveTextContent("alpha");
+  });
+
+  it("updates first message with reference when a second one with that reference comes", () => {
+    const filters = new Map();
+    render(<LogsProbe filters={filters} />);
+
+    // First message with ref r1
+    emit({
+      levelname: "DEBUG",
+      levelno: 10,
+      name: "svc",
+      message: "first",
+      reference: "r1",
+      created: 10,
+      relativeCreated: 10,
+      firstCreated: 10,
+      firstRelativeCreated: 10,
+    });
+
+    // Second message with same ref r1, should still be a single item
+    emit({
+      levelname: "DEBUG",
+      levelno: 10,
+      name: "svc",
+      message: "second",
+      reference: "r1",
+      created: 20,
+      relativeCreated: 20,
+      firstCreated: 20,
+      firstRelativeCreated: 20,
+    });
+
+    const items = screen.getAllByRole("listitem");
+    expect(items).toHaveLength(1);
+
+    // Same single item, but message should be "second"
+    expect(screen.getByTestId("log-0-msg")).toHaveTextContent("second");
+    // The "firstCreated" should remain the original (10), while "created" is now 20
+    expect(screen.getByTestId("log-0-first")).toHaveTextContent("10");
+    expect(screen.getByTestId("log-0-created")).toHaveTextContent("20");
+    expect(screen.getByTestId("log-0-ref")).toHaveTextContent("r1");
+  });
+
+  it("runs recomputeFiltered when filters change", () => {
+    const allowAll = new Map<string, any>();
+    const { rerender } = render(<LogsProbe filters={allowAll} />);
+
+    emit({
+      levelname: "DEBUG",
+      levelno: 10,
+      name: "n1",
+      message: "ok",
+      created: 1,
+      relativeCreated: 1,
+      firstCreated: 1,
+      firstRelativeCreated: 1,
+    });
+    emit({
+      levelname: "DEBUG",
+      levelno: 10,
+      name: "n2",
+      message: "ok",
+      created: 2,
+      relativeCreated: 2,
+      firstCreated: 2,
+      firstRelativeCreated: 2,
+    });
+    emit({
+      levelname: "INFO",
+      levelno: 20,
+      name: "n3",
+      message: "ok1",
+      reference: "r1",
+      created: 3,
+      relativeCreated: 3,
+      firstCreated: 3,
+      firstRelativeCreated: 3,
+    });
+    emit({
+      levelname: "INFO",
+      levelno: 20,
+      name: "n3",
+      message: "ok2",
+      reference: "r1",
+      created: 4,
+      relativeCreated: 4,
+      firstCreated: 4,
+      firstRelativeCreated: 4,
+    });
+
+    expect(screen.getAllByRole("listitem")).toHaveLength(3);
+
+    // Now change filters to block all < INFO
+    (applyPriorityPredicates as jest.Mock).mockImplementation((l) => l.levelno >= 20);
+    const blockDebug = new Map<string, any>([["dummy", { value: true }]]);
+    rerender(<LogsProbe filters={blockDebug} />);
+
+    // Should recompute with shorter list
+    expect(screen.queryAllByRole("listitem")).toHaveLength(1);
+
+    // Switch back to allow-all
+    (applyPriorityPredicates as jest.Mock).mockImplementation((_log, preds: any[]) =>
+      preds.every(() => true)
+    );
+    rerender(<LogsProbe filters={allowAll} />);
+
+    // recompute should restore all three
+    expect(screen.getAllByRole("listitem")).toHaveLength(3);
+  });
+});
--- a/test/eslint.config.js.ts
+++ b/test/eslint.config.js.ts
--- a/test/pages/connectedRobots/ConnectedRobots.test.tsx
+++ b/test/pages/connectedRobots/ConnectedRobots.test.tsx
@@ -0,0 +1,104 @@
+import { render, screen, act, cleanup, waitFor } from '@testing-library/react';
+import ConnectedRobots from '../../../src/pages/ConnectedRobots/ConnectedRobots';
+
+// Mock event source
+const mockInstances: MockEventSource[] = [];
+class MockEventSource {
+  url: string;
+  onmessage: ((event: MessageEvent) => void) | null = null;
+  closed = false;
+
+  constructor(url: string) {
+    this.url = url;
+    mockInstances.push(this);
+  }
+
+  sendMessage(data: string) {
+    // Trigger whatever the component listens to
+    this.onmessage?.({ data } as MessageEvent);
+  }
+
+  close() {
+    this.closed = true;
+  }
+}
+
+// mock event source generation with fake function that returns our fake mock source
+beforeAll(() => {
+  // Cast globalThis to a type exposing EventSource and assign a mocked constructor.
+  (globalThis as unknown as { EventSource?: typeof EventSource }).EventSource =
+    jest.fn((url: string) => new MockEventSource(url)) as unknown as typeof EventSource;
+});
+
+// clean after tests
+afterEach(() => {
+  cleanup();
+  jest.restoreAllMocks();
+  mockInstances.length = 0;
+});
+
+describe('ConnectedRobots', () => {
+  test('renders initial state correctly', () => {
+    render(<ConnectedRobots />);
+    
+    // Check initial texts (before connection)
+    expect(screen.getByText('Is robot currently connected?')).toBeInTheDocument();
+    expect(screen.getByText(/Robot is currently:\s*checking/i)).toBeInTheDocument();
+    expect(
+      screen.getByText(/If checking continues, make sure CB is properly loaded/i)
+    ).toBeInTheDocument();
+  });
+
+  test('updates to connected when message data is true', async () => {
+    render(<ConnectedRobots />);
+    const eventSource = mockInstances[0];
+    expect(eventSource).toBeDefined();
+
+    // Check state after getting 'true' message
+    await act(async () => {
+      eventSource.sendMessage('true');
+    });
+
+    await waitFor(() => {
+      expect(screen.getByText(/connected! 🟢/i)).toBeInTheDocument();
+    });
+  });
+
+  test('updates to not connected when message data is false', async () => {
+    render(<ConnectedRobots />);
+    const eventSource = mockInstances[0];
+
+    // Check statew after getting 'false' message
+    await act(async () => {
+      eventSource.sendMessage('false');
+    });
+
+    await waitFor(() => {
+      expect(screen.getByText(/not connected.*🔴/i)).toBeInTheDocument();
+    });
+  });
+
+  test('handles invalid JSON gracefully', async () => {
+    const logSpy = jest.spyOn(console, 'log').mockImplementation(() => {});
+    render(<ConnectedRobots />);
+    const eventSource = mockInstances[0];
+
+    await act(async () => {
+      eventSource.sendMessage('not-json');
+    });
+
+    expect(logSpy).toHaveBeenCalledWith(
+      'Ping message not in correct format:',
+      'not-json'
+    );
+  });
+
+  test('closes EventSource on unmount', () => {
+    render(<ConnectedRobots />);
+    const eventSource = mockInstances[0];
+    const closeSpy = jest.spyOn(eventSource, 'close');
+    cleanup(); 
+    expect(closeSpy).toHaveBeenCalled();
+    expect(eventSource.closed).toBe(true);
+  });
+});
--- a/test/pages/robot/Robot.test.tsx
+++ b/test/pages/robot/Robot.test.tsx
@@ -0,0 +1,167 @@
+import { render, screen, act, cleanup, fireEvent } from '@testing-library/react';
+import Robot from '../../../src/pages/Robot/Robot';
+
+// Mock EventSource
+const mockInstances: MockEventSource[] = [];
+class MockEventSource {
+  url: string;
+  onmessage: ((event: MessageEvent) => void) | null = null;
+  closed = false;
+
+  constructor(url: string) {
+    this.url = url;
+    mockInstances.push(this);
+  }
+
+  sendMessage(data: string) {
+    this.onmessage?.({ data } as MessageEvent);
+  }
+
+  close() {
+    this.closed = true;
+  }
+}
+
+// Mock global EventSource
+beforeAll(() => {
+  (globalThis as any).EventSource = jest.fn((url: string) => new MockEventSource(url));
+});
+
+// Mock fetch
+beforeEach(() => {
+  globalThis.fetch = jest.fn(() =>
+    Promise.resolve({
+      json: () => Promise.resolve({ reply: 'ok' }),
+    })
+  ) as jest.Mock;
+});
+
+// Cleanup
+afterEach(() => {
+  cleanup();
+  jest.restoreAllMocks();
+  mockInstances.length = 0;
+});
+
+describe('Robot', () => {
+  test('renders initial state', () => {
+    render(<Robot />);
+    expect(screen.getByText('Robot interaction')).toBeInTheDocument();
+    expect(screen.getByText('Force robot speech')).toBeInTheDocument();
+    expect(screen.getByText('Listening 🔴')).toBeInTheDocument();
+    expect(screen.getByPlaceholderText('Enter a message')).toBeInTheDocument();
+  });
+
+  test('sends message via button', async () => {
+    render(<Robot />);
+    const input = screen.getByPlaceholderText('Enter a message');
+    const button = screen.getByText('Speak');
+
+    fireEvent.change(input, { target: { value: 'Hello' } });
+    await act(async () => fireEvent.click(button));
+
+    expect(globalThis.fetch).toHaveBeenCalledWith(
+      'http://localhost:8000/message',
+      expect.objectContaining({
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ message: 'Hello' }),
+      })
+    );
+  });
+
+  test('sends message via Enter key', async () => {
+    render(<Robot />);
+    const input = screen.getByPlaceholderText('Enter a message');
+    fireEvent.change(input, { target: { value: 'Hi Enter' } });
+
+    await act(async () =>
+      fireEvent.keyDown(input, { key: 'Enter', code: 'Enter', charCode: 13 })
+    );
+
+    expect(globalThis.fetch).toHaveBeenCalledWith(
+      'http://localhost:8000/message',
+      expect.objectContaining({
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ message: 'Hi Enter' }),
+      })
+    );
+    expect((input as HTMLInputElement).value).toBe('');
+  });
+
+  test('handles fetch errors', async () => {
+    globalThis.fetch = jest.fn(() => Promise.reject('Network error')) as jest.Mock;
+    const consoleSpy = jest.spyOn(console, 'error').mockImplementation(() => {});
+
+    render(<Robot />);
+    const input = screen.getByPlaceholderText('Enter a message');
+    const button = screen.getByText('Speak');
+    fireEvent.change(input, { target: { value: 'Error test' } });
+
+    await act(async () => fireEvent.click(button));
+
+    expect(consoleSpy).toHaveBeenCalledWith(
+      'Error sending message: ',
+      'Network error'
+    );
+  });
+
+  test('updates conversation on SSE', async () => {
+    render(<Robot />);
+    const eventSource = mockInstances[0];
+
+    await act(async () => {
+      eventSource.sendMessage(JSON.stringify({ voice_active: true }));
+      eventSource.sendMessage(JSON.stringify({ speech: 'User says hi' }));
+      eventSource.sendMessage(JSON.stringify({ llm_response: 'Assistant replies' }));
+    });
+
+    expect(screen.getByText('Listening 🟢')).toBeInTheDocument();
+    expect(screen.getByText('User says hi')).toBeInTheDocument();
+    expect(screen.getByText('Assistant replies')).toBeInTheDocument();
+  });
+
+  test('handles invalid SSE JSON', async () => {
+    const logSpy = jest.spyOn(console, 'log').mockImplementation(() => {});
+    render(<Robot />);
+    const eventSource = mockInstances[0];
+
+    await act(async () => eventSource.sendMessage('bad-json'));
+
+    expect(logSpy).toHaveBeenCalledWith('Unparsable SSE message:', 'bad-json');
+  });
+
+  test('resets conversation with Reset button', async () => {
+    render(<Robot />);
+    const eventSource = mockInstances[0];
+
+    await act(async () =>
+      eventSource.sendMessage(JSON.stringify({ speech: 'Hello' }))
+    );
+    expect(screen.getByText('Hello')).toBeInTheDocument();
+
+    fireEvent.click(screen.getByText('Reset'));
+    expect(screen.queryByText('Hello')).not.toBeInTheDocument();
+  });
+
+  test('toggles conversationIndex with Stop/Start button', () => {
+    render(<Robot />);
+    const stopButton = screen.getByText('Stop');
+    fireEvent.click(stopButton);
+    expect(screen.getByText('Start')).toBeInTheDocument();
+
+    fireEvent.click(screen.getByText('Start'));
+    expect(screen.getByText('Stop')).toBeInTheDocument();
+  });
+
+  test('closes EventSource on unmount', () => {
+    const { unmount } = render(<Robot />);
+    const eventSource = mockInstances[0];
+    const closeSpy = jest.spyOn(eventSource, 'close');
+
+    unmount();
+    expect(closeSpy).toHaveBeenCalled();
+    expect(eventSource.closed).toBe(true);
+  });
+});
--- a/test/pages/visProgPage/visualProgrammingUI/EditorUndoRedo.test.ts
+++ b/test/pages/visProgPage/visualProgrammingUI/EditorUndoRedo.test.ts
@@ -0,0 +1,267 @@
+import {act} from '@testing-library/react';
+import useFlowStore from '../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx';
+import { mockReactFlow } from '../../../setupFlowTests.ts';
+
+
+
+
+
+beforeAll(() => {
+  mockReactFlow();
+});
+
+describe("UndoRedo Middleware", () => {
+  beforeEach(() => {
+    jest.useFakeTimers();
+  });
+
+  test("pushSnapshot adds a snapshot to past and clears future", () => {
+    const store = useFlowStore;
+
+    store.setState({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: [],
+      past: [],
+      future: [{
+        nodes: [
+          {
+            id: 'A',
+            type: 'default',
+            position: {x: 0, y: 0},
+            data: {label: 'A'}
+          }
+        ],
+        edges: [],
+        warnings: {
+          warningRegistry: new Map(),
+          severityIndex: new Map()
