Merge branch 'feat/monitoringpage-pim' of ssh://git.science.uu.nl/ics/sp/2025/n25b/pepperplus-ui into feat/monitoringpage-pim

feat: added an inferred belief node to the editor

See merge request ics/sp/2025/n25b/pepperplus-ui!42

package-lock.json

@@ -24,6 +24,7 @@
         "@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",
@@ -3698,9 +3699,9 @@
       "license": "MIT"
     },
     "node_modules/baseline-browser-mapping": {
-      "version": "2.8.6",
-      "resolved": "https://registry.npmjs.org/baseline-browser-mapping/-/baseline-browser-mapping-2.8.6.tgz",
-      "integrity": "sha512-wrH5NNqren/QMtKUEEJf7z86YjfqW/2uw3IL3/xpqZUC95SSVIFXYQeeGjL6FT/X68IROu6RMehZQS5foy2BXw==",
+      "version": "2.9.11",
+      "resolved": "https://registry.npmjs.org/baseline-browser-mapping/-/baseline-browser-mapping-2.9.11.tgz",
+      "integrity": "sha512-Sg0xJUNDU1sJNGdfGWhVHX0kkZ+HWcvmVymJbj6NSgZZmW/8S9Y2HQ5euytnIgakgxN6papOAWiwDo1ctFDcoQ==",
       "dev": true,
       "license": "Apache-2.0",
       "bin": {
@@ -4869,9 +4870,9 @@
       }
     },
     "node_modules/glob": {
-      "version": "10.4.5",
-      "resolved": "https://registry.npmjs.org/glob/-/glob-10.4.5.tgz",
-      "integrity": "sha512-7Bv8RF0k6xjo7d4A/PxYLbUCfb6c+Vpd2/mB2yRDlew7Jb5hEXiCD9ibfO7wpk8i4sevK6DFny9h7EYbM3/sHg==",
+      "version": "10.5.0",
+      "resolved": "https://registry.npmjs.org/glob/-/glob-10.5.0.tgz",
+      "integrity": "sha512-DfXN8DfhJ7NH3Oe7cFmu3NCu1wKbkReJ8TorzSAFbSKrlNaQSKfIzqYqVY8zlbs2NLBbWpRiU52GX2PbaBVNkg==",
       "dev": true,
       "license": "ISC",
       "dependencies": {

package.json

@@ -28,6 +28,7 @@
     "@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",

src/App.css

@@ -248,3 +248,11 @@ button.no-button {
     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 */
+}

src/App.tsx

@@ -8,6 +8,7 @@ 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);
 

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 ?? ""}
+      `}
+    />
+  );
+}

src/components/TextField.module.css

@@ -2,6 +2,8 @@
   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;
@@ -25,3 +27,13 @@
 .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%;
+}

src/components/TextField.tsx

@@ -63,7 +63,7 @@ export function RealtimeTextField({
     readOnly={readOnly}
     id={id}
     // ReactFlow uses the "drag" / "nodrag" classes to enable / disable dragging of nodes
-    className={`${readOnly ? "drag" : "nodrag"} ${styles.textField} ${invalid ? styles.invalid : ""} ${className}`}
+    className={`${readOnly ? "drag" : "nodrag"} flex-1 ${styles.textField} ${invalid ? styles.invalid : ""} ${className}`}
     aria-label={ariaLabel}
   />;
 }

src/index.css

@@ -8,6 +8,9 @@
   background-color: #242424;
 
   --accent-color: #008080;
+  --panel-shadow:
+      0 1px 2px white,
+      0 8px 24px rgba(190, 186, 186, 0.253);
 
   font-synthesis: none;
   text-rendering: optimizeLegibility;
@@ -15,6 +18,14 @@
   -moz-osx-font-smoothing: grayscale;
 }
 
+@media (prefers-color-scheme: dark) {
+  :root {
+    --panel-shadow:
+      0 1px 2px rgba(221, 221, 221, 0.178),
+      0 8px 24px rgba(27, 27, 27, 0.507);
+  }
+}
+
 html, body, #root {
   margin: 0;
   padding: 0;
@@ -59,8 +70,21 @@ button:focus-visible {
     background-color: #ffffff;
 
     --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);
+  }
+}

src/pages/MonitoringPage/MonitoringPage.module.css

@@ -0,0 +1,276 @@
+.dashboardContainer {
+  display: grid;
+  grid-template-columns: 2fr 1fr; /* Left = content, Right = logs */
+  grid-template-rows: auto 1fr auto; /* Header, Main, Footer */
+  grid-template-areas:
+    "header logs"
+    "main logs"
+    "footer footer";
+  gap: 1rem;
+  padding: 1rem;
+  background-color: var(--bg-main);
+  color: var(--text-main);
+  font-family: Arial, sans-serif;
+}
+
+/* HEADER */
+.experimentOverview {
+  grid-area: header;
+  display: flex;
+  color: color;
+  justify-content: space-between;
+  align-items: flex-start;
+  background: var(--bg-surface);
+  color: var(--text-main);
+  box-shadow: var(--shadow);
+  padding: 1rem;
+  box-shadow: var(--panel-shadow);
+  position: static; /* ensures it scrolls away */
+}
+
+.phaseProgress {
+  margin-top: 0.5rem;
+}
+
+.phase {
+  display: inline-block;
+  width: 25px;
+  height: 25px;
+  margin: 0 3px;
+  text-align: center;
+  line-height: 25px;
+  background: gray;
+}
+
+.completed {
+  background-color: green;
+  color: white;
+}
+
+.current {
+  background-color: rgb(255, 123, 0);
+  color: white;
+}
+
+.connected {
+  color: green;
+  font-weight: bold;
+}
+
+.disconnected {
+  color: red;
+  font-weight: bold;
+}
+
+.pausePlayInactive{
+  background-color: gray;
+  color: white;
+}
+
+.pausePlayActive{
+  background-color: green;
+  color: white;
+}
+
+.next {
+  background-color: #6c757d;
+  color: white;
+}
+
+.restartExperiment{
+  background-color: red;
+  color: white;
+}
+
+/* MAIN GRID */
+.phaseOverview {
+  grid-area: main;
+  display: grid;
+  grid-template-columns: repeat(2, 1fr);
+  grid-template-rows: repeat(2, auto);
+  gap: 1rem;
+  background: var(--bg-surface);
+  color: var(--text-main);
+  padding: 1rem;
+  box-shadow: var(--panel-shadow);
+  
+}
+
+.phaseBox {
+  background: var(--bg-surface);
+  border: 1px solid var(--border-color);
+  box-shadow: var(--panel-shadow);
+  padding: 1rem;
+  display: flex;         
+  flex-direction: column;
+  box-shadow: inset 0 0 3px rgba(0, 0, 0, 0.05);
+  
+  height: 250px;   
+}
+
+.phaseBox ul {
+  list-style: none;
+  padding: 0;
+  margin: 0;
+  
+  overflow-y: auto;       
+  flex-grow: 1;          
+  
+
+}
+
+.phaseBox ul::-webkit-scrollbar {
+  width: 6px;
+}
+
+.phaseBox ul::-webkit-scrollbar-thumb {
+  background-color: #ccc;
+  border-radius: 10px;
+}
+
+.phaseOverviewText {
+  grid-column: 1 / -1; /* make the title span across both columns */
+  font-size: 1.4rem;
+  font-weight: 600;
+  margin: 0;            /* remove default section margin */
+  padding: 0.25rem 0;   /* smaller internal space */
+}
+
+.phaseOverviewText h3{
+  margin: 0;            /* removes top/bottom whitespace */
+  padding: 0;           /* keeps spacing tight */
+}
+
+.phaseBox h3 {
+  margin-top: 0;
+  border-bottom: 1px solid var(--border-color);
+  padding-bottom: 0.4rem;
+}
+
+.checked::before {
+  content: '✔️ ';
+}
+
+.statusIndicator {
+  display: inline-block;
+  margin-right: 10px;
+  user-select: none; 
+  transition: transform 0.1s ease;
+  font-size: 1.1rem;
+}
+
+.statusIndicator.clickable {
+  cursor: pointer;
+}
+
+.statusIndicator.clickable:hover {
+  transform: scale(1.2);
+}
+
+.clickable {
+  cursor: pointer;
+}
+
+.clickable:hover {
+  transform: scale(1.2);
+}
+
+.active {
+  opacity: 1;
+}
+
+.statusItem {
+  display: flex;
+  align-items: center;
+  margin-bottom: 0.4rem;
+}
+
+.itemDescription {
+  line-height: 1.4;
+}
+
+/* LOGS */
+.logs {
+  grid-area: logs;
+  background: var(--bg-surface);
+  color: var(--text-main);
+  box-shadow: var(--panel-shadow);
+  padding: 1rem;
+  box-shadow: 0 0 5px rgba(0, 0, 0, 0.1);
+}
+
+.logs textarea {
+  width: 100%;
+  height: 83%;
+  margin-top: 0.5rem;
+  background-color: Canvas;
+  color: CanvasText;
+  border: 1px solid var(--border-color);
+}
+
+.logs button {
+  background: var(--bg-surface);
+  box-shadow: var(--panel-shadow);
+  margin-top: 0.5rem;
+  margin-left: 0.5rem;
+}
+
+/* FOOTER */
+.controlsSection {
+  grid-area: footer;
+  display: flex;
+  justify-content: space-between;
+  gap: 1rem;
+  background: var(--bg-surface);
+  color: var(--text-main);
+  box-shadow: var(--panel-shadow);
+  padding: 1rem;
+  box-shadow: 0 0 5px rgba(0, 0, 0, 0.1);
+}
+
+.controlsSection button {
+  background: var(--bg-surface);
+  box-shadow: var(--panel-shadow);
+  margin-top: 0.5rem;
+  margin-left: 0.5rem;
+}
+
+.gestures,
+.speech,
+.directSpeech {
+  flex: 1;
+}
+
+.speechInput {
+  display: flex;
+  margin-top: 0.5rem;
+}
+
+.speechInput input {
+  flex: 1;
+  padding: 0.5rem;
+  background-color: Canvas;
+  color: CanvasText;
+  border: 1px solid var(--border-color);
+}
+
+.speechInput button {
+  color: white;
+  border: none;
+  padding: 0.5rem 1rem;
+  cursor: pointer;
+  background-color: Canvas;
+  color: CanvasText;
+  border: 1px solid var(--border-color);
+}
+
+/* RESPONSIVE */
+@media (max-width: 900px) {
+  .phaseOverview {
+    grid-template-columns: 1fr;
+  }
+
+  .controlsSection {
+    flex-direction: column;
+  }
+}

src/pages/MonitoringPage/MonitoringPage.tsx

@@ -0,0 +1,406 @@
+import React, { useCallback, useState } from 'react';
+import styles from './MonitoringPage.module.css';
+
+// Store & API
+import useProgramStore from "../../utils/programStore";
+import { 
+  nextPhase, 
+  useExperimentLogger, 
+  useStatusLogger, 
+  pauseExperiment, 
+  playExperiment, 
+  type ExperimentStreamData, 
+  type GoalUpdate, 
+  type TriggerUpdate, 
+  type CondNormsStateUpdate, 
+  type PhaseUpdate 
+} from "./MonitoringPageAPI";
+import { graphReducer, runProgramm } from '../VisProgPage/VisProgLogic.ts';
+
+// Types
+import type { NormNodeData } from '../VisProgPage/visualProgrammingUI/nodes/NormNode';
+import type { GoalNode } from '../VisProgPage/visualProgrammingUI/nodes/GoalNode';
+import type { TriggerNode } from '../VisProgPage/visualProgrammingUI/nodes/TriggerNode';
+
+// Sub-components
+import { 
+  GestureControls, 
+  SpeechPresets, 
+  DirectSpeechInput, 
+  StatusList, 
+  RobotConnected 
+} from './MonitoringPageComponents';
+
+// ----------------------------------------------------------------------
+// 1. State management
+// ----------------------------------------------------------------------
+
+/**
+ * Manages the state of the active experiment, including phase progression,
+ * goal tracking, and stream event listeners.
+ */
+function useExperimentLogic() {
+  const getPhaseIds = useProgramStore((s) => s.getPhaseIds);
+  const getPhaseNames = useProgramStore((s) => s.getPhaseNames);
+  const getGoalsInPhase = useProgramStore((s) => s.getGoalsInPhase);
+  const setProgramState = useProgramStore((state) => state.setProgramState);
+
+  const [loading, setLoading] = useState(false);
+  const [activeIds, setActiveIds] = useState<Record<string, boolean>>({});
+  const [goalIndex, setGoalIndex] = useState(0);
+  const [isPlaying, setIsPlaying] = useState(false);
+  const [phaseIndex, setPhaseIndex] = useState(0);
+  const [isFinished, setIsFinished] = useState(false);
+
+  const phaseIds = getPhaseIds();
+  const phaseNames = getPhaseNames();
+
+  // --- Stream Handlers ---
+
+  const handleStreamUpdate = useCallback((data: ExperimentStreamData) => {
+    if (data.type === 'phase_update' && data.id) {
+      const payload = data as PhaseUpdate;
+      console.log(`${data.type} received, id : ${data.id}`);
+
+      if (payload.id === "end") {
+        setIsFinished(true);
+      } else {
+        setIsFinished(false);
+        const newIndex = getPhaseIds().indexOf(payload.id);
+        if (newIndex !== -1) {
+          setPhaseIndex(newIndex);
+          setGoalIndex(0);
+        }
+      }
+    } 
+    else if (data.type === 'goal_update') {
+      const payload = data as GoalUpdate;
+      const currentPhaseGoals = getGoalsInPhase(phaseIds[phaseIndex]) as GoalNode[];
+      const gIndex = currentPhaseGoals.findIndex((g) => g.id === payload.id);
+
+      console.log(`${data.type} received, id : ${data.id}`);
+
+      if (gIndex === -1) {
+        console.warn(`Goal ${payload.id} not found in phase ${phaseNames[phaseIndex]}`);
+      } else {
+        setGoalIndex(gIndex);
+        // Mark all previous goals as achieved
+        setActiveIds((prev) => {
+          const nextState = { ...prev };
+          for (let i = 0; i < gIndex; i++) {
+            nextState[currentPhaseGoals[i].id] = true;
+          }
+          return nextState;
+        });
+      }
+    } 
+    else if (data.type === 'trigger_update') {
+      const payload = data as TriggerUpdate;
+      setActiveIds((prev) => ({ ...prev, [payload.id]: payload.achieved }));
+    }
+  }, [getPhaseIds, getGoalsInPhase, phaseIds, phaseIndex, phaseNames]);
+
+  const handleStatusUpdate = useCallback((data: unknown) => {
+    const payload = data as CondNormsStateUpdate;
+    if (payload.type !== 'cond_norms_state_update') return;
+
+    setActiveIds((prev) => {
+      const hasChanges = payload.norms.some((u) => prev[u.id] !== u.active);
+      if (!hasChanges) return prev;
+      
+      const nextState = { ...prev };
+      payload.norms.forEach((u) => { nextState[u.id] = u.active; });
+      return nextState;
+    });
+  }, []);
+
+  // Connect listeners
+  useExperimentLogger(handleStreamUpdate);
+  useStatusLogger(handleStatusUpdate);
+
+  // --- Actions ---
+
+  const resetExperiment = useCallback(async () => {
+    try {
+      setLoading(true);
+      const phases = graphReducer();
+      setProgramState({ phases });
+
+      setActiveIds({});
+      setPhaseIndex(0);
+      setGoalIndex(0);
+      setIsFinished(false);
+
+      await runProgramm();
+      console.log("Experiment & UI successfully reset.");
+    } catch (err) {
+      console.error("Failed to reset program:", err);
+    } finally {
+      setLoading(false);
+    }
+  }, [setProgramState]);
+
+  const handleControlAction = async (action: "pause" | "play" | "nextPhase") => {
+    try {
+      setLoading(true);
+      switch (action) {
+        case "pause":
+          setIsPlaying(false);
+          await pauseExperiment();
+          break;
+        case "play":
+          setIsPlaying(true);
+          await playExperiment();
+          break;
+        case "nextPhase":
+          await nextPhase();
+          break;
+      }
+    } catch (err) {
+      console.error(err);
+    } finally {
+      setLoading(false);
+    }
+  };
+
+  return {
+    loading,
+    isPlaying,
+    isFinished,
+    phaseIds,
+    phaseNames,
+    phaseIndex,
+    goalIndex,
+    activeIds,
+    setActiveIds,
+    resetExperiment,
+    handleControlAction,
+  };
+}
+
+// ----------------------------------------------------------------------
+// 2. Smaller Presentation Components
+// ----------------------------------------------------------------------
+
+/**
+ * Visual indicator of progress through experiment phases.
+ */
+function PhaseProgressBar({ 
+  phaseIds, 
+  phaseIndex, 
+  isFinished 
+}: { 
+  phaseIds: string[], 
+  phaseIndex: number, 
+  isFinished: boolean 
+}) {
+  return (
+    <div className={styles.phaseProgress}>
+      {phaseIds.map((id, index) => {
+        let statusClass = "";
+        if (isFinished || index < phaseIndex) statusClass = styles.completed;
+        else if (index === phaseIndex) statusClass = styles.current;
+
+        return (
+          <span key={id} className={`${styles.phase} ${statusClass}`}>
+            {index + 1}
+          </span>
+        );
+      })}
+    </div>
+  );
+}
+
+/**
+ * Main control buttons (Play, Pause, Next, Reset).
+ */
+function ControlPanel({ 
+  loading, 
+  isPlaying, 
+  onAction, 
+  onReset 
+}: { 
+  loading: boolean, 
+  isPlaying: boolean, 
+  onAction: (a: "pause" | "play" | "nextPhase") => void, 
+  onReset: () => void 
+}) {
+  return (
+    <div className={styles.experimentControls}>
+      <h3>Experiment Controls</h3>
+      <div className={styles.controlsButtons}>
+        <button
+          className={!isPlaying ? styles.pausePlayActive : styles.pausePlayInactive}
+          onClick={() => onAction("pause")}
+          disabled={loading}
+        >❚❚</button>
+
+        <button
+          className={isPlaying ? styles.pausePlayActive : styles.pausePlayInactive}
+          onClick={() => onAction("play")}
+          disabled={loading}
+        >▶</button>
+
+        <button 
+          className={styles.next} 
+          onClick={() => onAction("nextPhase")} 
+          disabled={loading}
+        >⏭</button>
+
+        <button 
+          className={styles.restartExperiment} 
+          onClick={onReset} 
+          disabled={loading}
+        >⟲</button>
+      </div>
+    </div>
+  );
+}
+
+/**
+ * Displays lists of Goals, Triggers, and Norms for the current phase.
+ */
+function PhaseDashboard({
+  phaseId,
+  activeIds,
+  setActiveIds,
+  goalIndex
+}: {
+  phaseId: string,
+  activeIds: Record<string, boolean>,
+  setActiveIds: React.Dispatch<React.SetStateAction<Record<string, boolean>>>,
+  goalIndex: number
+}) {
+  const getGoalsWithDepth = useProgramStore((s) => s.getGoalsWithDepth);
+  const getTriggers = useProgramStore((s) => s.getTriggersInPhase);
+  const getNorms = useProgramStore((s) => s.getNormsInPhase);
+
+  // Prepare data view models
+  const goals = getGoalsWithDepth(phaseId).map((g) => ({
+    ...g,
+    id: g.id as string,
+    name: g.name as string,
+    achieved: activeIds[g.id as string] ?? false,
+    level: g.level, // Pass this new property to the UI
+  }));
+
+  const triggers = (getTriggers(phaseId) as TriggerNode[]).map(t => ({
+    ...t,
+    achieved: activeIds[t.id] ?? false,
+  }));
+
+  const norms = (getNorms(phaseId) as NormNodeData[])
+    .filter(n => !n.condition)
+    .map(n => ({ ...n, label: n.norm }));
+
+  const conditionalNorms = (getNorms(phaseId) as (NormNodeData & { id: string })[])
+    .filter(n => !!n.condition)
+    .map(n => ({
+      ...n,
+      achieved: activeIds[n.id] ?? false
+    }));
+
+  return (
+    <>
+      <StatusList title="Goals" items={goals} type="goal" activeIds={activeIds} setActiveIds={setActiveIds} currentGoalIndex={goalIndex} />
+      <StatusList title="Triggers" items={triggers} type="trigger" activeIds={activeIds} />
+      <StatusList title="Norms" items={norms} type="norm" activeIds={activeIds} />
+      <StatusList title="Conditional Norms" items={conditionalNorms} type="cond_norm" activeIds={activeIds} />
+    </>
+  );
+}
+
+// ----------------------------------------------------------------------
+// 3. Main Component
+// ----------------------------------------------------------------------
+
+const MonitoringPage: React.FC = () => {
+  const {
+    loading,
+    isPlaying,
+    isFinished,
+    phaseIds,
+    phaseNames,
+    phaseIndex,
+    goalIndex,
+    activeIds,
+    setActiveIds,
+    resetExperiment,
+    handleControlAction
+  } = useExperimentLogic();
+
+  if (phaseIds.length === 0) {
+    return <p className={styles.empty}>No program loaded.</p>;
+  }
+
+  return (
+    <div className={styles.dashboardContainer}>
+      {/* HEADER */}
+      <header className={styles.experimentOverview}>
+        <div className={styles.phaseName}>
+          <h2>Experiment Overview</h2>
+          <p>
+            {isFinished ? (
+              <strong>Experiment finished</strong>
+            ) : (
+              <><strong>Phase {phaseIndex + 1}:</strong> {phaseNames[phaseIndex]}</>
+            )}
+          </p>
+          <PhaseProgressBar phaseIds={phaseIds} phaseIndex={phaseIndex} isFinished={isFinished} />
+        </div>
+
+        <ControlPanel 
+          loading={loading} 
+          isPlaying={isPlaying} 
+          onAction={handleControlAction} 
+          onReset={resetExperiment} 
+        />
+
+        <div className={styles.connectionStatus}>
+          <RobotConnected />
+        </div>
+      </header>
+
+      {/* MAIN GRID */}
+      <main className={styles.phaseOverview}>
+        <section className={styles.phaseOverviewText}>
+          <h3>Phase Overview</h3>
+        </section>
+        
+        {isFinished ? (
+          <div className={styles.finishedMessage}>
+            <p>All phases have been successfully completed.</p>
+          </div>
+        ) : (
+          <PhaseDashboard 
+            phaseId={phaseIds[phaseIndex]} 
+            activeIds={activeIds} 
+            setActiveIds={setActiveIds} 
+            goalIndex={goalIndex} 
+          />
+        )}
+      </main>
+
+      {/* LOGS TODO: add actual logs */}
+      <aside className={styles.logs}>
+        <h3>Logs</h3>
+        <div className={styles.logHeader}>
+          <span>Global:</span>
+          <button>ALL</button>
+          <button>Add</button>
+          <button className={styles.live}>Live</button>
+        </div>
+        <textarea defaultValue="Example Log: much log"></textarea>
+      </aside>
+
+      {/* FOOTER */}
+      <footer className={styles.controlsSection}>
+        <GestureControls />
+        <SpeechPresets />
+        <DirectSpeechInput />
+      </footer>
+    </div>
+  );
+}
+
+export default MonitoringPage;