+        }
+      }],
+      ruleRegistry: new Map(),
+      editorWarningRegistry: new Map(),
+      severityIndex: new Map()
+    });
+
+    act(() => {
+      store.getState().pushSnapshot();
+    })
+
+    const state = store.getState();
+    expect(state.past.length).toBe(1);
+    expect(state.past[0]).toEqual({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: [],
+      warnings: {
+        warningRegistry: {},
+        severityIndex: {}
+      }
+    });
+    expect(state.future).toEqual([]);
+  });
+
+  test("pushSnapshot does nothing during batch action", () => {
+    const store = useFlowStore;
+
+    act(() => {
+      store.setState({ isBatchAction: true });
+      store.getState().pushSnapshot();
+    })
+
+    expect(store.getState().past.length).toBe(0);
+  });
+
+  test("undo restores last snapshot and pushes current snapshot to future", () => {
+    const store = useFlowStore;
+
+    // initial state
+    store.setState({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: [],
+      editorWarningRegistry: new Map(),
+      severityIndex: new Map()
+    });
+
+    act(() => {
+      store.getState().pushSnapshot();
+
+      // modified state
+      store.setState({
+        nodes: [{
+          id: 'B',
+          type: 'default',
+          position: {x: 0, y: 0},
+          data: {label: 'B'}
+        }],
+        edges: []
+      });
+
+      store.getState().undo();
+    })
+
+    expect(store.getState().nodes).toEqual([{
+      id: 'A',
+      type: 'default',
+      position: {x: 0, y: 0},
+      data: {label: 'A'}
+    }]);
+    expect(store.getState().future.length).toBe(1);
+    expect(store.getState().future[0]).toEqual({
+      nodes: [{
+        id: 'B',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'B'}
+      }],
+      edges: [],
+      warnings: {
+        warningRegistry: {},
+        severityIndex: {}
+      }
+    });
+  });
+
+  test("undo does nothing when past is empty", () => {
+    const store = useFlowStore;
+
+    store.setState({past: []});
+
+    act(() => { store.getState().undo(); });
+
+    expect(store.getState().nodes).toEqual([]);
+    expect(store.getState().future).toEqual([]);
+  });
+
+  test("redo restores last future snapshot and pushes current to past", () => {
+    const store = useFlowStore;
+
+    // initial
+    store.setState({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: [],
+      editorWarningRegistry: new Map(),
+      severityIndex: new Map()
+    });
+
+    act(() => {
+      store.getState().pushSnapshot();
+      store.setState({
+        nodes: [{
+          id: 'B',
+          type: 'default',
+          position: {x: 0, y: 0},
+          data: {label: 'B'}
+        }],
+        edges: []
+      });
+
+
+      store.getState().undo();
+
+      // redo should restore node with id 'B'
+      store.getState().redo();
+    })
+
+    expect(store.getState().nodes).toEqual([{
+      id: 'B',
+      type: 'default',
+      position: {x: 0, y: 0},
+      data: {label: 'B'}
+    }]);
+    expect(store.getState().past.length).toBe(1); // snapshot A stored
+    expect(store.getState().past[0]).toEqual({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: [],
+      warnings: {
+        warningRegistry: {},
+        severityIndex: {}
+      }
+    });
+  });
+
+  test("redo does nothing when future is empty", () => {
+    const store = useFlowStore;
+
+    store.setState({past: []});
+    act(() => { store.getState().redo(); });
+
+    expect(store.getState().nodes).toEqual([]);
+  });
+
+  test("beginBatchAction pushes snapshot and sets isBatchAction=true", () => {
+    const store = useFlowStore;
+
+    store.setState({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: [],
+      editorWarningRegistry: new Map(),
+      severityIndex: new Map()
+    });
+
+    act(() => { store.getState().beginBatchAction(); });
+
+    expect(store.getState().isBatchAction).toBe(true);
+    expect(store.getState().past.length).toBe(1);
+  });
+
+  test("endBatchAction sets isBatchAction=false after timeout", () => {
+    const store = useFlowStore;
+
+    store.setState({ isBatchAction: true });
+    act(() => { store.getState().endBatchAction(); });
+
+    // isBatchAction should remain true before the timer has advanced
+    expect(store.getState().isBatchAction).toBe(true);
+
+    jest.advanceTimersByTime(10);
+
+    // it should now be set to false as the timer has advanced enough
+    expect(store.getState().isBatchAction).toBe(false);
+  });
+
+  test("multiple beginBatchAction calls clear the timeout", () => {
+    const store = useFlowStore;
+
+    act(() => {
+      store.getState().beginBatchAction();
+      store.getState().endBatchAction(); // starts timeout
+      store.getState().beginBatchAction(); // should clear previous timeout
+    });
+
+
+    jest.advanceTimersByTime(10);
+
+    // After advancing the timers, isBatchAction should still be true,
+    // as the timeout should have been cleared
+    expect(store.getState().isBatchAction).toBe(true);
+  });
+});
--- a/test/pages/visProgPage/visualProgrammingUI/GraphReducer.test.ts
+++ b/test/pages/visProgPage/visualProgrammingUI/GraphReducer.test.ts
@@ -1,986 +1,5 @@
-import type {Edge} from "@xyflow/react";
-import graphReducer, {
-  defaultGraphPreprocessor, defaultPhaseReducer,
-  orderPhases
-} from "../../../../src/pages/VisProgPage/visualProgrammingUI/GraphReducer.ts";
-import type {PreparedPhase} from "../../../../src/pages/VisProgPage/visualProgrammingUI/GraphReducerTypes.ts";
-import useFlowStore from "../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx";
-import type {AppNode} from "../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgTypes.tsx";
-
-// sets of default values for nodes and edges to be used for test cases
-type FlowState = {
-  name: string;
-  nodes: AppNode[];
-  edges: Edge[];
-};
-
-// predefined graphs for testing:
-const onlyOnePhase : FlowState = {
-  name: "onlyOnePhase",
-  nodes: [
-    {
-      id: 'start',
-      type: 'start',
-      position: {x: 0, y: 0},
-      data: {label: 'start'}
-    },
-    {
-      id: 'phase-1',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 1},
-    },
-    {
-      id: 'end',
-      type: 'end',
-      position: {x: 0, y: 300},
-      data: {label: 'End'}
-    }
-  ],
-  edges:[
-    {
-      id: 'start-phase-1',
-      source: 'start',
-      target: 'phase-1',
-    },
-    {
-      id: 'phase-1-end',
-      source: 'phase-1',
-      target: 'end',
-    }
-  ]
-};
-const onlyThreePhases : FlowState = {
-  name: "onlyThreePhases",
-  nodes: [
-    {
-      id: 'start',
-      type: 'start',
-      position: {x: 0, y: 0},
-      data: {label: 'start'}
-    },
-    {
-      id: 'phase-1',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 1},
-    },
-    {
-      id: 'phase-3',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 3},
-    },
-    {
-      id: 'phase-2',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 2},
-    },
-    {
-      id: 'end',
-      type: 'end',
-      position: {x: 0, y: 300},
-      data: {label: 'End'}
-    }
-  ],
-  edges:[
-    {
-      id: 'start-phase-1',
-      source: 'start',
-      target: 'phase-1',
-    },
-    {
-      id: 'phase-1-phase-2',
-      source: 'phase-1',
-      target: 'phase-2',
-    },
-    {
-      id: 'phase-2-phase-3',
-      source: 'phase-2',
-      target: 'phase-3',
-    },
-    {
-      id: 'phase-3-end',
-      source: 'phase-3',
-      target: 'end',
-    }
-  ]
-};
-const onlySingleEdgeNorms : FlowState = {
-  name: "onlySingleEdgeNorms",
-  nodes: [
-    {
-      id: 'start',
-      type: 'start',
-      position: {x: 0, y: 0},
-      data: {label: 'start'}
-    },
-    {
-      id: 'phase-1',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 1},
-    },
-    {
-      id: 'norm-1',
-      type: 'norm',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Norm', value: "generic"},
-    },
-    {
-      id: 'norm-2',
-      type: 'norm',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Norm', value: "generic"},
-    },
-    {
-      id: 'phase-3',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 3},
-    },
-    {
-      id: 'phase-2',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 2},
-    },
-    {
-      id: 'end',
-      type: 'end',
-      position: {x: 0, y: 300},
-      data: {label: 'End'}
-    }
-  ],
-  edges:[
-    {
-      id: 'start-phase-1',
-      source: 'start',
-      target: 'phase-1',
-    },
-    {
-      id: 'norm-1-phase-2',
-      source: 'norm-1',
-      target: 'phase-2',
-    },
-    {
-      id: 'phase-1-phase-2',
-      source: 'phase-1',
-      target: 'phase-2',
-    },
-    {
-      id: 'phase-2-phase-3',
-      source: 'phase-2',
-      target: 'phase-3',
-    },
-    {
-      id: 'norm-2-phase-3',
-      source: 'norm-2',
-      target: 'phase-3',
-    },
-    {
-      id: 'phase-3-end',
-      source: 'phase-3',
-      target: 'end',
-    }
-  ]
-};
-const multiEdgeNorms : FlowState = {
-  name: "multiEdgeNorms",
-  nodes: [
-    {
-      id: 'start',
-      type: 'start',
-      position: {x: 0, y: 0},
-      data: {label: 'start'}
-    },
-    {
-      id: 'phase-1',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 1},
-    },
-    {
-      id: 'norm-1',
-      type: 'norm',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Norm', value: "generic"},
-    },
-    {
-      id: 'norm-2',
-      type: 'norm',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Norm', value: "generic"},
-    },
-    {
-      id: 'phase-3',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 3},
-    },
-    {
-      id: 'norm-3',
-      type: 'norm',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Norm', value: "generic"},
-    },
-    {
-      id: 'phase-2',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 2},
-    },
-    {
-      id: 'end',
-      type: 'end',
-      position: {x: 0, y: 300},
-      data: {label: 'End'}
-    }
-  ],
-  edges:[
-    {
-      id: 'start-phase-1',
-      source: 'start',
-      target: 'phase-1',
-    },
-    {
-      id: 'norm-1-phase-2',
-      source: 'norm-1',
-      target: 'phase-2',
-    },
-    {
-      id: 'norm-1-phase-3',
-      source: 'norm-1',
-      target: 'phase-3',
-    },
-    {
-      id: 'phase-1-phase-2',
-      source: 'phase-1',
-      target: 'phase-2',
-    },
-    {
-      id: 'norm-3-phase-1',
-      source: 'norm-3',
-      target: 'phase-1',
-    },
-    {
-      id: 'phase-2-phase-3',
-      source: 'phase-2',
-      target: 'phase-3',
-    },
-    {
-      id: 'norm-2-phase-3',
-      source: 'norm-2',
-      target: 'phase-3',
-    },
-    {
-      id: 'norm-2-phase-2',
-      source: 'norm-2',
-      target: 'phase-2',
-    },
-    {
-      id: 'phase-3-end',
-      source: 'phase-3',
-      target: 'end',
-    }
-  ]
-};
-const onlyStartEnd : FlowState = {
-  name: "onlyStartEnd",
-  nodes: [
-    {
-      id: 'start',
-      type: 'start',
-      position: {x: 0, y: 0},
-      data: {label: 'start'}
-    },
-    {
-      id: 'end',
-      type: 'end',
-      position: {x: 0, y: 300},
-      data: {label: 'End'}
-    }
-  ],
-  edges:[
-    {
-      id: 'start-end',
-      source: 'start',
-      target: 'end',
-    },
-  ]
-};
-
-// states that contain invalid programs for testing if correct errors are thrown:
-const phaseConnectsToInvalidNodeType : FlowState = {
-  name: "phaseConnectsToInvalidNodeType",
-  nodes: [
-    {
-      id: 'start',
-      type: 'start',
-      position: {x: 0, y: 0},
-      data: {label: 'start'}
-    },
-    {
-      id: 'phase-1',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 1},
-    },
-    {
-      id: 'default-1',
-      type: 'default',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Norm'},
-    },
-    {
-      id: 'end',
-      type: 'end',
-      position: {x: 0, y: 300},
-      data: {label: 'End'}
-    }
-  ],
-  edges:[
-    {
-      id: 'start-phase-1',
-      source: 'start',
-      target: 'phase-1',
-    },
-    {
-      id: 'phase-1-default-1',
-      source: 'phase-1',
-      target: 'default-1',
-    },
-  ]
-};
-const phaseHasNoOutgoingConnections : FlowState = {
-  name: "phaseHasNoOutgoingConnections",
-  nodes: [
-    {
-      id: 'start',
-      type: 'start',
-      position: {x: 0, y: 0},
-      data: {label: 'start'}
-    },
-    {
-      id: 'phase-1',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 1},
-    },
-    {
-      id: 'phase-2',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 2},
-    },
-    {
-      id: 'end',
-      type: 'end',
-      position: {x: 0, y: 300},
-      data: {label: 'End'}
-    }
-  ],
-  edges:[
-    {
-      id: 'start-phase-1',
-      source: 'start',
-      target: 'phase-1',
-    },
-  ]
-};
-const phaseHasTooManyOutgoingConnections : FlowState = {
-  name: "phaseHasTooManyOutgoingConnections",
-  nodes: [
-    {
-      id: 'start',
-      type: 'start',
-      position: {x: 0, y: 0},
-      data: {label: 'start'}
-    },
-    {
-      id: 'phase-1',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 1},
-    },
-    {
-      id: 'phase-2',
-      type: 'phase',
-      position: {x: 0, y: 150},
-      data: {label: 'Generic Phase', number: 2},
-    },
-    {
-      id: 'end',
-      type: 'end',
-      position: {x: 0, y: 300},
-      data: {label: 'End'}
-    }
-  ],
-  edges:[
-    {
-      id: 'start-phase-1',
-      source: 'start',
-      target: 'phase-1',
-    },
-    {
-      id: 'phase-1-phase-2',
-      source: 'phase-1',
-      target: 'phase-2',
-    },
-    {
-      id: 'phase-1-end',
-      source: 'phase-1',
-      target: 'end',
-    },
-    {
-      id: 'phase-2-end',
-      source: 'phase-2',
-      target: 'end',
-    },
-  ]
-};
-
-describe('Graph Reducer Tests', () => {
-  describe('defaultGraphPreprocessor', () => {
-    test.each([
-      {
-        state: onlyOnePhase,
-        expected: [
-          {
-            phaseNode: {
-              id: 'phase-1',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 1},
-            },
-            nextPhaseId: 'end',
-            connectedNorms: [],
-            connectedGoals: [],
-          }]
-      },
-      {
-        state: onlyThreePhases,
-        expected: [
-          {
-            phaseNode: {
-              id: 'phase-1',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 1},
-            },
-            nextPhaseId: 'phase-2',
-            connectedNorms: [],
-            connectedGoals: [],
-          },
-          {
-            phaseNode: {
-              id: 'phase-2',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 2},
-            },
-            nextPhaseId: 'phase-3',
-            connectedNorms: [],
-            connectedGoals: [],
-          },
-          {
-            phaseNode: {
-              id: 'phase-3',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 3},
-            },
-            nextPhaseId: 'end',
-            connectedNorms: [],
-            connectedGoals: [],
-          }]
-      },
-      {
-        state: onlySingleEdgeNorms,
-        expected: [
-          {
-            phaseNode: {
-              id: 'phase-1',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 1},
-            },
-            nextPhaseId: 'phase-2',
-            connectedNorms: [],
-            connectedGoals: [],
-          },
-          {
-            phaseNode: {
-              id: 'phase-2',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 2},
-            },
-            nextPhaseId: 'phase-3',
-            connectedNorms: [{
-              id: 'norm-1',
-              type: 'norm',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Norm', value: "generic"},
-            }],
-            connectedGoals: [],
-          },
-          {
-            phaseNode: {
-              id: 'phase-3',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 3},
-            },
-            nextPhaseId: 'end',
-            connectedNorms: [{
-              id: 'norm-2',
-              type: 'norm',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Norm', value: "generic"},
-            }],
-            connectedGoals: [],
-          }]
-      },
-      {
-        state: multiEdgeNorms,
-        expected: [
-          {
-            phaseNode: {
-              id: 'phase-1',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 1},
-            },
-            nextPhaseId: 'phase-2',
-            connectedNorms: [{
-              id: 'norm-3',
-              type: 'norm',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Norm', value: "generic"},
-            }],
-            connectedGoals: [],
-          },
-          {
-            phaseNode: {
-              id: 'phase-2',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 2},
-            },
-            nextPhaseId: 'phase-3',
-            connectedNorms: [{
-              id: 'norm-1',
-              type: 'norm',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Norm', value: "generic"},
-            },
-            {
-              id: 'norm-2',
-              type: 'norm',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Norm', value: "generic"},
-            }],
-            connectedGoals: [],
-          },
-          {
-            phaseNode: {
-              id: 'phase-3',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 3},
-            },
-            nextPhaseId: 'end',
-            connectedNorms: [{
-              id: 'norm-1',
-              type: 'norm',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Norm', value: "generic"},
-            },
-            {
-              id: 'norm-2',
-              type: 'norm',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Norm', value: "generic"},
-            }],
-            connectedGoals: [],
-          }]
-      },
-      {
-        state: onlyStartEnd,
-        expected: [],
-      }
-    ])(`tests state: $state.name`, ({state, expected}) => {
-      const output = defaultGraphPreprocessor(state.nodes, state.edges);
-      expect(output).toEqual(expected);
-    });
+describe('not yet implemented', () => {
+  test('nothing yet', () => {
+    expect(true);
  });
-  describe("orderPhases", () => {
-    test.each([
-      {
-        state: onlyOnePhase,
-        expected: {
-          phaseNodes: [{
-            id: 'phase-1',
-            type: 'phase',
-            position: {x: 0, y: 150},
-            data: {label: 'Generic Phase', number: 1},
-          }],
-          connections: new Map<string,string>([["phase-1","end"]])
-        }
-      },
-      {
-        state: onlyThreePhases,
-        expected: {
-          phaseNodes: [
-            {
-              id: 'phase-1',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 1},
-            },
-            {
-              id: 'phase-2',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 2},
-            },
-            {
-              id: 'phase-3',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 3},
-            }],
-          connections: new Map<string,string>([
-            ["phase-1","phase-2"],
-            ["phase-2","phase-3"],
-            ["phase-3","end"]
-          ])
-        }
-      },
-      {
-        state: onlySingleEdgeNorms,
-        expected: {
-          phaseNodes: [
-            {
-              id: 'phase-1',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 1},
-            },
-            {
-              id: 'phase-2',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 2},
-            },
-            {
-              id: 'phase-3',
-              type: 'phase',
-              position: {x: 0, y: 150},
-              data: {label: 'Generic Phase', number: 3},
-            }],
-          connections: new Map<string,string>([
-            ["phase-1","phase-2"],
-            ["phase-2","phase-3"],
-            ["phase-3","end"]
-          ])
-        }
-      },
-      {
-        state: onlyStartEnd,
-        expected: {
-          phaseNodes: [],
-          connections: new Map<string,string>()
-        }
-      }
-    ])(`tests state: $state.name`, ({state, expected}) => {
-      const output = orderPhases(state.nodes, state.edges);
-      expect(output.phaseNodes).toEqual(expected.phaseNodes);
-      expect(output.connections).toEqual(expected.connections);
-    });
-    test.each([
-      {
-        state: phaseConnectsToInvalidNodeType,
-        expected: new Error('| INVALID PROGRAM | the node "default-1" that "phase-1" connects to is not a phase or end node')
-      },
-      {
-        state: phaseHasNoOutgoingConnections,
-        expected: new Error('| INVALID PROGRAM | the source handle of "phase-1" doesn\'t have any outgoing connections')
-      },
-      {
-        state: phaseHasTooManyOutgoingConnections,
-        expected: new Error('| INVALID PROGRAM | the source handle of "phase-1" connects to too many targets')
-      }
-    ])(`tests erroneous state: $state.name`, ({state, expected}) => {
-      const testForError = () => {
-        orderPhases(state.nodes, state.edges);
-      };
-      expect(testForError).toThrow(expected);
-    })
-  })
-  describe("defaultPhaseReducer", () => {
-    test("phaseReducer handles empty norms and goals without failing", () => {
-      const input : PreparedPhase = {
-        phaseNode: {
-          id: 'phase-1',
-          type: 'phase',
-          position: {x: 0, y: 150},
-          data: {label: 'Generic Phase', number: 1},
-        },
-        nextPhaseId: 'end',
-        connectedNorms: [],
-        connectedGoals: [],
-      }
-      const output = defaultPhaseReducer(input);
-      expect(output).toEqual({
-        id: 'phase-1',
-        name: 'Generic Phase',
-        nextPhaseId: 'end',
-        phaseData: {
-          norms: [],
-          goals: []
-        }
-      });
-    });
-    test("defaultNormReducer reduces norms correctly", () => {
-      const input : PreparedPhase = {
-        phaseNode: {
-          id: 'phase-1',
-          type: 'phase',
-          position: {x: 0, y: 150},
-          data: {label: 'Generic Phase', number: 1},
-        },
-        nextPhaseId: 'end',
-        connectedNorms: [{
-          id: 'norm-1',
-          type: 'norm',
-          position: {x: 0, y: 150},
-          data: {label: 'Generic Norm', value: "generic"},
-        }],
-        connectedGoals: [],
-      }
-      const output = defaultPhaseReducer(input);
-      expect(output).toEqual({
-        id: 'phase-1',
-        name: 'Generic Phase',
-        nextPhaseId: 'end',
-        phaseData: {
-          norms: [{
-            id: 'norm-1',
-            name: 'Generic Norm',
-            value: "generic"
-          }],
-          goals: []
-        }
-      });
-    });
-    test("defaultGoalReducer reduces goals correctly", () => {
-      const input : PreparedPhase = {
-        phaseNode: {
-          id: 'phase-1',
-          type: 'phase',
-          position: {x: 0, y: 150},
-          data: {label: 'Generic Phase', number: 1},
-        },
-        nextPhaseId: 'end',
-        connectedNorms: [],
-        connectedGoals: [{
-          id: 'goal-1',
-          type: 'goal',
-          position: {x: 0, y: 150},
-          data: {label: 'Generic Goal', value: "generic"},
-        }],
-      }
-      const output = defaultPhaseReducer(input);
-      expect(output).toEqual({
-        id: 'phase-1',
-        name: 'Generic Phase',
-        nextPhaseId: 'end',
-        phaseData: {
-          norms: [],
-          goals: [{
-            id: 'goal-1',
-            name: 'Generic Goal',
-            value: "generic"
-          }]
-        }
-      });
-    });
-  })
-  describe("GraphReducer", () => {
-    test.each([
-      {
-        state: onlyOnePhase,
-        expected: [
-          {
-            id: 'phase-1',
-            name: 'Generic Phase',
-            nextPhaseId: 'end',
-            phaseData: {
-              norms: [],
-              goals: []
-            }
-          }]
-      },
-      {
-        state: onlyThreePhases,
-        expected: [
-          {
-            id: 'phase-1',
-            name: 'Generic Phase',
-            nextPhaseId: 'phase-2',
-            phaseData: {
-              norms: [],
-              goals: []
-            }
-          },
-          {
-            id: 'phase-2',
-            name: 'Generic Phase',
-            nextPhaseId: 'phase-3',
-            phaseData: {
-              norms: [],
-              goals: []
-            }
-          },
-          {
-            id: 'phase-3',
-            name: 'Generic Phase',
-            nextPhaseId: 'end',
-            phaseData: {
-              norms: [],
-              goals: []
-            }
-          }]
-      },
-      {
-        state: onlySingleEdgeNorms,
-        expected: [
-          {
-            id: 'phase-1',
-            name: 'Generic Phase',
-            nextPhaseId: 'phase-2',
-            phaseData: {
-              norms: [],
-              goals: []
-            }
-          },
-          {
-            id: 'phase-2',
-            name: 'Generic Phase',
-            nextPhaseId: 'phase-3',
-            phaseData: {
-              norms: [
-                {
-                  id: 'norm-1',
-                  name: 'Generic Norm',
-                  value: "generic"
-                }
-              ],
-              goals: []
-            }
-          },
-          {
-            id: 'phase-3',
-            name: 'Generic Phase',
-            nextPhaseId: 'end',
-            phaseData: {
-              norms: [{
-                id: 'norm-2',
-                name: 'Generic Norm',
-                value: "generic"