src/pages/MonitoringPage/MonitoringPageAPI.ts

@@ -0,0 +1,121 @@
+import React, { useEffect } from 'react';
+
+const API_BASE = "http://localhost:8000";
+const API_BASE_BP = API_BASE + "/button_pressed"; //UserInterruptAgent endpoint
+
+/**
+ * HELPER: Unified sender function
+ */
+export const sendAPICall = async (type: string, context: string, endpoint?: string) => {
+  try {
+    const response = await fetch(`${API_BASE_BP}${endpoint ?? ""}`, {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ type, context }),
+    });
+    if (!response.ok) throw new Error("Backend response error");
+    console.log(`API Call send - Type: ${type}, Context: ${context} ${endpoint ? `, Endpoint: ${endpoint}` : ""}`);
+  } catch (err) {
+    console.error(`Failed to send api call:`, err);
+  }
+};
+
+
+/**
+ * Sends an API call to the CB for going to the next phase. 
+ * In case we can't go to the next phase, the function will throw an error.
+ */
+export async function nextPhase(): Promise<void> {
+  const type = "next_phase"
+  const context = ""
+  sendAPICall(type, context)
+}
+
+
+/**
+ * Sends an API call to the CB for going to pause experiment
+*/
+export async function pauseExperiment(): Promise<void> {
+  const type = "pause"
+  const context = "true"
+  sendAPICall(type, context)
+}
+
+/**
+ * Sends an API call to the CB for going to resume experiment
+*/
+export async function playExperiment(): Promise<void> {
+  const type = "pause"
+  const context = "false"
+  sendAPICall(type, context)
+}
+
+
+/**
+ * Types for the experiment stream messages
+ */
+export type PhaseUpdate = { type: 'phase_update'; id: string };
+export type GoalUpdate = { type: 'goal_update'; id: string };
+export type TriggerUpdate = { type: 'trigger_update'; id: string; achieved: boolean };
+export type CondNormsStateUpdate = { type: 'cond_norms_state_update'; norms: { id: string; active: boolean }[] };
+export type ExperimentStreamData = PhaseUpdate | GoalUpdate | TriggerUpdate | CondNormsStateUpdate | Record<string, unknown>;
+
+/**
+ * A hook that listens to the experiment stream that updates current state of the program
+ * via updates sent from the backend
+ */
+export function useExperimentLogger(onUpdate?: (data: ExperimentStreamData) => void) {
+  const callbackRef = React.useRef(onUpdate);
+  // Ref is updated every time with on update
+  React.useEffect(() => {
+    callbackRef.current = onUpdate;
+  }, [onUpdate]);
+
+  useEffect(() => {
+    console.log("Connecting to Experiment Stream...");
+    const eventSource = new EventSource(`${API_BASE}/experiment_stream`);
+
+    eventSource.onmessage = (event) => {
+      try {
+        const parsedData = JSON.parse(event.data) as ExperimentStreamData;
+        //call function using the ref
+        callbackRef.current?.(parsedData);
+      } catch (err) {
+        console.warn("Stream parse error:", err);
+      }
+    };
+
+    eventSource.onerror = (err) => {
+      console.error("SSE Connection Error:", err);
+      eventSource.close();
+    };
+
+    return () => {
+      console.log("Closing Experiment Stream...");
+      eventSource.close();
+    };
+  }, []); 
+}
+
+/**
+ * A hook that listens to the status stream that updates active conditional norms
+ * via updates sent from the backend
+ */
+export function useStatusLogger(onUpdate?: (data: ExperimentStreamData)  => void) {
+  const callbackRef = React.useRef(onUpdate);
+
+  React.useEffect(() => {
+    callbackRef.current = onUpdate;
+  }, [onUpdate]);
+
+  useEffect(() => {
+    const eventSource = new EventSource(`${API_BASE}/status_stream`);
+    eventSource.onmessage = (event) => {
+      try {
+        const parsedData = JSON.parse(event.data);
+        callbackRef.current?.(parsedData);
+      } catch (err) { console.warn("Status stream error:", err); }
+    };
+    return () => eventSource.close();
+  }, []);
+}

src/pages/MonitoringPage/MonitoringPageComponents.tsx

@@ -0,0 +1,232 @@
+import React, { useEffect, useState } from 'react';
+import styles from './MonitoringPage.module.css';
+import { sendAPICall } from './MonitoringPageAPI';
+
+// --- GESTURE COMPONENT ---
+export const GestureControls: React.FC = () => {
+  const [selectedGesture, setSelectedGesture] = useState("animations/Stand/BodyTalk/Speaking/BodyTalk_1");
+
+  const gestures = [
+    { label: "Wave", value: "animations/Stand/Gestures/Hey_1" }, 
+    { label: "Think", value: "animations/Stand/Emotions/Neutral/Puzzled_1" }, 
+    { label: "Explain", value: "animations/Stand/Gestures/Explain_4" }, 
+    { label: "You", value: "animations/Stand/Gestures/You_1" }, 
+    { label: "Happy", value: "animations/Stand/Emotions/Positive/Happy_1" }, 
+    { label: "Laugh", value: "animations/Stand/Emotions/Positive/Laugh_2" }, 
+    { label: "Lonely", value: "animations/Stand/Emotions/Neutral/Lonely_1" }, 
+    { label: "Suprise", value: "animations/Stand/Emotions/Negative/Surprise_1" }, 
+    { label: "Hurt", value: "animations/Stand/Emotions/Negative/Hurt_2" }, 
+    { label: "Angry", value: "animations/Stand/Emotions/Negative/Angry_4" },
+  ];
+  return (
+    <div className={styles.gestures}>
+      <h4>Gestures</h4>
+      <div className={styles.gestureInputGroup}>
+        <select 
+          value={selectedGesture} 
+          onChange={(e) => setSelectedGesture(e.target.value)}
+        >
+          {gestures.map(g => <option key={g.value} value={g.value}>{g.label}</option>)}
+        </select>
+        <button onClick={() => sendAPICall("gesture", selectedGesture)}>
+          Actuate
+        </button>
+      </div>
+    </div>
+  );
+};
+
+// --- PRESET SPEECH COMPONENT ---
+export const SpeechPresets: React.FC = () => {
+  const phrases = [
+    { label: "Hello, I'm Pepper", text: "Hello, I'm Pepper" },
+    { label: "Repeat please", text: "Could you repeat that please" },
+    { label: "About yourself", text: "Tell me something about yourself" },
+  ];
+
+  return (
+    <div className={styles.speech}>
+      <h4>Speech Presets</h4>
+      <ul>
+        {phrases.map((phrase, i) => (
+          <li key={i}>
+            <button 
+              className={styles.speechBtn} 
+              onClick={() =>  sendAPICall("speech", phrase.text)}
+            >
+              "{phrase.label}"
+            </button>
+          </li>
+        ))}
+      </ul>
+    </div>
+  );
+};
+
+// --- DIRECT SPEECH (INPUT) COMPONENT ---
+export const DirectSpeechInput: React.FC = () => {
+  const [text, setText] = useState("");
+
+  const handleSend = () => {
+    if (!text.trim()) return;
+    sendAPICall("speech", text);
+    setText(""); // Clear after sending
+  };
+
+  return (
+    <div className={styles.directSpeech}>
+      <h4>Direct Pepper Speech</h4>
+      <div className={styles.speechInput}>
+        <input 
+          type="text" 
+          value={text}
+          onChange={(e) => setText(e.target.value)}
+          placeholder="Type message..." 
+          onKeyDown={(e) => e.key === 'Enter' && handleSend()}
+        />
+        <button onClick={handleSend}>Send</button>
+      </div>
+    </div>
+  );
+};
+
+// --- interface for goals/triggers/norms/conditional norms ---
+export type StatusItem = {
+  id?: string | number;
+  achieved?: boolean;
+  description?: string;
+  label?: string;
+  norm?: string;
+  name?: string;
+  level?: number;
+};
+
+interface StatusListProps {
+  title: string;
+  items: StatusItem[];
+  type: 'goal' | 'trigger' | 'norm'| 'cond_norm';
+  activeIds: Record<string, boolean>;
+  setActiveIds?: React.Dispatch<React.SetStateAction<Record<string, boolean>>>; 
+  currentGoalIndex?: number;
+}
+
+// --- STATUS LIST COMPONENT ---
+export const StatusList: React.FC<StatusListProps> = ({ 
+  title, 
+  items, 
+  type, 
+  activeIds, 
+  setActiveIds,
+  currentGoalIndex // Destructure this prop
+}) => {
+  return (
+    <section className={styles.phaseBox}>
+      <h3>{title}</h3>
+      <ul>
+        {items.map((item, idx) => {
+          if (item.id === undefined) return null;
+          const isActive = !!activeIds[item.id];
+          const showIndicator = type !== 'norm';
+          const isCurrentGoal = type === 'goal' && idx === currentGoalIndex;
+          const canOverride =  (showIndicator && !isActive) || (type === 'cond_norm' && isActive); 
+
+         const indentation = (item.level || 0) * 20;
+
+          const handleOverrideClick = () => {
+            if (!canOverride) return;
+            if (type === 'cond_norm' && isActive){  
+              {/* Unachieve conditional norm */}
+              sendAPICall("override_unachieve", String(item.id));
+            }
+            else {
+              if(type === 'goal')
+                if(setActiveIds)
+                {setActiveIds(prev => ({ ...prev, [String(item.id)]: true }));}
+            
+              sendAPICall("override", String(item.id));
+            }
+          };
+
+          return (
+            <li key={item.id ?? idx} 
+            className={styles.statusItem}
+            style={{ paddingLeft: `${indentation}px` }}
+            >
+              {showIndicator && (
+                <span 
+                  className={`${styles.statusIndicator} ${isActive ? styles.active : styles.inactive} ${canOverride ? styles.clickable : ''}`}
+                  onClick={handleOverrideClick}
+                >
+                  {isActive ? "✔️" : "❌"}
+                </span>
+              )}
+              <span 
+                className={styles.itemDescription}
+                style={{ 
+                  // Visual Feedback
+                  textDecoration: isCurrentGoal ? 'underline' : 'none',
+                  fontWeight: isCurrentGoal ? 'bold' : 'normal',
+                  color: isCurrentGoal ? '#007bff' : 'inherit',
+                  backgroundColor: isCurrentGoal ? '#e7f3ff' : 'transparent', // Added subtle highlight
+                  padding: isCurrentGoal ? '2px 4px' : '0',
+                  borderRadius: '4px'
+                }}
+              >
+                {item.name || item.norm}
+                {isCurrentGoal && " (Current)"} 
+              </span>
+            </li>
+          );
+        })}
+      </ul>
+    </section>
+  );
+};
+
+
+// --- Robot Connected --- 
+export const RobotConnected = () => {
+
+  /**
+     * 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`
+        //commented out this log as it clutters console logs, but might be useful to debug
+        //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>
+    <h3>Connection:</h3>
+    <p className={connected ? styles.connected : styles.disconnected }>{connected ? "● Robot is connected" : "● Robot is disconnected"}</p>
+  </div>
+  )
+}

src/pages/SimpleProgram/SimpleProgram.module.css

@@ -0,0 +1,167 @@
+/* ---------- Layout ---------- */
+
+.container {
+  height: 100%;
+  display: flex;
+  flex-direction: column;
+  background: #1e1e1e;
+  color: #f5f5f5;
+}
+
+.header {
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  padding: clamp(0.75rem, 2vw, 1.25rem);
+  background: #2a2a2a;
+  border-bottom: 1px solid #3a3a3a;
+}
+
+.header h2 {
+  font-size: clamp(1rem, 2.2vw, 1.4rem);
+  font-weight: 600;
+}
+
+.controls button {
+  margin-left: 0.5rem;
+  padding: 0.4rem 0.9rem;
+  border-radius: 6px;
+  border: none;
+  background: #111;
+  color: white;
+  cursor: pointer;
+}
+
+.controls button:disabled {
+  opacity: 0.4;
+  cursor: not-allowed;
+}
+
+/* ---------- Content ---------- */
+
+.content {
+  flex: 1;
+  padding: 2%;
+}
+
+/* ---------- Grid ---------- */
+
+.phaseGrid {
+  height: 100%;
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  grid-template-rows: repeat(2, minmax(0, 1fr));
+  gap: 2%;
+}
+
+/* ---------- Box ---------- */
+
+.box {
+  display: flex;
+  flex-direction: column;
+  background: #ffffff;
+  color: #1e1e1e;
+  border-radius: 10px;
+  overflow: hidden;
+  box-shadow: 0 4px 14px rgba(0, 0, 0, 0.25);
+}
+
+.boxHeader {
+  padding: 0.6rem 0.9rem;
+  background: linear-gradient(135deg, #dcdcdc, #e9e9e9);
+  font-style: italic;
+  font-weight: 500;
+  font-size: clamp(0.9rem, 1.5vw, 1.05rem);
+  border-bottom: 1px solid #cfcfcf;
+}
+
+.boxContent {
+  flex: 1;
+  padding: 0.8rem 1rem;
+  overflow-y: auto;
+}
+
+/* ---------- Lists ---------- */
+
+.iconList {
+  list-style: none;
+  padding: 0;
+  margin: 0;
+}
+
+.iconList li {
+  display: flex;
+  align-items: center;
+  gap: 0.6rem;
+  margin-bottom: 0.5rem;
+  font-size: clamp(0.85rem, 1.3vw, 1rem);
+}
+
+.bulletList {
+  margin: 0;
+  padding-left: 1.2rem;
+}
+
+.bulletList li {
+  margin-bottom: 0.4rem;
+}
+
+/* ---------- Icons ---------- */
+
+.successIcon,
+.failIcon {
+  display: inline-flex;
+  align-items: center;
+  justify-content: center;
+  min-width: 1.5rem;
+  height: 1.5rem;
+  border-radius: 4px;
+  font-weight: bold;
+  color: white;
+  flex-shrink: 0;
+}
+
+.successIcon {
+  background: #3cb371;
+}
+
+.failIcon {
+  background: #e5533d;
+}
+
+/* ---------- Empty ---------- */
+
+.empty {
+  opacity: 0.55;
+  font-style: italic;
+  font-size: 0.9rem;
+}
+
+/* ---------- Responsive ---------- */
+
+@media (max-width: 900px) {
+  .phaseGrid {
+    grid-template-columns: 1fr;
+    grid-template-rows: repeat(4, minmax(0, 1fr));
+    gap: 1rem;
+  }
+}
+
+.leftControls {
+  display: flex;
+  align-items: center;
+  gap: 1rem;
+}
+
+.backButton {
+  background: transparent;
+  border: 1px solid #555;
+  color: #ddd;
+  padding: 0.35rem 0.75rem;
+  border-radius: 6px;
+  cursor: pointer;
+}
+
+.backButton:hover {
+  background: #333;
+}

src/pages/SimpleProgram/SimpleProgram.tsx

@@ -0,0 +1,192 @@
+import React from "react";
+import styles from "./SimpleProgram.module.css";
+import useProgramStore from "../../utils/programStore.ts";
+
+/**
+ * Generic container box with a header and content area.
+ */
+type BoxProps = {
+  title: string;
+  children: React.ReactNode;
+};
+
+const Box: React.FC<BoxProps> = ({ title, children }) => (
+  <div className={styles.box}>
+    <div className={styles.boxHeader}>{title}</div>
+    <div className={styles.boxContent}>{children}</div>
+  </div>
+);
+
+/**
+ * Renders a list of goals for a phase.
+ * Expects goal-like objects from the program store.
+ */
+const GoalList: React.FC<{ goals: unknown[] }> = ({ goals }) => {
+  if (!goals.length) {
+    return <p className={styles.empty}>No goals defined.</p>;
+  }
+
+  return (
+    <ul className={styles.iconList}>
+      {goals.map((g, idx) => {
+        const goal = g as {
+          id?: string;
+          description?: string;
+          achieved?: boolean;
+        };
+
+        return (
+          <li key={goal.id ?? idx}>
+            <span
+              className={
+                goal.achieved ? styles.successIcon : styles.failIcon
+              }
+            >
+              {goal.achieved ? "✔" : "✖"}
+            </span>
+            {goal.description ?? "Unnamed goal"}
+          </li>
+        );
+      })}
+    </ul>
+  );
+};
+
+/**
+ * Renders a list of triggers for a phase.
+ */
+const TriggerList: React.FC<{ triggers: unknown[] }> = ({ triggers }) => {
+  if (!triggers.length) {
+    return <p className={styles.empty}>No triggers defined.</p>;
+  }
+
+  return (
+    <ul className={styles.iconList}>
+      {triggers.map((t, idx) => {
+        const trigger = t as {
+          id?: string;
+          label?: string;
+        };
+
+        return (
+          <li key={trigger.id ?? idx}>
+            <span className={styles.failIcon}>✖</span>
+            {trigger.label ?? "Unnamed trigger"}
+          </li>
+        );
+      })}
+    </ul>
+  );
+};
+
+/**
+ * Renders a list of norms for a phase.
+ */
+const NormList: React.FC<{ norms: unknown[] }> = ({ norms }) => {
+  if (!norms.length) {
+    return <p className={styles.empty}>No norms defined.</p>;
+  }
+
+  return (
+    <ul className={styles.bulletList}>
+      {norms.map((n, idx) => {
+        const norm = n as {
+          id?: string;
+          norm?: string;
+        };
+
+        return <li key={norm.id ?? idx}>{norm.norm ?? "Unnamed norm"}</li>;
+      })}
+    </ul>
+  );
+};
+
+/**
+ * Displays all phase-related information in a grid layout.
+ */
+type PhaseGridProps = {
+  norms: unknown[];
+  goals: unknown[];
+  triggers: unknown[];
+};
+
+const PhaseGrid: React.FC<PhaseGridProps> = ({
+  norms,
+  goals,
+  triggers,
+}) => (
+  <div className={styles.phaseGrid}>
+    <Box title="Norms">
+      <NormList norms={norms} />
+    </Box>
+
+    <Box title="Triggers">
+      <TriggerList triggers={triggers} />
+    </Box>
+
+    <Box title="Goals">
+      <GoalList goals={goals} />
+    </Box>
+
+    <Box title="Conditional Norms">
+      <p className={styles.empty}>No conditional norms defined.</p>
+    </Box>
+  </div>
+);
+
+/**
+ * Main program viewer.
+ * Reads all data from the program store and allows
+ * navigating between phases.
+ */
+const SimpleProgram: React.FC = () => {
+  const getPhaseIds = useProgramStore((s) => s.getPhaseIds);
+  const getNormsInPhase = useProgramStore((s) => s.getNormsInPhase);
+  const getGoalsInPhase = useProgramStore((s) => s.getGoalsInPhase);
+  const getTriggersInPhase = useProgramStore((s) => s.getTriggersInPhase);
+
+  const phaseIds = getPhaseIds();
+  const [phaseIndex, setPhaseIndex] = React.useState(0);
+
+  if (phaseIds.length === 0) {
+    return <p className={styles.empty}>No program loaded.</p>;
+  }
+
+  const phaseId = phaseIds[phaseIndex];
+
+  return (
+    <div className={styles.container}>
+      <header className={styles.header}>
+        <h2>
+          Phase {phaseIndex + 1} / {phaseIds.length}
+        </h2>
+
+        <div className={styles.controls}>
+          <button
+            disabled={phaseIndex === 0}
+            onClick={() => setPhaseIndex((i) => i - 1)}
+          >
+            ◀ Prev
+          </button>
+
+          <button
+            disabled={phaseIndex === phaseIds.length - 1}
+            onClick={() => setPhaseIndex((i) => i + 1)}
+          >
+            Next ▶
+          </button>
+        </div>
+      </header>
+
+      <div className={styles.content}>
+        <PhaseGrid
+          norms={getNormsInPhase(phaseId)}
+          goals={getGoalsInPhase(phaseId)}
+          triggers={getTriggersInPhase(phaseId)}
+        />
+      </div>
+    </div>
+  );
+};
+
+export default SimpleProgram;

src/pages/VisProgPage/VisProg.module.css

@@ -33,6 +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;
@@ -41,6 +47,8 @@
     filter: drop-shadow(0 0 0.75rem black);
 }
 
+
+
 .node-norm {
     outline: rgb(0, 149, 25) solid 2pt;
     filter: drop-shadow(0 0 0.25rem forestgreen);
@@ -71,10 +79,21 @@
     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);
 }
@@ -83,6 +102,7 @@
     padding: 3px 10px;
     background-color: canvas;
     border-radius: 5pt;
+    cursor: move;
     outline: forestgreen solid 2pt;
     filter: drop-shadow(0 0 0.25rem forestgreen);
 }
@@ -91,6 +111,7 @@
     padding: 3px 10px;
     background-color: canvas;
     border-radius: 5pt;
+    cursor: move;
     outline: yellow solid 2pt;
     filter: drop-shadow(0 0 0.25rem yellow);
 }
@@ -99,6 +120,7 @@
     padding: 3px 10px;
     background-color: canvas;
     border-radius: 5pt;
+    cursor: move;
     outline: teal solid 2pt;
     filter: drop-shadow(0 0 0.25rem teal);
 }
@@ -107,6 +129,7 @@
     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);
 }
@@ -123,6 +147,99 @@
     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;
+}
+
+.planNoIterate {
+  opacity: 0.5;
+  font-style: italic;
+  text-decoration: line-through;
+}
+.backButton {
+  background: var(--bg-surface);
+  box-shadow: var(--panel-shadow);
+  margin-top: 0.5rem;
+  margin-left: 0.5rem;
+}
+
+.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); }
+}

src/pages/VisProgPage/VisProg.tsx

@@ -7,14 +7,17 @@ import {
   MarkerType,
 } from '@xyflow/react';
 import '@xyflow/react/dist/style.css';
-import {useEffect} from "react";
+import {type CSSProperties, useEffect, useState} from "react";
 import {useShallow} from 'zustand/react/shallow';
+import useProgramStore from "../../utils/programStore.ts";
 import {DndToolbar} from './visualProgrammingUI/components/DragDropSidebar.tsx';
 import useFlowStore from './visualProgrammingUI/VisProgStores.tsx';
 import type {FlowState} from './visualProgrammingUI/VisProgTypes.tsx';
 import styles from './VisProg.module.css'
-import { NodeReduces, NodeTypes } from './visualProgrammingUI/NodeRegistry.ts';
+import {NodeTypes} from './visualProgrammingUI/NodeRegistry.ts';
 import SaveLoadPanel from './visualProgrammingUI/components/SaveLoadPanel.tsx';
+import MonitoringPage from '../MonitoringPage/MonitoringPage.tsx';
+import { graphReducer, runProgramm } from './VisProgLogic.ts';
 