-              }],
-              goals: []
-            }
-          }]
-      },
-      {
-        state: multiEdgeNorms,
-        expected: [
-          {
-            id: 'phase-1',
-            name: 'Generic Phase',
-            nextPhaseId: 'phase-2',
-            phaseData: {
-              norms: [{
-                id: 'norm-3',
-                name: 'Generic Norm',
-                value: "generic"
-              }],
-              goals: []
-            }
-          },
-          {
-            id: 'phase-2',
-            name: 'Generic Phase',
-            nextPhaseId: 'phase-3',
-            phaseData: {
-              norms: [
-                {
-                  id: 'norm-1',
-                  name: 'Generic Norm',
-                  value: "generic"
-                },
-                {
-                  id: 'norm-2',
-                  name: 'Generic Norm',
-                  value: "generic"
-                }
-              ],
-              goals: []
-            }
-          },
-          {
-            id: 'phase-3',
-            name: 'Generic Phase',
-            nextPhaseId: 'end',
-            phaseData: {
-              norms: [{
-                id: 'norm-1',
-                name: 'Generic Norm',
-                value: "generic"
-              },
-              {
-                id: 'norm-2',
-                name: 'Generic Norm',
-                value: "generic"
-              }],
-              goals: []
-            }
-          }]
-      },
-      {
-        state: onlyStartEnd,
-        expected: [],
-      }
-    ])("`tests state: $state.name`", ({state, expected}) => {
-      useFlowStore.setState({nodes: state.nodes, edges: state.edges});
-      const output = graphReducer(); // uses default reducers
-      expect(output).toEqual(expected);
-    })
-    // we run the test for correct error handling for the entire graph reducer as well,
-    // to make sure no errors occur before we intend to handle the errors ourselves
-    test.each([
-      {
-        state: phaseConnectsToInvalidNodeType,
-        expected: new Error('| INVALID PROGRAM | the node "default-1" that "phase-1" connects to is not a phase or end node')
-      },
-      {
-        state: phaseHasNoOutgoingConnections,
-        expected: new Error('| INVALID PROGRAM | the source handle of "phase-1" doesn\'t have any outgoing connections')
-      },
-      {
-        state: phaseHasTooManyOutgoingConnections,
-        expected: new Error('| INVALID PROGRAM | the source handle of "phase-1" connects to too many targets')
-      }
-    ])(`tests erroneous state: $state.name`, ({state, expected}) => {
-      useFlowStore.setState({nodes: state.nodes, edges: state.edges});
-      const testForError = () => {
-        graphReducer();
-      };
-      expect(testForError).toThrow(expected);
-    })
-  })
-});
+});
--- a/test/pages/visProgPage/visualProgrammingUI/HandleRuleLogic.test.ts
+++ b/test/pages/visProgPage/visualProgrammingUI/HandleRuleLogic.test.ts
@@ -0,0 +1,86 @@
+import {renderHook} from "@testing-library/react";
+import type {Connection} from "@xyflow/react";
+import {
+  ruleResult,
+  type RuleResult,
+  useHandleRules
+} from "../../../../src/pages/VisProgPage/visualProgrammingUI/HandleRuleLogic.ts";
+import useFlowStore from "../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx";
+
+describe('useHandleRules', () => {
+  it('should register rules on mount and validate connection', () => {
+    const rules = [() => ({ isSatisfied: true } as RuleResult)];
+
+    const { result } = renderHook(() => useHandleRules('node1', 'h1', 'target', rules));
+
+    // Confirm rules registered
+    const storedRules = useFlowStore.getState().getTargetRules('node1', 'h1');
+    expect(storedRules).toEqual(rules);
+
+    // Validate a connection
+    const connection = { source: 'node2', sourceHandle: 'h2', target: 'node1', targetHandle: 'h1' };
+    const validation = result.current(connection);
+    expect(validation).toEqual(ruleResult.satisfied);
+  });
+
+  it('should throw error if targetHandle missing', () => {
+    const rules: any[] = [];
+    const { result } = renderHook(() => useHandleRules('node1', 'h1', 'target', rules));
+
+    expect(() =>
+      result.current({ source: 'a', target: 'b', targetHandle: null, sourceHandle: null })
+    ).toThrow('No target handle was provided');
+  });
+});
+
+describe('useHandleRules with multiple failed rules', () => {
+  it('should return the first failed rule message and consider connectionCount', () => {
+    // Mock rules for the target handle
+    const failingRules = [
+      (_conn: any, ctx: any) => {
+        if (ctx.connectionCount >= 1) {
+          return { isSatisfied: false, message: 'Max connections reached' } as RuleResult;
+        }
+        return { isSatisfied: true } as RuleResult;
+      },
+      () => ({ isSatisfied: false, message: 'Other rule failed' } as RuleResult),
+      () => ({ isSatisfied: true } as RuleResult),
+    ];
+
+    // Register rules for the target handle
+    useFlowStore.getState().registerRules('targetNode', 'targetHandle', failingRules);
+
+    // Add one existing edge to simulate connectionCount
+    useFlowStore.setState({
+      edges: [
+        {
+          id: 'edge-1',
+          source: 'sourceNode',
+          sourceHandle: 'sourceHandle',
+          target: 'targetNode',
+          targetHandle: 'targetHandle',
+        },
+      ],
+    });
+
+    // Create hook for a source node handle
+    const rulesForSource = [
+      (_c: Connection) => ({ isSatisfied: true } as RuleResult)
+    ];
+    const { result } = renderHook(() =>
+      useHandleRules('sourceNode', 'sourceHandle', 'source', rulesForSource)
+    );
+
+    const connection = {
+      source: 'sourceNode',
+      sourceHandle: 'sourceHandle',
+      target: 'targetNode',
+      targetHandle: 'targetHandle',
+    };
+
+    const validation = result.current(connection);
+
+    // Should fail with first failing rule message
+    expect(validation).toEqual(ruleResult.notSatisfied('Max connections reached'));
+  });
+});
--- a/test/pages/visProgPage/visualProgrammingUI/HandleRules.test.ts
+++ b/test/pages/visProgPage/visualProgrammingUI/HandleRules.test.ts
@@ -0,0 +1,84 @@
+import {ruleResult} from "../../../../src/pages/VisProgPage/visualProgrammingUI/HandleRuleLogic.ts";
+import {
+  allowOnlyConnectionsFromType,
+  allowOnlyConnectionsFromHandle, noSelfConnections
+} from "../../../../src/pages/VisProgPage/visualProgrammingUI/HandleRules.ts";
+import useFlowStore from "../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx";
+
+beforeEach(() => {
+  useFlowStore.setState({
+    nodes: [
+      { id: 'nodeA', type: 'typeA', position: { x: 0, y: 0 }, data: {} },
+      { id: 'nodeB', type: 'typeB', position: { x: 0, y: 0 }, data: {} },
+    ],
+  });
+});
+
+describe('allowOnlyConnectionsFromType', () => {
+  it('should allow connection from allowed node type', () => {
+    const rule = allowOnlyConnectionsFromType(['typeA']);
+    const connection = { source: 'nodeA', sourceHandle: 'h1', target: 'nodeB', targetHandle: 'h2' };
+    const context = { connectionCount: 0, source: { id: 'nodeA', handleId: 'h1' }, target: { id: 'nodeB', handleId: 'h2' } };
+
+    const result = rule(connection, context);
+    expect(result).toEqual(ruleResult.satisfied);
+  });
+
+  it('should not allow connection from disallowed node type', () => {
+    const rule = allowOnlyConnectionsFromType(['typeA']);
+    const connection = { source: 'nodeB', sourceHandle: 'h1', target: 'nodeA', targetHandle: 'h2' };
+    const context = { connectionCount: 0, source: { id: 'nodeB', handleId: 'h1' }, target: { id: 'nodeA', handleId: 'h2' } };
+
+    const result = rule(connection, context);
+    expect(result).toEqual(ruleResult.notSatisfied("the target doesn't allow connections from nodes with type: typeB"));
+  });
+});
+describe('allowOnlyConnectionsFromHandle', () => {
+  it('should allow connection from node with correct type and handle', () => {
+    const rule = allowOnlyConnectionsFromHandle([{ nodeType: 'typeA', handleId: 'h1' }]);
+    const connection = { source: 'nodeA', sourceHandle: 'h1', target: 'nodeB', targetHandle: 'h2' };
+    const context = { connectionCount: 0, source: { id: 'nodeA', handleId: 'h1' }, target: { id: 'nodeB', handleId: 'h2' } };
+
+    const result = rule(connection, context);
+    expect(result).toEqual(ruleResult.satisfied);
+  });
+
+  it('should not allow connection from node with wrong handle', () => {
+    const rule = allowOnlyConnectionsFromHandle([{ nodeType: 'typeA', handleId: 'h1' }]);
+    const connection = { source: 'nodeA', sourceHandle: 'wrongHandle', target: 'nodeB', targetHandle: 'h2' };
+    const context = { connectionCount: 0, source: { id: 'nodeA', handleId: 'wrongHandle' }, target: { id: 'nodeB', handleId: 'h2' } };
+
+    const result = rule(connection, context);
+    expect(result).toEqual(ruleResult.notSatisfied("the target doesn't allow connections from nodes with type: typeA"));
+  });
+
+  it('should not allow connection from node with wrong type', () => {
+    const rule = allowOnlyConnectionsFromHandle([{ nodeType: 'typeA', handleId: 'h1' }]);
+    const connection = { source: 'nodeB', sourceHandle: 'h1', target: 'nodeA', targetHandle: 'h2' };
+    const context = { connectionCount: 0, source: { id: 'nodeB', handleId: 'h1' }, target: { id: 'nodeA', handleId: 'h2' } };
+
+    const result = rule(connection, context);
+    expect(result).toEqual(ruleResult.notSatisfied("the target doesn't allow connections from nodes with type: typeB"));
+  });
+});
+
+describe('noSelfConnections', () => {
+  it('should allow connection from node with other type and handle', () => {
+    const rule = noSelfConnections;
+    const connection = { source: 'nodeA', sourceHandle: 'h1', target: 'nodeB', targetHandle: 'h2' };
+    const context = { connectionCount: 0, source: { id: 'nodeA', handleId: 'h1' }, target: { id: 'nodeB', handleId: 'h2' } };
+
+    const result = rule(connection, context);
+    expect(result).toEqual(ruleResult.satisfied);
+  });
+
+  it('should not allow connection from other handle on same node', () => {
+    const rule = noSelfConnections;
+    const connection = { source: 'nodeA', sourceHandle: 'h1', target: 'nodeA', targetHandle: 'h2' };
+    const context = { connectionCount: 0, source: { id: 'nodeA', handleId: 'h1' }, target: { id: 'nodeB', handleId: 'h2' } };
+
+    const result = rule(connection, context);
+    expect(result).toEqual(ruleResult.notSatisfied("nodes are not allowed to connect to themselves"));
+  });
+
+});
--- a/test/pages/visProgPage/visualProgrammingUI/VisProgStores.test.tsx
+++ b/test/pages/visProgPage/visualProgrammingUI/VisProgStores.test.tsx
@@ -1,4 +1,12 @@
 import {act} from '@testing-library/react';
+import {
+  type Connection,
+  type Edge,
+  type Node,
+} from "@xyflow/react";
+import type {HandleRule, RuleResult} from "../../../../src/pages/VisProgPage/visualProgrammingUI/HandleRuleLogic.ts";
+import { NodeDisconnections } from "../../../../src/pages/VisProgPage/visualProgrammingUI/NodeRegistry.ts";
+import type {PhaseNodeData} from "../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx";
 import useFlowStore from '../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx';
 import { mockReactFlow } from '../../../setupFlowTests.ts';

@@ -6,18 +14,187 @@ beforeAll(() => {
  mockReactFlow();
 });

+// default state values for testing,
+const normNode: Node = {
+  id: 'norm-1',
+  type: 'norm',
+  position: { x: 0, y: 0 },
+  data: {
+    label: 'Test Norm',
+    droppable: true,
+    norm: 'Test',
+    hasReduce: true,
+  },
+};
+
+const phaseNode: Node = {
+  id: 'phase-1',
+  type: 'phase',
+  position: { x: 100, y: 0 },
+  data: {
+    label: 'Phase 1',
+    droppable: true,
+    children: ["norm-1"],
+    hasReduce: true,
+  },
+};
+
+const testEdge: Edge = {
+  id: 'xy-edge__1-2',
+  source: 'norm-1',
+  target: 'phase-1',
+  sourceHandle: null,
+  targetHandle: null,
+}
+
+const testStateReconnectEnd = {
+  nodes: [phaseNode, normNode],
+  edges: [testEdge],
+}
+
+const phaseNodeUnconnected = {
+  id: 'phase-2',
+  type: 'phase',
+  position: { x: 100, y: 0 },
+  data: {
+    label: 'Phase 2',
+    droppable: true,
+    children: [],
+    hasReduce: true,
+  },
+};
+
+const testConnection: Connection = {
+  source: 'norm-1',
+  target: 'phase-2',
+  sourceHandle: null,
+  targetHandle: null,
+}
+const testStateOnConnect = {
+  nodes: [phaseNodeUnconnected, normNode],
+  edges: [],
+}
+
 describe('FlowStore Functionality', () => {
  describe('Node changes', () => {
    // currently just using a single function from the ReactFlow library,
    // so testing would mean we are testing already tested behavior.