 // --| config starting params for flow |--
 
@@ -48,7 +51,8 @@ const selector = (state: FlowState) => ({
   undo: state.undo,
   redo: state.redo,
   beginBatchAction: state.beginBatchAction,
-  endBatchAction: state.endBatchAction
+  endBatchAction: state.endBatchAction,
+  scrollable: state.scrollable
 });
 
 // --| define ReactFlow editor |--
@@ -72,9 +76,10 @@ const VisProgUI = () => {
     undo,
     redo,
     beginBatchAction,
-    endBatchAction
+    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) => {
@@ -86,7 +91,7 @@ const VisProgUI = () => {
   });
 
   return (
-    <div className={`${styles.innerEditorContainer} round-lg border-lg`}>
+    <div className={`${styles.innerEditorContainer} round-lg border-lg`} style={({'--flow-zoom': zoom} as CSSProperties)}>
       <ReactFlow
         nodes={nodes}
         edges={edges}
@@ -101,6 +106,8 @@ const VisProgUI = () => {
         onConnect={onConnect}
         onNodeDragStart={beginBatchAction}
         onNodeDragStop={endBatchAction}
+        preventScrolling={scrollable}
+        onMove={(_, viewport) => setZoom(viewport.zoom)}
         snapToGrid
         fitView
         proOptions={{hideAttribution: true}}
@@ -112,7 +119,7 @@ const VisProgUI = () => {
             <SaveLoadPanel></SaveLoadPanel>
           </Panel>
         <Panel position="bottom-center">
-          <button onClick={() => undo()}>undo</button>
+          <button onClick={() => undo()}>Undo</button>
           <button onClick={() => redo()}>Redo</button>
         </Panel>
         <Controls/>
@@ -136,37 +143,7 @@ function VisualProgrammingUI() {
     </ReactFlowProvider>
   );
 }
-
-// currently outputs the prepared program to the console
-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.");
-  }).catch(() => console.log("Failed to send program to the backend."));
-}
-
-/**
- * Reduces the graph into its phases' information and recursively calls their reducing function
- */ 
-function graphReducer() {
-  const { nodes } = useFlowStore.getState();
-  return nodes
-    .filter((n) => n.type == 'phase')
-    .map((n) => {
-      const reducer = NodeReduces['phase'];
-      return reducer(n, nodes)
-    }); 
-}
+ 
 
 /**
  * houses the entire page, so also UI elements
@@ -174,10 +151,31 @@ function graphReducer() {
  * @constructor
  */
 function VisProgPage() {
+  const [showSimpleProgram, setShowSimpleProgram] = useState(false);
+  const setProgramState = useProgramStore((state) => state.setProgramState);
+
+  const runProgram = () => {
+    const phases = graphReducer();       // reduce graph
+    setProgramState({ phases });          // <-- save to store
+    setShowSimpleProgram(true);          // show SimpleProgram
+    runProgramm();                        // send to backend if needed
+  };
+
+  if (showSimpleProgram) {
+    return (
+    <div>
+      <button className={styles.backButton} onClick={() => setShowSimpleProgram(false)}>
+        Back to Editor ◀ 
+      </button>
+      <MonitoringPage/>
+    </div>
+    );
+  }
+
   return (
     <>
       <VisualProgrammingUI/>
-      <button onClick={runProgram}>run program</button>
+      <button onClick={runProgram}>Run Program</button>
     </>
   )
 }

src/pages/VisProgPage/VisProgLogic.ts

@@ -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 runProgramm() {
+  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);
+}

src/pages/VisProgPage/visualProgrammingUI/EditorUndoRedo.ts

@@ -39,10 +39,10 @@ export const UndoRedo = (
    * @param {BaseFlowState} state - the current state of the editor
    * @returns {FlowSnapshot} - returns a snapshot of the current editor state
    */
-  const getSnapshot = (state : BaseFlowState) : FlowSnapshot => ({
+  const getSnapshot = (state : BaseFlowState) : FlowSnapshot => (structuredClone({
     nodes: state.nodes,
     edges: state.edges
-  });
+  }));
 
   const initialState = config(set, get, api);
 

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);
+}

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");
+  }
+
+
+

src/pages/VisProgPage/visualProgrammingUI/NodeRegistry.ts

@@ -3,7 +3,8 @@ import EndNode, {
   EndConnectionSource,
   EndDisconnectionTarget,
   EndDisconnectionSource,
-  EndReduce
+  EndReduce,
+  EndTooltip
 } from "./nodes/EndNode";
 import { EndNodeDefaults } from "./nodes/EndNode.default";
 import StartNode, {
@@ -11,7 +12,8 @@ import StartNode, {
   StartConnectionSource,
   StartDisconnectionTarget,
   StartDisconnectionSource,
-  StartReduce
+  StartReduce,
+  StartTooltip
 } from "./nodes/StartNode";
 import { StartNodeDefaults } from "./nodes/StartNode.default";
 import PhaseNode, {
@@ -19,7 +21,8 @@ import PhaseNode, {
   PhaseConnectionSource,
   PhaseDisconnectionTarget,
   PhaseDisconnectionSource,
-  PhaseReduce
+  PhaseReduce,
+  PhaseTooltip
 } from "./nodes/PhaseNode";
 import { PhaseNodeDefaults } from "./nodes/PhaseNode.default";
 import NormNode, {
@@ -27,7 +30,8 @@ import NormNode, {
   NormConnectionSource,
   NormDisconnectionTarget,
   NormDisconnectionSource,
-  NormReduce
+  NormReduce,
+  NormTooltip
 } from "./nodes/NormNode";
 import { NormNodeDefaults } from "./nodes/NormNode.default";
 import GoalNode, {
@@ -35,7 +39,8 @@ import GoalNode, {
   GoalConnectionSource,
   GoalDisconnectionTarget,
   GoalDisconnectionSource,
-  GoalReduce
+  GoalReduce,
+  GoalTooltip
 } from "./nodes/GoalNode";
 import { GoalNodeDefaults } from "./nodes/GoalNode.default";
 import TriggerNode, {
@@ -43,9 +48,28 @@ import TriggerNode, {
   TriggerConnectionSource,
   TriggerDisconnectionTarget,
   TriggerDisconnectionSource,
-  TriggerReduce
+  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.
@@ -60,6 +84,8 @@ export const NodeTypes = {
   norm: NormNode,
   goal: GoalNode,
   trigger: TriggerNode,
+  basic_belief: BasicBeliefNode,
+  inferred_belief: InferredBeliefNode,
 };
 
 /**
@@ -74,6 +100,8 @@ export const NodeDefaults = {
   norm: NormNodeDefaults,
   goal: GoalNodeDefaults,
   trigger: TriggerNodeDefaults,
+  basic_belief: BasicBeliefNodeDefaults,
+  inferred_belief: InferredBeliefNodeDefaults,
 };
 
 
@@ -90,6 +118,8 @@ export const NodeReduces = {
   norm: NormReduce,
   goal: GoalReduce,
   trigger: TriggerReduce,
+  basic_belief: BasicBeliefReduce,
+  inferred_belief: InferredBeliefReduce,
 }
 
 
@@ -107,6 +137,8 @@ export const NodeConnections = {
     norm: NormConnectionTarget,
     goal: GoalConnectionTarget,
     trigger: TriggerConnectionTarget,
+    basic_belief: BasicBeliefConnectionTarget,
+    inferred_belief: InferredBeliefConnectionTarget,
   },
   Sources: {
     start: StartConnectionSource,
@@ -115,6 +147,8 @@ export const NodeConnections = {
     norm: NormConnectionSource,
     goal: GoalConnectionSource,
     trigger: TriggerConnectionSource,
+    basic_belief: BasicBeliefConnectionSource,
+    inferred_belief: InferredBeliefConnectionSource,
   }
 }
 
@@ -132,6 +166,8 @@ export const NodeDisconnections = {
     norm: NormDisconnectionTarget,
     goal: GoalDisconnectionTarget,
     trigger: TriggerDisconnectionTarget,
+    basic_belief: BasicBeliefDisconnectionTarget,
+    inferred_belief: InferredBeliefDisconnectionTarget,
   },
   Sources: {
     start: StartDisconnectionSource,
@@ -140,6 +176,8 @@ export const NodeDisconnections = {
     norm: NormDisconnectionSource,
     goal: GoalDisconnectionSource,
     trigger: TriggerDisconnectionSource,
+    basic_belief: BasicBeliefDisconnectionSource,
+    inferred_belief: InferredBeliefDisconnectionSource,
   },
 }
 
@@ -151,7 +189,6 @@ export const NodeDisconnections = {
 export const NodeDeletes = {
   start: () => false,
   end: () => false,
-  test: () => false, // Used for coverage of universal/ undefined nodes
 }
 
 /**
@@ -164,5 +201,20 @@ export const NodesInPhase = {
   start: () => false,
   end: () => false,
   phase: () => false,
-  test: () => false, // Used for coverage of universal/ undefined nodes
+  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,
 }

src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx

@@ -8,6 +8,8 @@ import {
   type Edge,
   type XYPosition,
 } from '@xyflow/react';
+import '@xyflow/react/dist/style.css';
+import {type ConnectionContext, validateConnectionWithRules} from "./HandleRuleLogic.ts";
 import type { FlowState } from './VisProgTypes';
 import {
   NodeDefaults,
@@ -28,31 +30,31 @@ import { UndoRedo } from "./EditorUndoRedo.ts";
  * @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.
  */
-function createNode(id: string, type: string, position: XYPosition, data: Record<string, unknown>, deletable? : boolean) {
-  const defaultData = NodeDefaults[type as keyof typeof NodeDefaults]
-  const newData = {
-      id: id,
-      type: type,
-      position: position,
-      data: data,
-      deletable: deletable,
-  }
-  return {...defaultData, ...newData}
+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. */
-const initialNodes : Node[] = [
-    createNode('start', 'start', {x: 100, y: 100}, {label: "Start"}, false),
-    createNode('end', 'end', {x: 500, y: 100}, {label: "End"}, false),
-    createNode('phase-1', 'phase',  {x:200, y:100}, {label: "Phase 1", children : []}),
-    createNode('norms-1', 'norm',  {x:-200, y:100}, {label: "Initial Norms", normList: ["Be a robot", "get good"], critical:false}),     
-];
+  //* 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})
 
-// * Initial edges * /
-const initialEdges: Edge[] = [
-  { id: 'start-phase-1', source: 'start', target: 'phase-1' },
-  { id: 'phase-1-end', source: 'phase-1', target: 'end' },
-];
+  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[] = [];
 
 
 /**
@@ -70,14 +72,24 @@ const useFlowStore = create<FlowState>(UndoRedo((set, get) => ({
   nodes: initialNodes,
   edges: initialEdges,
   edgeReconnectSuccessful: true,
+  scrollable: true,
+
+  /**
+   * 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)}),
 
-  onEdgesDelete: (edges) => {
+  onNodesDelete: (nodes) => nodes.forEach(node => get().unregisterNodeRules(node.id)),
 
+  onEdgesDelete: (edges) => {
     // we make sure any affected nodes get updated to reflect removal of edges
     edges.forEach((edge) => {
         const nodes = get().nodes;
@@ -118,7 +130,41 @@ const useFlowStore = create<FlowState>(UndoRedo((set, get) => ({
    * Handles reconnecting an edge between nodes.
    */
   onReconnect: (oldEdge, newConnection) => {
-    get().edgeReconnectSuccessful = true;
+
+    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
@@ -177,7 +223,7 @@ const useFlowStore = create<FlowState>(UndoRedo((set, get) => ({
     // 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()) {
       set({
@@ -223,6 +269,79 @@ const useFlowStore = create<FlowState>(UndoRedo((set, get) => ({
   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 };
+    })
+  }
   }))
 );
 

src/pages/VisProgPage/visualProgrammingUI/VisProgTypes.tsx

@@ -1,5 +1,15 @@
 // VisProgTypes.ts
-import type {Edge, OnNodesChange, OnEdgesChange, OnConnect, OnReconnect, Node, OnEdgesDelete} from '@xyflow/react';
+import type {
+  Edge,
+  OnNodesChange,
+  OnEdgesChange,
+  OnConnect,
+  OnReconnect,
+  Node,
+  OnEdgesDelete,
+  OnNodesDelete
+} from '@xyflow/react';
+import type {HandleRule} from "./HandleRuleLogic.ts";
 import type { NodeTypes } from './NodeRegistry';
 import type {FlowSnapshot} from "./EditorUndoRedo.ts";
 
@@ -23,10 +33,16 @@ export type FlowState = {
   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 */
@@ -78,7 +94,9 @@ export type FlowState = {
    * @param node - the Node object to add
    */
   addNode: (node: Node) => void;
+} & UndoRedoState & HandleRuleRegistry;
 
+export type UndoRedoState = {
   // UndoRedo Types
   past: FlowSnapshot[];
   future: FlowSnapshot[];
@@ -88,4 +106,27 @@ export type FlowState = {
   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
+}

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

@@ -3,7 +3,8 @@ 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 { NodeDefaults, type NodeTypes} from '../NodeRegistry'
+import {Tooltip} from "./NodeComponents.tsx";
 
 /**
  * Props for a draggable node within the drag-and-drop toolbar.
@@ -47,14 +48,17 @@ function DraggableNode({ className, children, nodeType, onDrop }: DraggableNodeP
   });
 
   return (
-    <div className={className} 
-    ref={draggableRef} 
-    id={`draggable-${nodeType}`}
-    data-testid={`draggable-${nodeType}`}
-    >
-      {children}
-    </div>
-  );
+    <Tooltip nodeType={nodeType}>
+      <div>
+        <div className={className}
+             ref={draggableRef}
+             id={`draggable-${nodeType}`}
+             data-testid={`draggable-${nodeType}`}
+        >
+          {children}
+        </div>
+      </div>
+    </Tooltip>)
 }
 
 /**
@@ -69,23 +73,11 @@ function DraggableNode({ className, children, nodeType, onDrop }: DraggableNodeP
  * @param position - The XY position in the flow canvas where the node will appear.
  */
 function addNodeToFlow(nodeType: keyof typeof NodeTypes, position: XYPosition) {
-  const { nodes, addNode } = useFlowStore.getState();
+  const { addNode } = useFlowStore.getState();
 
   // Load any predefined data for this node type.
   const defaultData = NodeDefaults[nodeType] ?? {}
-  
-  // Currently, we find out what the Id is by checking the last node and adding one.
-  const sameTypeNodes = nodes.filter((node) => node.type === nodeType);
-  const nextNumber =
-    sameTypeNodes.length > 0
-      ? (() => {
-          const lastNode = sameTypeNodes[sameTypeNodes.length - 1];
-          const parts = lastNode.id.split('-');
-          const lastNum = Number(parts[1]);
-          return Number.isNaN(lastNum) ? sameTypeNodes.length + 1 : lastNum + 1;
-        })()
-      : 1;
-  const id = `${nodeType}-${nextNumber}`;
+  const id = crypto.randomUUID();
   
   // Create new node
   const newNode = {
@@ -145,7 +137,7 @@ export function DndToolbar() {
   }));
 
   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>

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);
+}

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>
+  );
+}

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

@@ -1,7 +1,12 @@
-import { NodeToolbar } from '@xyflow/react';
+import {NodeToolbar} 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.
  *
@@ -24,14 +29,94 @@ type ToolbarProps = {
  * @constructor
  */
 export function Toolbar({nodeId, allowDelete}: ToolbarProps) {
-  const {deleteNode} = useFlowStore();
+  const {nodes, deleteNode} = useFlowStore();
 
-  const deleteParentNode = ()=> {
+
+  const deleteParentNode = () => {
     deleteNode(nodeId);
-  }
+  };
+
+  const nodeType = nodes.find((node) => node.id === nodeId)?.type as keyof typeof NodeTooltips;
   return (
-    <NodeToolbar>
+    <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
+}

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[],
+}

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:
+    }
+}

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
+}

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;
+}
+
+

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>
+  </>
+);
+}

src/pages/VisProgPage/visualProgrammingUI/components/RuleBasedHandle.module.css

@@ -0,0 +1,43 @@
+:global(.react-flow__handle.connected) {
+    background: lightgray;
+    border-color: green;
+    filter: drop-shadow(0 0 0.25rem 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 0.25rem #ff6060);
+}
+
+:global(.react-flow__handle.connectingto) {
+    background: #ff6060;
+    border-color: coral;
+    filter: drop-shadow(0 0 0.25rem coral);
+}
+
+:global(.react-flow__handle.valid) {
+    background: #55dd99;
+    border-color: green;
+    filter: drop-shadow(0 0 0.25rem 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;
+}
+
+
+

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

@@ -0,0 +1,88 @@
+import {
+  Handle,
+  type HandleProps,
+  type Connection,
+  useNodeId, useNodeConnections
+} from '@xyflow/react';
+import {useState} from '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!
+  })
+
+  // initialise the handles state with { isValid: true } to show that connections are possible
+  const [handleState, setHandleState] = useState<{ isSatisfied: boolean, message?: string }>({ isSatisfied: true });
+
+  return (
+    <Handle
+      {...otherProps}
+      id={id}
+      type={type}
+      className={"multiConnectionHandle" + (connections.length === 0 ? " unconnected" : " connected")}
+      isValidConnection={(connection) => {
+        const result = validate(connection as Connection);
+        setHandleState(result);
+        return result.isSatisfied;
+      }}
+      title={handleState.message}
+    />
+  );
+}
+
+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!
+  })
+
+  // initialise the handles state with { isValid: true } to show that connections are possible
+  const [handleState, setHandleState] = useState<{ isSatisfied: boolean, message?: string }>({ isSatisfied: true });
+
+  return (
+    <Handle
+      {...otherProps}
+      id={id}
+      type={type}
+      className={"singleConnectionHandle" + (connections.length === 0 ? " unconnected" : " connected")}
+      isConnectable={connections.length === 0}
+      isValidConnection={(connection) => {
+        const result = validate(connection as Connection);
+        setHandleState(result);
+        return result.isSatisfied;
+      }}
+      title={handleState.message}
+    />
+  );
+}
+

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,
+};

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

@@ -0,0 +1,237 @@
+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 | Face
+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:"};
+type Face = { type: "face", id: string, value: string, label: "Face detected"};
+
+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>
+            <option value="face">Face detected</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"},{nodeType:"InferredBelief",handleId:"inferred_belief"}]),
+        ]}/>
+      </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;
+    case "face":
+      result["face_present"] = true;
+      break;
+
+    default:
+      break;
+  }
+  return result
+}

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);
+};

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

@@ -1,11 +1,13 @@
 import {
-  Handle,
   type NodeProps,
   Position,
   type Node,
 } from '@xyflow/react';
 import { Toolbar } from '../components/NodeComponents';
 import styles from '../../VisProg.module.css';
+import {SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {allowOnlyConnectionsFromType} from "../HandleRules.ts";
+
 
 
 /**
@@ -32,7 +34,9 @@ export default function EndNode(props: NodeProps<EndNode>) {
         <div className={"flex-row gap-sm"}>
         End
         </div>
-        <Handle type="target" position={Position.Left} id="target"/>
+        <SingleConnectionHandle type="target" position={Position.Left} id="target" rules={[
+          allowOnlyConnectionsFromType(["phase"])
+        ]}/>
       </div>
     </>
   );
@@ -51,6 +55,10 @@ export function EndReduce(node: Node, _nodes: Node[]) {
   }
 }
 
+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

src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.default.ts

@@ -5,8 +5,10 @@ import type { GoalNodeData } from "./GoalNode";
  */
 export const GoalNodeDefaults: GoalNodeData = {
   label: "Goal Node",
+  name: "",
   droppable: true,
-  description: "The robot will strive towards this goal",
+  description: "",
   achieved: false,
   hasReduce: true,
+  can_fail: false,
 };

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

@@ -1,5 +1,4 @@
 import {
-  Handle,
   type NodeProps,
   Position,
   type Node,
@@ -7,21 +6,33 @@ import {
 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
+ * @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>
@@ -34,16 +45,23 @@ export type GoalNode = Node<GoalNodeData>
  */
 export default function GoalNode({id, data}: NodeProps<GoalNode>) {
   const {updateNodeData} = useFlowStore();
+  const _nodes = useFlowStore().nodes;
 
   const text_input_id = `goal_${id}_text_input`;
   const checkbox_id = `goal_${id}_checkbox`;
+  const planIterate = DoesPlanIterate(_nodes, data.plan);
+  const hasCheckSubGoal = data.plan !== undefined && HasCheckingSubGoal(data.plan, _nodes)
 
   const setDescription = (value: string) => {
     updateNodeData(id, {...data, description: value});
   }
 