    // if implementation gets modified tests should be added for custom behavior
  });
+  describe('ReactFlow onEdgesDelete', () => {
+    test('Deleted edge is reflected in removed phaseNode child', () => {
+      const {onEdgesDelete} = useFlowStore.getState();
+
+      useFlowStore.setState({
+        nodes: [{
+          id: 'phase-1',
+          type: 'phase',
+          position: { x: 100, y: 0 },
+          data: {
+            label: 'Phase 1',
+            droppable: true,
+            children: ["norm-1"],
+            hasReduce: true,
+          },
+        },{
+          id: 'norm-1',
+          type: 'norm',
+          position: { x: 0, y: 0 },
+          data: {
+            label: 'Test Norm',
+            droppable: true,
+            norm: 'Test',
+            hasReduce: true,
+          },
+        }],
+        edges: [], // edges is empty as onEdgesDelete is triggered after the edges are deleted
+      })
+
+      act(() => {
+        onEdgesDelete([testEdge])
+      });
+
+      const outcome = useFlowStore.getState();
+      expect((outcome.nodes[0].data as PhaseNodeData).children.length).toBe(0);
+    })
+    test('Deleted edge is reflected in phaseNode,even if normNode was already deleted and caused edge removal', () => {
+      const { onEdgesDelete } = useFlowStore.getState();
+      useFlowStore.setState({
+        nodes: [{
+          id: 'phase-1',
+          type: 'phase',
+          position: { x: 100, y: 0 },
+          data: {
+            label: 'Phase 1',
+            droppable: true,
+            children: ["norm-1"],
+            hasReduce: true,
+          },
+        }],
+        edges: [], // edges is empty as onEdgesDelete is triggered after the edges are deleted
+      })
+
+      act(() => {
+        onEdgesDelete([testEdge]);
+      })
+
+      const outcome = useFlowStore.getState();
+      expect((outcome.nodes[0].data as PhaseNodeData).children.length).toBe(0);
+    })
+    test('edge removal resulting from deletion of targetNode calls only the connection function for the sourceNode', () => {
+      const { onEdgesDelete } = useFlowStore.getState();
+      useFlowStore.setState({
+        nodes: [{
+          id: 'norm-1',
+          type: 'norm',
+          position: { x: 0, y: 0 },
+          data: {
+            label: 'Test Norm',
+            droppable: true,
+            norm: 'Test',
+            hasReduce: true,
+          },
+        }],
+        edges: [], // edges is empty as onEdgesDelete is triggered after the edges are deleted
+      })
+
+      const targetDisconnectSpy = jest.spyOn(NodeDisconnections.Targets, 'phase');
+      const sourceDisconnectSpy = jest.spyOn(NodeDisconnections.Sources, 'norm');
+
+      act(() => {
+        onEdgesDelete([testEdge]);
+      })
+
+      expect(sourceDisconnectSpy).toHaveBeenCalledWith(normNode, 'phase-1');
+      expect(targetDisconnectSpy).not.toHaveBeenCalled();
+
+      sourceDisconnectSpy.mockRestore();
+      targetDisconnectSpy.mockRestore();
+    })
+  })
  describe('Edge changes', () => {
    // currently just using a single function from the ReactFlow library,
    // so testing would mean we are testing already tested behavior.
    // if implementation gets modified tests should be added for custom behavior
  })
  describe('ReactFlow onConnect', () => {
+    test('Adds connecting node to children of phaseNode', () => {
+      const {onConnect} = useFlowStore.getState();
+      useFlowStore.setState({
+        nodes: testStateOnConnect.nodes,
+        edges: testStateOnConnect.edges
+      })
+
+      act(() => {
+        onConnect(testConnection);
+      })
+
+      const outcome = useFlowStore.getState();
+
+      // phaseNode adds the normNode to its children
+      expect((outcome.nodes[0].data as PhaseNodeData).children).toEqual(['norm-1']);
+
+    })
    test('adds an edge when onConnect is triggered', () => {
      const {onConnect} = useFlowStore.getState();

@@ -39,6 +216,53 @@ describe('FlowStore Functionality', () => {
    });
  });
  describe('ReactFlow onReconnect', () => {
+    test('PhaseNodes correctly change their children', () => {
+      const {onReconnect} = useFlowStore.getState();
+      useFlowStore.setState({
+        nodes: [{
+          id: 'phase-1',
+          type: 'phase',
+          position: { x: 100, y: 0 },
+          data: {
+            label: 'Phase 1',
+            droppable: true,
+            children: ["norm-1"],
+            hasReduce: true,
+          },
+        },{
+          id: 'phase-2',
+          type: 'phase',
+          position: { x: 100, y: 0 },
+          data: {
+            label: 'Phase 2',
+            droppable: true,
+            children: [],
+            hasReduce: true,
+          },
+        },{
+          id: 'norm-1',
+          type: 'norm',
+          position: { x: 0, y: 0 },
+          data: {
+            label: 'Test Norm',
+            droppable: true,
+            norm: 'Test',
+            hasReduce: true,
+          },
+        }],
+        edges: [testEdge],
+      })
+
+      act(() => {
+        onReconnect(testEdge, testConnection);
+      })
+
+      const outcome = useFlowStore.getState();
+
+      // phaseNodes lose and gain children when norm node's connection is changed from phaseNode to PhaseNodeUnconnected
+      expect((outcome.nodes[1].data as PhaseNodeData).children).toEqual(['norm-1']);
+      expect((outcome.nodes[0].data as PhaseNodeData).children).toEqual([]);
+    })
    test('reconnects an existing edge when onReconnect is triggered', () => {
      const {onReconnect} = useFlowStore.getState();
      const oldEdge = {
@@ -93,36 +317,63 @@ describe('FlowStore Functionality', () => {
      );
    });

+
+
    test('successfully removes edge if no successful reconnect occurred', () => {
      const {onReconnectEnd} = useFlowStore.getState();
-      useFlowStore.setState({edgeReconnectSuccessful: false});
+      useFlowStore.setState({
+        edgeReconnectSuccessful: false,
+        edges: testStateReconnectEnd.edges,
+        nodes: testStateReconnectEnd.nodes
+      });

      act(() => {
-        onReconnectEnd(null, {id: 'xy-edge__A-B'});
+        onReconnectEnd(null, testEdge);
      });

      const updatedState = useFlowStore.getState();
      expect(updatedState.edgeReconnectSuccessful).toBe(true);
      expect(updatedState.edges).toHaveLength(0);
+      expect(updatedState.nodes[0].data.children).toEqual([]);
    });

    test('does not remove reconnecting edge if successful reconnect occurred', () => {
      const {onReconnectEnd} = useFlowStore.getState();
+      useFlowStore.setState({
+        edgeReconnectSuccessful: true,
+        edges: [testEdge],
+        nodes: [{
+          id: 'phase-1',
+          type: 'phase',
+          position: { x: 100, y: 0 },
+          data: {
+            label: 'Phase 1',
+            droppable: true,
+            children: ["norm-1"],
+            hasReduce: true,
+          },
+        },{
+          id: 'norm-1',
+          type: 'norm',
+          position: { x: 0, y: 0 },
+          data: {
+            label: 'Test Norm',
+            droppable: true,
+            norm: 'Test',
+            hasReduce: true,
+          },
+        }]
+      });

      act(() => {
-        onReconnectEnd(null, {id: 'xy-edge__A-B'});
+        onReconnectEnd(null, testEdge);
      });

      const updatedState = useFlowStore.getState();
      expect(updatedState.edgeReconnectSuccessful).toBe(true);
      expect(updatedState.edges).toHaveLength(1);
-      expect(updatedState.edges).toMatchObject([
-        {
-          id: 'xy-edge__A-B',
-          source: 'A',
-          target: 'B'
-        }]
-      );
+      expect(updatedState.edges).toMatchObject([testEdge]);
+      expect(updatedState.nodes[0].data.children).toEqual(["norm-1"]);
    });
  });
  describe('ReactFlow deleteNode', () => {
@@ -151,6 +402,7 @@ describe('FlowStore Functionality', () => {
          }]
      });

+
      act(()=> {
        deleteNode(nodeId);
      });
@@ -221,4 +473,175 @@ describe('FlowStore Functionality', () => {
      });
    });
  });
+  describe('ReactFlow updateNodeData', () => {
+    test.each([
+      {
+        state: {
+          name: 'updateName',
+          nodes: [{
+            id: 'phase-1',
+            type: 'phase',
+            position: {x: 0, y: 300},
+            data: {label: 'name', number: '2'}
+          }]
+        },
+        input: {
+          id: 'phase-1',
+          changedData: {label: 'new name'}
+        },
+        expected: {
+          node: {
+            id: 'phase-1',
+            type: 'phase',
+            position: {x: 0, y: 300},
+            data: {label: 'new name', number: '2'}
+          }
+        }
+      },
+      {
+        state: {
+          name: 'updateNumber',
+          nodes: [{
+            id: 'phase-1',
+            type: 'phase',
+            position: {x: 0, y: 300},
+            data: {label: 'name', number: '2'}
+          }]
+        },
+        input: {
+          id: 'phase-1',
+          changedData: {number: '3'}
+        },
+        expected: {
+          node: {
+            id: 'phase-1',
+            type: 'phase',
+            position: {x: 0, y: 300},
+            data: {label: 'name', number: '3'}
+          }
+        }
+      },
+      {
+        state: {
+          name: 'updateNameAndNumber',
+          nodes: [{
+            id: 'phase-1',
+            type: 'phase',
+            position: {x: 0, y: 300},
+            data: {label: 'name', number: '2'}
+          }]
+        },
+        input: {
+          id: 'phase-1',
+          changedData: {label: 'new name', number: '3'}
+        },
+        expected: {
+          node: {
+            id: 'phase-1',
+            type: 'phase',
+            position: {x: 0, y: 300},
+            data: {label: 'new name', number: '3'}
+          }
+        }
+      },
+      {
+        state: {
+          name: 'AddNewEntry',
+          nodes: [{
+            id: 'phase-1',
+            type: 'phase',
+            position: {x: 0, y: 300},
+            data: {label: 'name', number: '2'}
+          }]
+        },
+        input: {
+          id: 'phase-1',
+          changedData: {newEntry: 20}
+        },
+        expected: {
+          node: {
+            id: 'phase-1',
+            type: 'phase',
+            position: {x: 0, y: 300},
+            data: {label: 'name', number: '2', newEntry: 20}
+          }
+        }
+      },
+      {
+        state: {
+          name: 'AddNewEntryAndUpdateOneValue_UnorderedInput',
+          nodes: [{
+            id: 'phase-1',
+            type: 'phase',
+            position: {x: 0, y: 300},
+            data: {label: 'name', number: '2'}
+          }]
+        },
+        input: {
+          id: 'phase-1',
+          changedData: {newEntry: 20, number: '3'}
+        },
+        expected: {
+          node: {
+            id: 'phase-1',
+            type: 'phase',
+            position: {x: 0, y: 300},
+            data: {label: 'name', number: '3', newEntry: 20}
+          }
+        }
+      }
+    ])(`tests state: $state.name`, ({state, input,expected}) => {
+      useFlowStore.setState({ nodes: state.nodes })
+      const {updateNodeData} = useFlowStore.getState();
+      act(() => {
+        updateNodeData(input.id, input.changedData);
+      })
+      const updatedState = useFlowStore.getState();
+      expect(updatedState.nodes).toHaveLength(1);
+      expect(updatedState.nodes[0]).toMatchObject(expected.node);
+    })
+  describe('Handle Rule Registry', () => {
+    it('should register and retrieve rules', () => {
+      const mockRules: HandleRule[] = [() => ({ isSatisfied: true } as RuleResult)];
+
+      useFlowStore.getState().registerRules('node1', 'handleA', mockRules);
+      const rules = useFlowStore.getState().getTargetRules('node1', 'handleA');
+
+      expect(rules).toEqual(mockRules);
+    });
+
+    it('should warn and return empty array if rules are missing', () => {
+      const consoleSpy = jest.spyOn(console, 'warn').mockImplementation(() => {});
+
+      const rules = useFlowStore.getState().getTargetRules('missingNode', 'missingHandle');
+      expect(rules).toEqual([]);
+      expect(consoleSpy).toHaveBeenCalledWith(expect.stringContaining('No rules were registered'));
+
+      consoleSpy.mockRestore();
+    });
+
+    it('should unregister a specific handle rule', () => {
+      const mockRules: HandleRule[] = [() => ({ isSatisfied: true } as RuleResult)];
+      useFlowStore.getState().registerRules('node1', 'handleA', mockRules);
+
+      useFlowStore.getState().unregisterHandleRules('node1', 'handleA');
+      const rules = useFlowStore.getState().getTargetRules('node1', 'handleA');
+
+      expect(rules).toEqual([]);
+    });
+
+    it('should unregister all rules for a node', () => {
+      const mockRules: HandleRule[] = [() => ({ isSatisfied: true } as RuleResult)];
+      useFlowStore.getState().registerRules('node1', 'handleA', mockRules);
+      useFlowStore.getState().registerRules('node1', 'handleB', mockRules);
+      useFlowStore.getState().registerRules('node2', 'handleC', mockRules);
+
+      useFlowStore.getState().unregisterNodeRules('node1');
+
+      expect(useFlowStore.getState().getTargetRules('node1', 'handleA')).toEqual([]);
+      expect(useFlowStore.getState().getTargetRules('node1', 'handleB')).toEqual([]);
+      expect(useFlowStore.getState().getTargetRules('node2', 'handleC')).toEqual(mockRules);
+    });
+  });
+})
 });
--- a/test/pages/visProgPage/visualProgrammingUI/components/DragDropSidebar.test.tsx
+++ b/test/pages/visProgPage/visualProgrammingUI/components/DragDropSidebar.test.tsx
@@ -1,33 +1,110 @@
-import { mockReactFlow } from '../../../../setupFlowTests.ts';
-import {act} from "@testing-library/react";
-import useFlowStore from "../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx";
-import {addNode} from "../../../../../src/pages/VisProgPage/visualProgrammingUI/components/DragDropSidebar.tsx";
+import { getByTestId, render } from '@testing-library/react';
+import userEvent from '@testing-library/user-event';
+import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
+import VisProgPage from '../../../../../src/pages/VisProgPage/VisProg';


-beforeAll(() => {
-  mockReactFlow();
+
+class ResizeObserver {
+  observe() {}
+  unobserve() {}
+  disconnect() {}
+}
+window.ResizeObserver = ResizeObserver;
+
+jest.mock('@neodrag/react', () => ({
+  useDraggable: (ref: React.RefObject<HTMLElement>, options: any) => {
+    // We access the real useEffect from React to attach a listener
+    // This bridges the gap between the test's userEvent and the component's logic
+    const { useEffect } = jest.requireActual('react');
+    
+    useEffect(() => {
+      const element = ref.current;
+      if (!element) return;
+
+      // When the test fires a "pointerup" (end of click/drag), 
+      // we manually trigger the library's onDragEnd callback.