-  const setAchieved = (value: boolean) => {
-    updateNodeData(id, {...data, achieved: value});
+  const setName= (value: string) => {
+    updateNodeData(id, {...data, name: value})
+  }
+
+  const setFailable = (value: boolean) => {
+    updateNodeData(id, {...data, can_fail: value});
   }
 
   return <>
@@ -53,21 +71,58 @@ export default function GoalNode({id, data}: NodeProps<GoalNode>) {
         <label htmlFor={text_input_id}>Goal:</label>
         <TextField
           id={text_input_id}
-          value={data.description}
-          setValue={(val) => setDescription(val)}
+          value={data.name}
+          setValue={(val) => setName(val)}
           placeholder={"To ..."}
         />
       </div>
-      <div className={"flex-row gap-md align-center"}>
-        <label htmlFor={checkbox_id}>Achieved:</label>
+      
+      {(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"}
-          checked={data.achieved || false}
-          onChange={(e) => setAchieved(e.target.checked)}
+          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>
-      <Handle type="source" position={Position.Right} id="GoalSource"/>
+)}
+
+      <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"}]),
+      ]}/>
+
+      <MultiConnectionHandle type="target" position={Position.Bottom} id="GoalTarget" rules={[allowOnlyConnectionsFromType(["goal"])]}/>
+
+
     </div>
   </>;
 }
@@ -80,21 +135,42 @@ export default function GoalNode({id, data}: NodeProps<GoalNode>) {
  */
 export function GoalReduce(node: Node, _nodes: Node[]) {
   const data = node.data as GoalNodeData;
-    return {
+    return {  
       id: node.id,
-      label: data.label,
+      name: data.name,
       description: data.description,
-      achieved: data.achieved,
+      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) {
-  // no additional connection logic exists yet
+  // 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)
+  }
 }
 
 /**
@@ -112,7 +188,9 @@ export function GoalConnectionSource(_thisNode: Node, _targetNodeId: string) {
  * @param _sourceNodeId the source of the disconnected connection
  */
 export function GoalDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
-  // no additional connection logic exists yet
+  // 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)
 }
 
 /**

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,
+};

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;
+    }
+
+}

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

@@ -0,0 +1,176 @@
+import {getConnectedEdges, type Node, type NodeProps, Position} from '@xyflow/react';
+import {useState} from "react";
+import styles from '../../VisProg.module.css';
+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 } = 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,
+      }
+    });
+  }
+
+  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
+}

src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.default.ts

@@ -6,6 +6,7 @@ import type { NormNodeData } from "./NormNode";
 export const NormNodeDefaults: NormNodeData = {
   label: "Norm Node",
   droppable: true,
+  condition: undefined,
   norm: "",
   hasReduce: true,
   critical: false,

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

@@ -1,5 +1,4 @@
 import {
-  Handle,
   type NodeProps,
   Position,
   type Node,
@@ -7,7 +6,10 @@ import {
 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
@@ -19,6 +21,7 @@ import useFlowStore from '../VisProgStores';
 export type NormNodeData = {
   label: string;
   droppable: boolean;
+  condition?: string; // id of this node's belief.
   norm: string;
   hasReduce: boolean;
   critical: boolean;
@@ -67,7 +70,19 @@ export default function NormNode(props: NodeProps<NormNode>) {
           onChange={(e) => setCritical(e.target.checked)}
         />
       </div>
-      <Handle type="source" position={Position.Right} id="norms"/>
+
+
+      {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"}])
+      ]}/>
+      <SingleConnectionHandle type="target" position={Position.Bottom} id="NormBeliefs" rules={[
+        allowOnlyConnectionsFromType(["basic_belief", "inferred_belief"])
+      ]}/>
     </div>
   </>;
 };
@@ -76,25 +91,43 @@ export default function NormNode(props: NodeProps<NormNode>) {
 /**
  * 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
+ * @param nodes all the nodes in the graph
  */
-export function NormReduce(node: Node, _nodes: Node[]) {
+export function NormReduce(node: Node, nodes: Node[]) {
   const data = node.data as NormNodeData;
-    return {
-      id: node.id,
-      label: data.label,
-      norm: data.norm,
-      critical: data.critical,
-    }
+
+  // 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) {
-  // no additional connection logic exists yet
+  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;
+    }
 }
 
 /**
@@ -112,7 +145,9 @@ export function NormConnectionSource(_thisNode: Node, _targetNodeId: string) {
  * @param _sourceNodeId the source of the disconnected connection
  */
 export function NormDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
-  // no additional connection logic exists yet
+  const data = _thisNode.data as NormNodeData;
+  // remove if the target of disconnection was our condition
+  if (_sourceNodeId == data.condition) data.condition = undefined
 }
 
 /**

src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.default.ts

@@ -8,4 +8,6 @@ export const PhaseNodeDefaults: PhaseNodeData = {
   droppable: true,
   children: [],
   hasReduce: true,
+  nextPhaseId: null,
+  isFirstPhase: false,
 };

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

@@ -1,11 +1,12 @@
 import {
-  Handle,
   type NodeProps,
   Position,
   type Node
 } from '@xyflow/react';
 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';
@@ -16,12 +17,15 @@ import { TextField } from '../../../../components/TextField';
  * @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>
@@ -50,9 +54,17 @@ export default function PhaseNode(props: NodeProps<PhaseNode>) {
             placeholder={"Phase ..."}
           />
         </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"/>
+        <SingleConnectionHandle type="target" position={Position.Left} id="target" rules={[
+          noSelfConnections,
+          allowOnlyConnectionsFromType(["phase", "start"]),
+        ]}/>
+        <MultiConnectionHandle type="target" position={Position.Bottom} id="data" rules={[
+          allowOnlyConnectionsFromType(["norm", "goal", "trigger"])
+        ]}/>
+        <SingleConnectionHandle type="source" position={Position.Right} id="source" rules={[
+          noSelfConnections,
+          allowOnlyConnectionsFromType(["phase", "end"]),
+        ]}/>
       </div>
     </>
   );
@@ -65,8 +77,8 @@ export default function PhaseNode(props: NodeProps<PhaseNode>) {
  * @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;
+    const thisNode = node as PhaseNode;
+    const data = thisNode.data as PhaseNodeData;
 
     // node typings that are not in phase
     const nodesNotInPhase: string[] = Object.entries(NodesInPhase)
@@ -85,8 +97,8 @@ export function PhaseReduce(node: Node, nodes: Node[]) {
 
     // Build the result object
     const result: Record<string, unknown> = {
-        id: thisnode.id,
-        label: data.label,
+        id: thisNode.id,
+        name: data.label,
     };
 
     nodesInPhase.forEach((type) => {
@@ -96,26 +108,39 @@ export function PhaseReduce(node: Node, nodes: Node[]) {
             console.warn(`No reducer found for node type ${type}`);
             result[type + "s"] = [];
         } else {
-            result[type + "s"] = typedChildren.map((child) => reducer(child, nodes));
+            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 node = _thisNode as PhaseNode
-  const data = node.data as PhaseNodeData
-  // we only add none phase nodes to the children
-  if (!(useFlowStore.getState().nodes.find((node) => node.id === _sourceNodeId && node.type === 'phase'))) {
-    data.children.push(_sourceNodeId)
-  }
+  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;
+  }
 }
 
 /**
@@ -124,7 +149,19 @@ export function PhaseConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
  * @param _targetNodeId the target of the created connection
  */
 export function PhaseConnectionSource(_thisNode: Node, _targetNodeId: string) {
-  // no additional connection logic exists yet
+  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;
+  }
 }
 
 /**
@@ -133,9 +170,23 @@ export function PhaseConnectionSource(_thisNode: Node, _targetNodeId: string) {
  * @param _sourceNodeId the source of the disconnected connection
  */
 export function PhaseDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
-  const node = _thisNode as PhaseNode
-  const data = node.data as PhaseNodeData
-  data.children = data.children.filter((child) => { if (child != _sourceNodeId) return child; });
+  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;
+  }
+
 }
 
 /**
@@ -144,5 +195,12 @@ export function PhaseDisconnectionTarget(_thisNode: Node, _sourceNodeId: string)
  * @param _targetNodeId the target of the diconnected connection
  */
 export function PhaseDisconnectionSource(_thisNode: Node, _targetNodeId: string) {
-  // no additional connection logic exists yet
+  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;
+  }
 }

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

@@ -1,11 +1,12 @@
 import {
-  Handle,
   type NodeProps,
   Position,
   type Node,
 } from '@xyflow/react';
 import { Toolbar } from '../components/NodeComponents';
 import styles from '../../VisProg.module.css';
+import {SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {allowOnlyConnectionsFromHandle} from "../HandleRules.ts";
 
 
 export type StartNodeData = {
@@ -31,7 +32,9 @@ export default function StartNode(props: NodeProps<StartNode>) {
         <div className={"flex-row gap-sm"}>
           Start
         </div>
-        <Handle type="source" position={Position.Right} id="source"/>
+        <SingleConnectionHandle type="source" position={Position.Right} id="source" rules={[
+          allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"target"}])
+        ]}/>
       </div>
     </>
   );
@@ -50,6 +53,10 @@ export function StartReduce(node: Node, _nodes: Node[]) {
   }
 }
 
+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

src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.default.ts

@@ -5,8 +5,7 @@ import type { TriggerNodeData } from "./TriggerNode";
  */
 export const TriggerNodeDefaults: TriggerNodeData = {
   label: "Trigger Node",
+  name: "",
   droppable: true,
-  triggers: [],
-  triggerType: "keywords",
   hasReduce: true,
 };

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

@@ -1,17 +1,20 @@
 import {
-  Handle,
   type NodeProps,
   Position,
-  type Connection,
-  type Edge,
   type Node,
 } from '@xyflow/react';
 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 { useState } from 'react';
-import { RealtimeTextField, TextField } from '../../../../components/TextField';
-import duplicateIndices from '../../../../utils/duplicateIndices';
+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
@@ -21,32 +24,20 @@ import duplicateIndices from '../../../../utils/duplicateIndices';
  *
  * @property label: the display label of this Trigger node.
  * @property droppable: Whether this node can be dropped from the toolbar (default: true).
- * @property triggerType - The type of trigger ("keywords" or a custom string).
- * @property triggers - The list of keyword triggers (if applicable).
  * @property hasReduce - Whether this node supports reduction logic.
  */
 export type TriggerNodeData = {
   label: string;
+  name: string;
   droppable: boolean;
-  triggerType: "keywords" | string;
-  triggers: Keyword[] | never;
+  condition?: string; // id of the belief
+  plan?: Plan;
   hasReduce: boolean;
 };
 
 
 export type TriggerNode = Node<TriggerNodeData>
 
-
-/**
- * Determines whether a Trigger node can connect to another node or edge.
- *
- * @param connection - The connection or edge being attempted to connect towards.
- * @returns `true` if the connection is defined; otherwise, `false`.
- */
-export function TriggerNodeCanConnect(connection: Connection | Edge): boolean {
-  return (connection != undefined);
-}
-
 /**
  * Defines how a Trigger node should be rendered
  * @param props - Node properties provided by React Flow, including `id` and `data`.
@@ -56,23 +47,54 @@ export default function TriggerNode(props: NodeProps<TriggerNode>) {
   const data = props.data;
   const {updateNodeData} = useFlowStore();
 