+      const handlePointerUp = (e: PointerEvent) => {
+        if (options.onDragEnd) {
+          options.onDragEnd({ event: e });
+        }
+      };
+
+      element.addEventListener('pointerup', handlePointerUp as EventListener);
+      return () => {
+        element.removeEventListener('pointerup', handlePointerUp as EventListener);
+      };
+    }, [ref, options]);
+  },
+}));
+
+// We will mock @xyflow/react so we control screenToFlowPosition
+jest.mock('@xyflow/react', () => {
+  const actual = jest.requireActual('@xyflow/react');
+  return {
+    ...actual,
+    useReactFlow: () => ({
+      screenToFlowPosition: ({ x, y }: { x: number; y: number }) => ({
+        x: x - 100,
+        y: y - 100,
+      }),
+    }),
+  };
 });

-describe('Drag-and-Drop sidebar', () => {
-  test.each(['phase', 'phase'])('new nodes get added correctly', (nodeType: string) => {
-    act(()=> {
-      addNode(nodeType, {x:100, y:100});
-    })
-    const updatedState = useFlowStore.getState();
-    expect(updatedState.nodes.length).toBe(1);
-    expect(updatedState.nodes[0].type).toBe(nodeType);
+describe("Drag & drop node creation", () => {
+
+  test("drops a phase node inside the canvas and adds it with transformed position", async () => {
+    const user = userEvent.setup();
+
+    const { container } = render(<VisProgPage />);
+
+    // --- Mock ReactFlow bounding box ---
+    // Your DndToolbar checks these values:
+    const flowEl = container.querySelector('.react-flow');
+    jest.spyOn(flowEl!, 'getBoundingClientRect').mockReturnValue({
+      left: 0,
+      right: 800,
+      top: 0,
+      bottom: 600,
+      width: 800,
+      height: 600,
+      x: 0,
+      y: 0,
+      toJSON: () => {},
+    });
+
+  
+    const phaseLabel = getByTestId(container, 'draggable-phase')
+  
+    await user.pointer([
+      // touch the screen at element1
+      {keys: '[TouchA>]', target: phaseLabel},
+      // move the touch pointer to element2
+      {pointerName: 'TouchA', coords: {x: 300, y: 250}},
+      // release the touch pointer at the last position (element2)
+      {keys: '[/TouchA]'},
+    ]);
+
+    // Read the Zustand store
+    const { nodes } = useFlowStore.getState();
+
+    // --- Assertions ---
+    expect(nodes.length).toBe(1);
+
+    const node = nodes[0];
+
+    expect(node.type).toBe("phase");
+
+    // UUID Expression
+    expect(node.id).toMatch(
+    /^[0-9a-f]{8}-[0-9a-f]{4}-4[0-9a-f]{3}-[89ab][0-9a-f]{3}-[0-9a-f]{12}$/i
+    );
+
+    // screenToFlowPosition was mocked to subtract 100
+    expect(node.position).toEqual({
+      x: 200,
+      y: 150,
+    });
  });
-  test.each(['phase', 'norm'])('new nodes get correct Id', (nodeType) => {
-    act(()=> {
-      addNode(nodeType, {x:100, y:100});
-      addNode(nodeType, {x:100, y:100});
-    })
-    const updatedState = useFlowStore.getState();
-    expect(updatedState.nodes.length).toBe(2);
-    expect(updatedState.nodes[0].id).toBe(`${nodeType}-1`);
-    expect(updatedState.nodes[1].id).toBe(`${nodeType}-2`);
-  });
-  test('throws error on unexpected node type', () => {
-      expect(() => addNode('I do not Exist', {x:100, y:100})).toThrow("Node I do not Exist not found");
-  })
 });
--- a/test/pages/visProgPage/visualProgrammingUI/components/EditorWarnings.test.tsx
+++ b/test/pages/visProgPage/visualProgrammingUI/components/EditorWarnings.test.tsx
@@ -0,0 +1,152 @@
+import { describe, it, expect} from '@jest/globals';
+import {
+  type EditorWarning, warningSummary
+} from "../../../../../src/pages/VisProgPage/visualProgrammingUI/components/EditorWarnings.tsx";
+import useFlowStore from "../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx";
+
+
+function makeWarning(
+  overrides?: Partial<EditorWarning>
+): EditorWarning {
+  return {
+    scope: { id: 'node-1' },
+    type: 'MISSING_INPUT',
+    severity: 'ERROR',
+    description: 'Missing input',
+    ...overrides,
+  };
+}
+
+describe("editorWarnings", () => {
+  describe('registerWarning', () => {
+    it('registers a node-level warning', () => {
+      const warning = makeWarning();
+      const {registerWarning, getWarnings} = useFlowStore.getState()
+      registerWarning(warning);
+
+      const warnings = getWarnings();
+      expect(warnings).toHaveLength(1);
+      expect(warnings[0]).toEqual(warning);
+    });
+
+    it('registers a handle-level warning with scoped key', () => {
+      const warning = makeWarning({
+        scope: { id: 'node-1', handleId: 'input-1' },
+      });
+      const {registerWarning} = useFlowStore.getState()
+      registerWarning(warning);
+      const nodeWarnings = useFlowStore.getState().editorWarningRegistry.get('node-1');
+      expect(nodeWarnings?.has('MISSING_INPUT:input-1') === true).toBe(true);
+    });
+
+    it('updates severityIndex correctly', () => {
+      const {registerWarning, severityIndex} = useFlowStore.getState()
+      registerWarning(makeWarning());
+      expect(severityIndex.get('ERROR')!.size).toBe(1);
+    });
+  });
+
+  describe('getWarningsBySeverity', () => {
+    it('returns only warnings of requested severity', () => {
+      const {registerWarning, getWarningsBySeverity} = useFlowStore.getState()
+      registerWarning(
+        makeWarning({ severity: 'ERROR' })
+      );
+
+      registerWarning(
+        makeWarning({
+          severity: 'WARNING',
+          type: 'MISSING_OUTPUT',
+        })
+      );
+
+      const errors = getWarningsBySeverity('ERROR');
+      const warnings = getWarningsBySeverity('WARNING');
+
+      expect(errors).toHaveLength(1);
+      expect(warnings).toHaveLength(1);
+    });
+  });
+
+  describe('isProgramValid', () => {
+    it('returns true when no ERROR warnings exist', () => {
+      expect(useFlowStore.getState().isProgramValid()).toBe(true);
+    });
+
+    it('returns false when ERROR warnings exist', () => {
+      const {registerWarning, isProgramValid} = useFlowStore.getState()
+      registerWarning(makeWarning());
+      expect(isProgramValid()).toBe(false);
+    });
+  });
+
+  describe('unregisterWarning', () => {
+    it('removes warning from registry and severityIndex', () => {
+      const warning = makeWarning();
+      const {
+        registerWarning,
+        getWarnings,
+        unregisterWarning,
+        severityIndex
+      } = useFlowStore.getState()
+
+      registerWarning(warning);
+
+      unregisterWarning('node-1', 'MISSING_INPUT');
+
+      expect(getWarnings()).toHaveLength(0);
+      expect(severityIndex.get('ERROR')!.size).toBe(0);
+    });
+
+    it('does nothing if warning does not exist', () => {
+      expect(() =>
+        useFlowStore.getState().unregisterWarning('node-1', 'DOES_NOT_EXIST')
+      ).not.toThrow();
+    });
+  });
+
+  describe('unregisterWarningsForId', () => {
+    it('removes all warnings for a node', () => {
+      const {registerWarning, unregisterWarningsForId, getWarnings, severityIndex} = useFlowStore.getState()
+      registerWarning(
+        makeWarning({
+          scope: { id: 'node-1', handleId: 'h1' },
+        })
+      );
+
+      registerWarning(
+        makeWarning({
+          scope: { id: 'node-1' },
+          type: 'MISSING_OUTPUT',
+          severity: 'WARNING',
+        })
+      );
+
+      unregisterWarningsForId('node-1');
+
+      expect(getWarnings()).toHaveLength(0);
+      expect(
+        severityIndex.get('ERROR')!.size
+      ).toBe(0);
+      expect(
+        severityIndex.get('WARNING')!.size
+      ).toBe(0);
+    });
+  });
+
+  describe('warningSummary', () => {
+    it('returns correct counts and validity', () => {
+      const {registerWarning} = useFlowStore.getState()
+      registerWarning(
+        makeWarning({ severity: 'ERROR' })
+      );
+
+      const summary = warningSummary();
+
+      expect(summary.error).toBe(1);
+      expect(summary.warning).toBe(0);
+      expect(summary.info).toBe(0);
+      expect(summary.isValid).toBe(false);
+    });
+  });
+})
--- a/test/pages/visProgPage/visualProgrammingUI/components/GestureValueEditor.test.tsx
+++ b/test/pages/visProgPage/visualProgrammingUI/components/GestureValueEditor.test.tsx
@@ -0,0 +1,132 @@
+import { useState } from 'react';
+import userEvent from '@testing-library/user-event';
+import { renderWithProviders, screen } from '../../../../test-utils/test-utils.tsx';
+import GestureValueEditor from '../../../../../src/pages/VisProgPage/visualProgrammingUI/components/GestureValueEditor';
+
+function TestHarness({ initialValue = '', initialType=true, placeholder = 'Gesture name' } : { initialValue?: string, initialType?: boolean, placeholder?: string }) {
+  const [value, setValue] = useState(initialValue);
+  const [_, setType] = useState(initialType)
+  return (
+    <GestureValueEditor value={value} setValue={setValue} setType={setType} placeholder={placeholder} />
+  );
+}
+
+describe('GestureValueEditor', () => {
+  let user: ReturnType<typeof userEvent.setup>;
+
+  beforeEach(() => {
+    user = userEvent.setup();
+  });
+
+  test('renders in tag mode by default and allows selecting a tag via button and select', async () => {
+    renderWithProviders(<TestHarness />);
+
+    // Tag selector should be present
+    const select = screen.getByTestId('tagSelectorTestID') as HTMLSelectElement;
+    expect(select).toBeInTheDocument();
+    expect(select.value).toBe('');
+
+    // Choose a tag via select
+    await user.selectOptions(select, 'happy');
+    expect(select.value).toBe('happy');
+
+    // The corresponding tag button should reflect the selection (have the selected class)
+    const happyButton = screen.getByRole('button', { name: /happy/i });
+    expect(happyButton).toBeInTheDocument();
+    expect(happyButton.className).toMatch(/selected/);
+  });
+
+  test('switches to single mode and shows suggestions list', async () => {
+    renderWithProviders(<TestHarness initialValue={'happy'} />);
+
+    const singleButton = screen.getByRole('button', { name: /^single$/i });
+    await user.click(singleButton);
+
+    // Input should be present with placeholder
+    const input = screen.getByPlaceholderText('Gesture name') as HTMLInputElement;
+    expect(input).toBeInTheDocument();
+
+    // Because switching to single populates suggestions, we expect at least one suggestion item
+    const suggestion = await screen.findByText(/Listening_1/);
+    expect(suggestion).toBeInTheDocument();
+  });
+
+  test('typing filters suggestions and selecting a suggestion commits the value and hides the list', async () => {
+    renderWithProviders(<TestHarness />);
+
+    // Switch to single mode
+    await user.click(screen.getByRole('button', { name: /^single$/i }));
+    const input = screen.getByPlaceholderText('Gesture name') as HTMLInputElement;
+
+    // Type a substring that matches some suggestions
+    await user.type(input, 'Listening_2');
+
+    // The suggestion should appear and include the text we typed
+    const matching = await screen.findByText(/Listening_2/);
+    expect(matching).toBeInTheDocument();
+
+    // Click the suggestion
+    await user.click(matching);
+
+    // After selecting, input should contain that suggestion and suggestions should be hidden
+    expect(input.value).toContain('Listening_2');
+    expect(screen.queryByText(/Listening_1/)).toBeNull();
+  });
+
+  test('typing a non-matching string hides the suggestions list', async () => {
+    renderWithProviders(<TestHarness />);
+    await user.click(screen.getByRole('button', { name: /^single$/i }));
+    const input = screen.getByPlaceholderText('Gesture name') as HTMLInputElement;
+
+    await user.type(input, 'no-match-zzz');
+
+    // There should be no suggestion that includes that gibberish
+    expect(screen.queryByText(/no-match-zzz/)).toBeNull();
+  });
+
+  test('switching back to tag mode clears value when it is not a valid tag and preserves it when it is', async () => {
+    renderWithProviders(<TestHarness />);
+
+    // Switch to single mode and pick a suggestion (which is not a semantic tag)
+    await user.click(screen.getByRole('button', { name: /^single$/i }));
+    const input = screen.getByPlaceholderText('Gesture name') as HTMLInputElement;
+    await user.type(input, 'Listening_3');
+    const suggestion = await screen.findByText(/Listening_3/);
+    await user.click(suggestion);
+
+    // Switch back to tag mode -> value should be cleared (not in tag list)
+    await user.click(screen.getByRole('button', { name: /^tag$/i }));
+    const select = screen.getByTestId('tagSelectorTestID') as HTMLSelectElement;
+    expect(select.value).toBe('');
+
+    // Now pick a valid tag and switch to single then back to tag
+    await user.selectOptions(select, 'happy');
+    expect(select.value).toBe('happy');
+
+    // Switch to single and then back to tag; since 'happy' is a valid tag, it should remain
+    await user.click(screen.getByRole('button', { name: /^single$/i }));
+    await user.click(screen.getByRole('button', { name: /^tag$/i }));
+    expect(select.value).toBe('happy');
+  });
+
+  test('focus on input re-shows filtered suggestions when customValue is present', async () => {
+    renderWithProviders(<TestHarness />);
+
+    // Switch to single mode and type to filter
+    await user.click(screen.getByRole('button', { name: /^single$/i }));
+    const input = screen.getByPlaceholderText('Gesture name') as HTMLInputElement;
+
+    await user.type(input, 'Listening_4');
+    const found = await screen.findByText(/Listening_4/);
+    expect(found).toBeInTheDocument();
+
+    // Blur the input
+    input.blur();
+    expect(found).toBeInTheDocument();
+
+    // Focus the input again and ensure the suggestions remain or reappear
+    await user.click(input);
+    const foundAgain = await screen.findByText(/Listening_4/);
+    expect(foundAgain).toBeInTheDocument();
+  });
+});
--- a/test/pages/visProgPage/visualProgrammingUI/components/NodeComponents.test.tsx
+++ b/test/pages/visProgPage/visualProgrammingUI/components/NodeComponents.test.tsx
@@ -0,0 +1,40 @@
+import { fireEvent, screen } from '@testing-library/react';
+import '@testing-library/jest-dom';
+import {Tooltip} from "../../../../../src/pages/VisProgPage/visualProgrammingUI/components/NodeComponents.tsx";
+import {renderWithSidebar} from "../../../../test-utils/test-utils.tsx";
+
+describe('Tooltip component test', () => {
+  afterEach(() => {
+    jest.clearAllMocks();
+  });
+
+  it('renders and shows tooltip content on hover', () => {
+    renderWithSidebar(
+      <Tooltip nodeType="phase">
+        <div>?</div>
+      </Tooltip>
+    );
+
+    const trigger = screen.getByText('?');
+
+    // initially hidden
+    expect(
+      screen.queryByText('Phase tooltip text')
+    ).not.toBeInTheDocument();
+
+    // hover shows tooltip
+    fireEvent.mouseOver(trigger);
+
+    expect(screen.getByText('phase')).toBeInTheDocument();
+    expect(
+      screen.getByText('A phase is a single stage of the program, during a phase Pepper will behave in accordance with any connected norms, goals and triggers')
+    ).toBeInTheDocument();
+
+    // rendered via portal
+    expect(
+      document.body.contains(
+        screen.getByText('A phase is a single stage of the program, during a phase Pepper will behave in accordance with any connected norms, goals and triggers')
+      )
+    ).toBe(true);
+  });
+});
--- a/test/pages/visProgPage/visualProgrammingUI/components/PlanEditor.test.tsx
+++ b/test/pages/visProgPage/visualProgrammingUI/components/PlanEditor.test.tsx
@@ -0,0 +1,521 @@
+import { describe, it, beforeEach, jest } from '@jest/globals';
+import { screen, within } from '@testing-library/react';
+import userEvent from '@testing-library/user-event';
+import type { Node } from '@xyflow/react';
+import { renderWithProviders } from '../../../../test-utils/test-utils.tsx';
+import PlanEditorDialog from '../../../../../src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor';
+import { PlanReduce, type Plan } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/components/Plan';
+import '@testing-library/jest-dom';
+import { GoalReduce, type GoalNodeData } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx';
+import { GoalNodeDefaults } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.default.ts';
+import { insertGoalInPlan } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/components/PlanEditingFunctions.tsx';
+
+
+// Mock structuredClone
+(globalThis as any).structuredClone = jest.fn((val) => JSON.parse(JSON.stringify(val)));
+
+// UUID Regex for checking ID's
+const uuidRegex = /^[0-9a-f]{8}-[0-9a-f]{4}-[1-5][0-9a-f]{3}-[89ab][0-9a-f]{3}-[0-9a-f]{12}$/i;
+
+describe('PlanEditorDialog', () => {
+  let user: ReturnType<typeof userEvent.setup>;
+  const mockOnSave = jest.fn();
+
+  beforeEach(() => {
+    user = userEvent.setup();
+    jest.clearAllMocks();
+  });
+
+  const defaultPlan: Plan = {
+    id: 'plan-1',
+    name: 'Test Plan',
+    steps: [],
+  };
+
+  const extendedPlan: Plan = {
+    id: 'extended-plan-1',
+    name: 'extended test plan',
+    steps: [
+      // Step 1: A wave tag gesture
+      {
+        id: 'firststep',
+        type: 'gesture',
+        isTag: true,
+        gesture: "hello"
+      },
+
+      // Step 2: A single tag gesture
+      {
+        id: 'secondstep',
+        type: 'gesture',
+        isTag: false,
+        gesture: "somefolder/somegesture"
+      },
+
+      // Step 3: A LLM action
+      {
+        id: 'thirdstep',
+        type: 'llm',
+        goal: 'ask the user something or whatever'
+      },
+
+      // Step 4: A speech action
+      {
+        id: 'fourthstep',
+        type: 'speech',
+        text: "I'm a cyborg ninja :>"
+      },
+    ]
+  }
+
+  const planWithSteps: Plan = {
+    id: 'plan-2',
+    name: 'Existing Plan',
+    steps: [
+      { id: 'step-1', text: 'Hello world', type: 'speech' as const },
+      { id: 'step-2', gesture: 'Wave', isTag:true, type: 'gesture' as const },
+    ],
+  };
+
+  const renderDialog = (props: Partial<React.ComponentProps<typeof PlanEditorDialog>> = {}) => {
+    const defaultProps = {
+      plan: undefined,
+      onSave: mockOnSave,
+      description: undefined,
+    };
+
+    return renderWithProviders(<PlanEditorDialog {...defaultProps} {...props} />);
+  };
+
+  describe('Rendering', () => {
+    it('should show "Create Plan" button when no plan is provided', () => {
+      renderDialog();
+      // The button should be visible
+      expect(screen.getByRole('button', { name: 'Create Plan' })).toBeInTheDocument();
+      // The dialog content should NOT be visible initially
+      expect(screen.queryByText(/Add Action/i)).not.toBeInTheDocument();
+    });
+
+    it('should show "Edit Plan" button when a plan is provided', () => {
+      renderDialog({ plan: defaultPlan });
+      expect(screen.getByRole('button', { name: 'Edit Plan' })).toBeInTheDocument();
+    });
+
+    it('should not show "Create Plan" button when a plan exists', () => {
+      renderDialog({ plan: defaultPlan });
+      // Query for the button text specifically, not dialog title
+      expect(screen.queryByRole('button', { name: 'Create Plan' })).not.toBeInTheDocument();
+    });
+  });
+
+  describe('Dialog Interactions', () => {
+    it('should open dialog with "Create Plan" title when creating new plan', async () => {
+      renderDialog();
+      
+      await user.click(screen.getByRole('button', { name: 'Create Plan' }));
+      
+      
+      // One for button, one for dialog.
+      expect(screen.getAllByText('Create Plan').length).toEqual(2);
+    });
+
+    it('should open dialog with "Edit Plan" title when editing existing plan', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+      //  One for button, one for dialog
+      expect(screen.getAllByText('Edit Plan').length).toEqual(2);
+    });
+
+    it('should pre-fill plan name when editing', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+      const nameInput = screen.getByPlaceholderText('Plan name') as HTMLInputElement;
+      expect(nameInput.value).toBe(defaultPlan.name);
+    });
+
+    it('should close dialog when cancel button is clicked', async () => {
+      renderDialog();
+      
+      await user.click(screen.getByRole('button', { name: 'Create Plan' }));
+      await user.click(screen.getByText('Cancel'));
+      
+      expect(screen.queryByRole('dialog')).not.toBeInTheDocument();
+    });
+  });
+
+  describe('Plan Creation', () => {
+    it('should create a new plan with default values', async () => {
+      renderDialog();
+      
+      await user.click(screen.getByRole('button', { name: 'Create Plan' }));
+      
+      // One for the button, one for the dialog
+      expect(screen.getAllByText('Create Plan').length).toEqual(2);
+
+      const nameInput = screen.getByPlaceholderText('Plan name');
+      expect(nameInput).toBeInTheDocument();
+    });
+
+    it('should auto-fill with description when provided', async () => {
+      const description = 'Achieve world peace';
+      renderDialog({ description });
+      
+      await user.click(screen.getByRole('button', { name: 'Create Plan' }));
+      
+      // Check if plan name is pre-filled with description
+      const nameInput = screen.getByPlaceholderText('Plan name') as HTMLInputElement;
+      expect(nameInput.value).toBe(description);
+      
+      // Check if action type is set to LLM
+      const actionTypeSelect = screen.getByLabelText(/Action Type/i) as HTMLSelectElement;
+      expect(actionTypeSelect.value).toBe('llm');
+      
+      // Check if suggestion text is shown
+      expect(screen.getByText('Filled in as a suggestion!')).toBeInTheDocument();
+      expect(screen.getByText('Feel free to change!')).toBeInTheDocument();
+    });
+
+    it('should allow changing plan name', async () => {
+      renderDialog();
+      
+      await user.click(screen.getByRole('button', { name: 'Create Plan' }));
+      
+      const nameInput = screen.getByPlaceholderText('Plan name') as HTMLInputElement;
+      const newName = 'My Custom Plan';
+      
+      // Instead of clear(), select all text and type new value
+      await user.click(nameInput);
+      await user.keyboard('{Control>}a{/Control}'); // Select all (Ctrl+A)
+      await user.keyboard(newName);
+      
+      expect(nameInput.value).toBe(newName);
+    });
+  });
+
+  describe('Action Management', () => {
+    it('should add a speech action to the plan', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+      const actionTypeSelect = screen.getByLabelText(/Action Type/i);
+      const actionValueInput = screen.getByPlaceholderText("Speech text")
+      const addButton = screen.getByText('Add Step');
+      
+      // Set up a speech action
+      await user.selectOptions(actionTypeSelect, 'speech');
+      await user.type(actionValueInput, 'Hello there!');
+      
+      await user.click(addButton);
+      
+      // Check if step was added
+      expect(screen.getByText('speech:')).toBeInTheDocument();
+      expect(screen.getByText('Hello there!')).toBeInTheDocument();
+    });
+
+    it('should add a gesture action to the plan', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: /edit plan/i }));
+      
+      const actionTypeSelect = screen.getByLabelText(/Action Type/i);
+      const addButton = screen.getByText('Add Step');
+      
+      // Set up a gesture action
+      await user.selectOptions(actionTypeSelect, 'gesture');
+      
+      // Find the input field after type change
+      const select = screen.getByTestId("tagSelectorTestID")
+      const options = within(select).getAllByRole('option')
+
+      await user.selectOptions(select, options[1])
+      await user.click(addButton);
+      
+      // Check if step was added
+      expect(screen.getByText('gesture:')).toBeInTheDocument();
+    });
+
+    it('should add an LLM action to the plan', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+      const actionTypeSelect = screen.getByLabelText(/Action Type/i);
+      const addButton = screen.getByText('Add Step');
+      
+      // Set up an LLM action
+      await user.selectOptions(actionTypeSelect, 'llm');
+      
+      // Find the input field after type change
+      const llmInput = screen.getByPlaceholderText(/LLM goal|text/i);
+      await user.type(llmInput, 'Generate a story');
+      
+      await user.click(addButton);
+      
+      // Check if step was added
+      expect(screen.getByText('llm:')).toBeInTheDocument();
+      expect(screen.getByText('Generate a story')).toBeInTheDocument();
+    });
+
+    it('should disable "Add Step" button when action value is empty', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+      const addButton = screen.getByText('Add Step');
+      expect(addButton).toBeDisabled();
+    });
+
+    it('should reset action form after adding a step', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+    
+      const actionValueInput = screen.getByPlaceholderText("Speech text")
+      const addButton = screen.getByText('Add Step');
+      
+      await user.type(actionValueInput, 'Test speech');
+      await user.click(addButton);
+      
+      // Action value should be cleared
+      expect(actionValueInput).toHaveValue('');
+      // Action type should be reset to speech (default)
+      const actionTypeSelect = screen.getByLabelText(/Action Type/i) as HTMLSelectElement;
+      expect(actionTypeSelect.value).toBe('speech');
+    });
+  });
+
+  describe('Step Management', () => {
+    it('should show existing steps when editing a plan', async () => {
+      renderDialog({ plan: planWithSteps });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+      // Check if existing steps are shown
+      expect(screen.getByText('speech:')).toBeInTheDocument();
+      expect(screen.getByText('Hello world')).toBeInTheDocument();
+      expect(screen.getByText('gesture:')).toBeInTheDocument();
+      expect(screen.getByText('Wave')).toBeInTheDocument();
+    });
+
+    it('should show "No steps yet" message when plan has no steps', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+      expect(screen.getByText('No steps yet')).toBeInTheDocument();
+    });
+
+    it('should remove a step when clicked', async () => {
+      renderDialog({ plan: planWithSteps });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+      // Initially have 2 steps
+      expect(screen.getByText('speech:')).toBeInTheDocument();
+      expect(screen.getByText('gesture:')).toBeInTheDocument();
+      
+      // Click on the first step to remove it
+      await user.click(screen.getByText('Hello world'));
+      
+      // First step should be removed
+      expect(screen.queryByText('Hello world')).not.toBeInTheDocument();
+      // Second step should still exist
+      expect(screen.getByText('Wave')).toBeInTheDocument();
+    });
+  });
+
+  describe('Save Functionality', () => {
+    it('should call onSave with new plan when creating', async () => {
+      renderDialog();
+      
+      await user.click(screen.getByRole('button', { name: 'Create Plan' }));
+      
+      // Set plan name
+      const nameInput = screen.getByPlaceholderText('Plan name') as HTMLInputElement;
+      await user.click(nameInput);
+      await user.keyboard('{Control>}a{/Control}');
+      await user.keyboard('My New Plan');
+      
+      // Add a step
+      const actionValueInput = screen.getByPlaceholderText(/text/i);
+      await user.type(actionValueInput, 'First step');
+      await user.click(screen.getByText('Add Step'));
+      
+      // Save the plan
+      await user.click(screen.getByText('Create'));
+      
+      expect(mockOnSave).toHaveBeenCalledWith({
+        id: expect.stringMatching(uuidRegex),
+        name: 'My New Plan',
+        steps: [
+          {
+            id: expect.stringMatching(uuidRegex),
+            text: 'First step',
+            type: 'speech',
+          },
+        ],
+      });
+      expect(screen.queryByRole('dialog')).not.toBeInTheDocument();
+    });
+
+    it('should call onSave with updated plan when editing', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+      // Change plan name
+      const nameInput = screen.getByPlaceholderText('Plan name') as HTMLInputElement;
+      await user.click(nameInput);
+      await user.keyboard('{Control>}a{/Control}');
+      await user.keyboard('Updated Plan Name');
+      
+      // Add a step
+      const actionValueInput = screen.getByPlaceholderText(/text/i);
+      await user.type(actionValueInput, 'New speech action');
+      await user.click(screen.getByText('Add Step'));
+      
+      // Save the plan
+      await user.click(screen.getByText('Confirm'));
+      
+      expect(mockOnSave).toHaveBeenCalledWith({
+        id: defaultPlan.id,
+        name: 'Updated Plan Name',
+        steps: [
+          {
+            id: expect.stringMatching(uuidRegex),
+            text: 'New speech action',
+            type: 'speech',
+          },
+        ],
+      });
+      expect(screen.queryByRole('dialog')).not.toBeInTheDocument();
+    });
+
+    it('should call onSave with undefined when reset button is clicked', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      await user.click(screen.getByText('Reset'));
+      
+      expect(mockOnSave).toHaveBeenCalledWith(undefined);
+      expect(screen.queryByRole('dialog')).not.toBeInTheDocument();
+    });
+
+    it('should disable save button when no draft plan exists', async () => {
+      renderDialog();
+      
+      await user.click(screen.getByRole('button', { name: 'Create Plan' }));
+      
+      // The save button should be enabled since draftPlan exists after clicking Create Plan
+      const saveButton = screen.getByText('Create');
+      expect(saveButton).not.toBeDisabled();
+    });
+  });
+
+  describe('Step Indexing', () => {
+    it('should show correct step numbers', async () => {
+      renderDialog({ plan: defaultPlan });
+      
+      await user.click(screen.getByRole('button', { name: 'Edit Plan' }));
+      
+      // Add multiple steps
+      const actionValueInput = screen.getByPlaceholderText(/text/i);
+      const addButton = screen.getByText('Add Step');
+      
+      await user.type(actionValueInput, 'First');
+      await user.click(addButton);
+      
+      await user.type(actionValueInput, 'Second');
+      await user.click(addButton);
+      
+      await user.type(actionValueInput, 'Third');
+      await user.click(addButton);
+      
+      // Check step numbers
+      expect(screen.getByText('1.')).toBeInTheDocument();
+      expect(screen.getByText('2.')).toBeInTheDocument();
+      expect(screen.getByText('3.')).toBeInTheDocument();
+    });
+  });
+
+  describe('Action Type Switching', () => {
+    it('should update placeholder text when action type changes', async () => {
+      renderDialog();
+      
+      await user.click(screen.getByRole('button', { name: 'Create Plan' }));
+      
+      const actionTypeSelect = screen.getByLabelText(/Action Type/i);
+      
+      // Check speech placeholder
+      await user.selectOptions(actionTypeSelect, 'speech');
+      // The placeholder might be set dynamically, so we need to check the input
+      const speechInput = screen.getByPlaceholderText(/text/i);
+      expect(speechInput).toBeInTheDocument();
+      
+      // Check gesture placeholder
+      await user.selectOptions(actionTypeSelect, 'gesture');
+      const gestureInput = screen.getByTestId("valueEditorTestID")
+      expect(gestureInput).toBeInTheDocument();
+      
+      // Check LLM placeholder
+      await user.selectOptions(actionTypeSelect, 'llm');
+      const llmInput = screen.getByPlaceholderText(/LLM|text/i);
+      expect(llmInput).toBeInTheDocument();
+    });
+  });
+
+  describe('Plan reducing', () => {
+    it('should correctly reduce the plan given the elements of the plan', () => {
+      // Create a plan for testing
+      const testplan = extendedPlan
+      const mockGoalNode: Node<GoalNodeData> = {
+            id: 'goal-1',
+            type: 'goal',
+            position: { x: 0, y: 0 },
+            data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), name: 'mock goal', plan: defaultPlan },
+          };
+
+      // Insert the goal and retrieve its expected data
+      const newTestPlan = insertGoalInPlan(testplan, mockGoalNode)
+      const goalReduced = GoalReduce(mockGoalNode, [mockGoalNode])
+      const expectedResult = {
+        id: "extended-plan-1",
+        steps: [
+          {
+            id: "firststep",
+            gesture: {
+              type: "tag",
+              name: "hello"
+            }
+          },
+          {
+            id: "secondstep",
+            gesture: {
+              type: "single",
+              name: "somefolder/somegesture"
+            }
+          },
+          {
+            id: "thirdstep",
+            goal: "ask the user something or whatever"
+          },
+          {
+            id: "fourthstep",
+            text: "I'm a cyborg ninja :>"
+          },
+            goalReduced,
+        ]
+      }
+      
+      // Check to see it the goal got added, and its reduced data was added to the goals'
+      const actualResult = PlanReduce([mockGoalNode], newTestPlan) 
+      expect(actualResult).toEqual(expectedResult)
+    });
+  })
+});
--- a/test/pages/visProgPage/visualProgrammingUI/components/SaveLoadPanel.test.tsx
+++ b/test/pages/visProgPage/visualProgrammingUI/components/SaveLoadPanel.test.tsx
@@ -0,0 +1,154 @@
+// SaveLoadPanel.all.test.tsx
+import { act, fireEvent, render, screen, waitFor } from '@testing-library/react';
+import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx';
+import SaveLoadPanel from '../../../../../src/pages/VisProgPage/visualProgrammingUI/components/SaveLoadPanel.tsx';
+import { makeProjectBlob } from '../../../../../src/utils/SaveLoad.ts';
+import { mockReactFlow } from "../../../../setupFlowTests.ts"; // optional helper if present
+
+// helper to read Blob contents in tests (works in Node/Jest env)
+async function blobToText(blob: Blob): Promise<string> {
+  if (typeof (blob as any).text === "function") return await (blob as any).text();
+  if (typeof (blob as any).arrayBuffer === "function") {
+    const buf = await (blob as any).arrayBuffer();
+    return new TextDecoder().decode(buf);
+  }
+  return await new Promise<string>((resolve, reject) => {
+    const fr = new FileReader();
+    fr.onload = () => resolve(String(fr.result));
+    fr.onerror = () => reject(fr.error);
+    fr.readAsText(blob);
+  });
+}
+
+beforeAll(() => {
+  // if you have a mockReactFlow helper used in other tests, call it
+  if (typeof mockReactFlow === "function") mockReactFlow();
+});
+
+beforeEach(() => {
+  // clear and seed the zustand store to a known empty state
+  act(() => {
+    const { setNodes, setEdges } = useFlowStore.getState();
+    setNodes([]);
+    setEdges([]);
+  });
+
+  // Ensure URL.createObjectURL exists so jest.spyOn works
+  if (!URL.createObjectURL) URL.createObjectURL = jest.fn();
+});
+
+afterEach(() => {
+  jest.restoreAllMocks();
+});
+
+describe("SaveLoadPanel - combined tests", () => {
+  test("makeProjectBlob creates a valid JSON blob", async () => {
+    const nodes = [
+      {
+        id: "n1",
+        type: "start",
+        position: { x: 0, y: 0 },
+        data: { label: "Start" },
+      } as any,
+    ];
+    const edges: any[] = [];
+
+    const blob = makeProjectBlob("my-project", nodes, edges);
+    expect(blob).toBeInstanceOf(Blob);
+
+    const text = await blobToText(blob);
+    const parsed = JSON.parse(text);
+
+    expect(parsed.name).toBe("my-project");
+    expect(typeof parsed.savedAt).toBe("string");
+    expect(Array.isArray(parsed.nodes)).toBe(true);
+    expect(Array.isArray(parsed.edges)).toBe(true);
+    expect(parsed.nodes).toEqual(nodes);
+    expect(parsed.edges).toEqual(edges);
+  });
+
+  test("onSave creates a blob URL and sets anchor href", async () => {
+    // Seed the store so onSave has nodes to save
+    act(() => {
+      useFlowStore.getState().setNodes([
+        { id: "start", type: "start", position: { x: 0, y: 0 }, data: { label: "start" } } as any,
+      ]);
+      useFlowStore.getState().setEdges([]);
+    });
+
+    // Ensure createObjectURL exists and spy it
+    if (!URL.createObjectURL) URL.createObjectURL = jest.fn();
+    const createObjectURLSpy = jest.spyOn(URL, "createObjectURL").mockReturnValue("blob:fake-url");
+
+    render(<SaveLoadPanel />);
+
+    const saveAnchor = screen.getByText(/Save Graph/i) as HTMLAnchorElement;
+
+    await act(async () => {
+      fireEvent.click(saveAnchor);
+    });
+
+    expect(createObjectURLSpy).toHaveBeenCalledTimes(1);
+    const blobArg = createObjectURLSpy.mock.calls[0][0];
+    expect(blobArg).toBeInstanceOf(Blob);
+
+    expect(saveAnchor.getAttribute("href")).toBe("blob:fake-url");
+
+    const text = await blobToText(blobArg as Blob);
+    const parsed = JSON.parse(text);
+
+    expect(parsed.name).toBeDefined();
+    expect(parsed.nodes).toBeDefined();
+    expect(parsed.edges).toBeDefined();
+
+    createObjectURLSpy.mockRestore();
+  });
+
+  test("onLoad with invalid JSON does not update store", async () => {
+    const file = new File(["not json"], "bad.json", { type: "application/json" });
+    file.text = jest.fn(() => Promise.resolve(`{"bad json`));
+
+    window.alert = jest.fn();
+
+    render(<SaveLoadPanel />);
+    const input = document.querySelector('input[type="file"]') as HTMLInputElement;
+    expect(input).toBeTruthy();
+
+    // Give some input
+    act(() => {
+      fireEvent.change(input, { target: { files: [file] } });
+    });
+
+    await waitFor(() => {
+      expect(window.alert).toHaveBeenCalledTimes(1);
+
+      const nodesAfter = useFlowStore.getState().nodes;
+      expect(nodesAfter).toHaveLength(0);
+      expect(input.value).toBe("");
+    });
+  });
+
+  test("onLoad resolves to null when no file is chosen (user cancels) and does not update store", async () => {
+    render(<SaveLoadPanel />);
+    const input = document.querySelector('input[type="file"]') as HTMLInputElement;
+    expect(input).toBeTruthy();
+
+    // Click Load to set resolver
+    const loadButton = screen.getByLabelText(/load graph/i);
+
+    await act(async () => {
+      fireEvent.click(loadButton);
+      // simulate user cancelling: change with empty files
+      fireEvent.change(input, { target: { files: [] } });
+      await Promise.resolve();
+    });
+
+    await waitFor(() => {
+      const nodesAfter = useFlowStore.getState().nodes;
+      const edgesAfter = useFlowStore.getState().edges;
+      expect(nodesAfter).toHaveLength(0);
+      expect(edgesAfter).toHaveLength(0);
+      expect(input.value).toBe("");
+    });
+  });
+});
--- a/test/pages/visProgPage/visualProgrammingUI/components/ScrollIntoView.test.tsx
+++ b/test/pages/visProgPage/visualProgrammingUI/components/ScrollIntoView.test.tsx
@@ -0,0 +1,14 @@
+import { render } from '@testing-library/react';
+import { act } from '@testing-library/react';
+import ScrollIntoView from '../../../../../src/components/ScrollIntoView';
+
+test('scrolls the element into view on render', () => {
+  const scrollMock = jest.fn();
+  HTMLElement.prototype.scrollIntoView = scrollMock;
+
+  act(() => {
+    render(<ScrollIntoView />);
+  });
+
+  expect(scrollMock).toHaveBeenCalledWith({ behavior: 'smooth' });
+});
--- a/Show More
+++ b/Show More