-  const setKeywords = (keywords: Keyword[]) => {
-    updateNodeData(props.id, {...data, triggers: keywords});
+  const setName= (value: string) => {
+    updateNodeData(props.id, {...data, name: value})
   }
 
   return <>
+
     <Toolbar nodeId={props.id} allowDelete={true}/>
     <div className={`${styles.defaultNode} ${styles.nodeTrigger} flex-col gap-sm`}>
-      {data.triggerType === "emotion" && (
-        <div className={"flex-row gap-md"}>Emotion?</div>
-      )}
-      {data.triggerType === "keywords" && (
-        <Keywords
-          keywords={data.triggers}
-          setKeywords={setKeywords}
-        />
-      )}
-      <Handle type="source" position={Position.Right} id="TriggerSource"/>
+      <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"}]),
+      ]}/>
+      <SingleConnectionHandle
+        type="target"
+        position={Position.Bottom}
+        id="TriggerBeliefs"
+        style={{ left: '40%' }}
+        rules={[
+          allowOnlyConnectionsFromType(['basic_belief']),
+        ]}
+      />
+      
+      <MultiConnectionHandle
+        type="target"
+        position={Position.Bottom}
+        id="GoalTarget"
+        style={{ left: '60%' }}
+        rules={[
+          allowOnlyConnectionsFromType(['goal']),
+        ]}
+      />
+
+      <PlanEditorDialog
+          plan={data.plan}
+          onSave={(plan) => {
+            updateNodeData(props.id, {
+              ...data,
+              plan,
+            });
+          }}
+      />
     </div>
   </>;
 }
@@ -80,27 +102,27 @@ export default function TriggerNode(props: NodeProps<TriggerNode>) {
 /**
  * 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.
+ * @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;
-  switch (data.triggerType) {
-    case "keywords":
-      return {
-        id: node.id,
-        type: "keywords",
-        label: data.label,
-        keywords: data.triggers,
-      };
-    default:
-      return {
-        ...data,
-        id: node.id,
-      };
+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
@@ -108,6 +130,27 @@ export function TriggerReduce(node: Node, _nodes: Node[]) {
  */
 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 (otherNode.type === 'basic_belief' /* TODO: Add the option for an inferred belief */) {
+      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)
+    }
+  }
 }
 
 /**
@@ -126,6 +169,11 @@ export function TriggerConnectionSource(_thisNode: Node, _targetNodeId: string)
  */
 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)
 }
 
 /**
@@ -155,92 +203,4 @@ export type KeywordTriggerNodeProps = {
 }
 
 /** Union type for all possible Trigger node configurations. */
-export type TriggerNodeProps = EmotionTriggerNodeProps | KeywordTriggerNodeProps;
-
-/**
- * Renders an input element that allows users to add new keyword triggers.
- *
- * When the input is committed, the `addKeyword` callback is called with the new keyword.
- *
- * @param param0 - An object containing the `addKeyword` function.
- * @returns A React element(React.JSX.Element) providing an input for adding keywords.
- */
-function KeywordAdder({ addKeyword }: { addKeyword: (keyword: string) => void }) {
-  const [input, setInput] = useState("");
-
-  const text_input_id = "keyword_adder_input";
-
-  return <div className={"flex-row gap-md"}>
-    <label htmlFor={text_input_id}>New Keyword:</label>
-    <RealtimeTextField
-      id={text_input_id}
-      value={input}
-      setValue={setInput}
-      onCommit={() => {
-        if (!input) return;
-        addKeyword(input);
-        setInput("");
-      }}
-      placeholder={"..."}
-      className={"flex-1"}
-    />
-  </div>;
-}
-
-/**
- * Displays and manages a list of keyword triggers for a Trigger node.
- * Handles adding, editing, and removing keywords, as well as detecting duplicate entries.
- *
- * @param keywords - The current list of keyword triggers.
- * @param setKeywords - A callback to update the keyword list in the parent node.
- * @returns A React element(React.JSX.Element) for editing keyword triggers.
- */
-function Keywords({
-  keywords,
-  setKeywords,
-}: {
-  keywords: Keyword[];
-  setKeywords: (keywords: Keyword[]) => void;
-}) {
-  type Interpolatable = string | number | boolean | bigint | null | undefined;
-
-  const inputElementId = (id: Interpolatable) => `keyword_${id}_input`;
-
-  /** Indices of duplicates in the keyword array. */
-  const [duplicates, setDuplicates] = useState<number[]>([]);
-
-  function replace(id: string, value: string) {
-    value = value.trim();
-    const newKeywords = value === ""
-      ? keywords.filter((kw) => kw.id != id)
-      : keywords.map((kw) => kw.id === id ? {...kw, keyword: value} : kw);
-    setKeywords(newKeywords);
-    setDuplicates(duplicateIndices(newKeywords.map((kw) => kw.keyword)));
-  }
-
-  function add(value: string) {
-    value = value.trim();
-    if (value === "") return;
-    const newKeywords = [...keywords, {id: crypto.randomUUID(), keyword: value}];
-    setKeywords(newKeywords);
-    setDuplicates(duplicateIndices(newKeywords.map((kw) => kw.keyword)));
-  }
-
-  return <>
-    <span>Triggers when {keywords.length <= 1 ? "the keyword is" : "all keywords are"} spoken.</span>
-    {[...keywords].map(({id, keyword}, index) => {
-      return <div key={id} className={"flex-row gap-md"}>
-        <label htmlFor={inputElementId(id)}>Keyword:</label>
-        <TextField
-          id={inputElementId(id)}
-          value={keyword}
-          setValue={(val) => replace(id, val)}
-          placeholder={"..."}
-          className={"flex-1"}
-          invalid={duplicates.includes(index)}
-        />
-      </div>;
-    })}
-    <KeywordAdder addKeyword={add} />
-  </>;
-}
+export type TriggerNodeProps = EmotionTriggerNodeProps | KeywordTriggerNodeProps;

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;
+}

src/utils/programStore.ts

@@ -0,0 +1,133 @@
+import {create} from "zustand";
+
+// the type of a reduced program
+export type ReducedProgram = { phases: Record<string, unknown>[] };
+
+export type GoalWithDepth = Record<string, unknown> & { level: number };
+
+/**
+ * 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[];
+  getPhaseNames: () => string[];
+  getNormsInPhase: (currentPhaseId: string) => Record<string, unknown>[];
+  getGoalsInPhase: (currentPhaseId: string) => Record<string, unknown>[];
+  getGoalsWithDepth: (currentPhaseId: string) => GoalWithDepth[];
+  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 names of all phases in the program
+   */
+  getPhaseNames: () => get().currentProgram.phases.map((entry) => (entry["name"] 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`)
+  },
+
+  getGoalsWithDepth: (currentPhaseId: string) => {
+    const program = get().currentProgram;
+    const phase = program.phases.find(val => val["id"] === currentPhaseId);
+    
+    if (!phase) {
+      throw new Error(`phase with id:"${currentPhaseId}" not found`);
+    }
+
+    const rootGoals = phase["goals"] as Record<string, unknown>[];
+    const flatList: GoalWithDepth[] = [];
+
+    const isGoal = (item: Record<string, unknown>) => {
+      return item["plan"] !== undefined;
+    };
+
+    // Recursive helper function
+    const traverse = (goals: Record<string, unknown>[], depth: number) => {
+      goals.forEach((goal) => {
+        // 1. Add the current goal to the list
+        flatList.push({ ...goal, level: depth });
+
+        // 2. Check for children
+        const plan = goal["plan"] as Record<string, unknown> | undefined;
+        
+        if (plan && Array.isArray(plan["steps"])) {
+           const steps = plan["steps"] as Record<string, unknown>[];
+           
+           // 3. FILTER: Only recurse on steps that are actually goals
+           // If we just passed 'steps', we might accidentally add Actions/Speeches to the goal list
+           const childGoals = steps.filter(isGoal);
+
+           if (childGoals.length > 0) {
+             traverse(childGoals, depth + 1);
+           }
+        }
+      });
+    };
+
+    // Start traversal
+    traverse(rootGoals, 0);
+
+    return flatList;
+  },
+  /**
+   * gets the triggers for the provided phase
+   */
+  getTriggersInPhase: (currentPhaseId) => {
+    const program = get().currentProgram;
+    const phase = program.phases.find(val => val["id"] === currentPhaseId);
+    if (phase) {
+      return phase["triggers"] as Record<string, unknown>[];
+    }
+    throw new Error(`phase with id:"${currentPhaseId}" not found`)
+  }
+}));
+
+export default useProgramStore;

test/pages/monitoringPage/MonitoringPage.test.tsx

@@ -0,0 +1,299 @@
+import { render, screen, fireEvent, act } from '@testing-library/react';
+import '@testing-library/jest-dom';
+import MonitoringPage from '../../../src/pages/MonitoringPage/MonitoringPage';
+import useProgramStore from '../../../src/utils/programStore';
+import * as MonitoringAPI from '../../../src/pages/MonitoringPage/MonitoringPageAPI';
+import * as VisProg from '../../../src/pages/VisProgPage/VisProgLogic';
+
+// --- Mocks ---
+
+// Mock the Zustand store
+jest.mock('../../../src/utils/programStore', () => ({
+  __esModule: true,
+  default: jest.fn(),
+}));
+
+// Mock the API layer including hooks
+jest.mock('../../../src/pages/MonitoringPage/MonitoringPageAPI', () => ({
+  nextPhase: jest.fn(),
+  resetPhase: jest.fn(),
+  pauseExperiment: jest.fn(),
+  playExperiment: jest.fn(),
+  // We mock these to capture the callbacks and trigger them manually in tests
+  useExperimentLogger: jest.fn(),
+  useStatusLogger: jest.fn(),
+}));
+
+// Mock VisProg functionality
+jest.mock('../../../src/pages/VisProgPage/VisProgLogic', () => ({
+  graphReducer: jest.fn(),
+  runProgramm: jest.fn(),
+}));
+
+// Mock Child Components to reduce noise (optional, but keeps unit test focused)
+// For this test, we will allow them to render to test data passing, 
+// but we mock RobotConnected as it has its own side effects
+jest.mock('../../../src/pages/MonitoringPage/MonitoringPageComponents', () => {
+  const original = jest.requireActual('../../../src/pages/MonitoringPage/MonitoringPageComponents');
+  return {
+    ...original,
+    RobotConnected: () => <div data-testid="robot-connected-mock">Robot Status</div>,
+  };
+});
+
+describe('MonitoringPage', () => {
+  // Capture stream callbacks
+  let streamUpdateCallback: (data: any) => void;
+  let statusUpdateCallback: (data: any) => void;
+
+  // Setup default store state
+  const mockGetPhaseIds = jest.fn();
+  const mockGetPhaseNames = jest.fn();
+  const mockGetNorms = jest.fn();
+  const mockGetGoals = jest.fn();
+  const mockGetGoalsWithDepth = jest.fn();
+  const mockGetTriggers = jest.fn();
+  const mockSetProgramState = jest.fn();
+
+  beforeEach(() => {
+    jest.clearAllMocks();
+
+    // Default Store Implementation
+    (useProgramStore as unknown as jest.Mock).mockImplementation((selector) => {
+      const state = {
+        getPhaseIds: mockGetPhaseIds,
+        getPhaseNames: mockGetPhaseNames,
+        getNormsInPhase: mockGetNorms,
+        getGoalsInPhase: mockGetGoals,
+        getTriggersInPhase: mockGetTriggers,
+        getGoalsWithDepth: mockGetGoalsWithDepth,
+        setProgramState: mockSetProgramState,
+      };
+      return selector(state);
+    });
+
+    // Capture the hook callbacks
+    (MonitoringAPI.useExperimentLogger as jest.Mock).mockImplementation((cb) => {
+      streamUpdateCallback = cb;
+    });
+    (MonitoringAPI.useStatusLogger as jest.Mock).mockImplementation((cb) => {
+      statusUpdateCallback = cb;
+    });
+
+    // Default mock return values
+    mockGetPhaseIds.mockReturnValue(['phase-1', 'phase-2']);
+    mockGetPhaseNames.mockReturnValue(['Intro', 'Main']);
+    mockGetGoals.mockReturnValue([{ id: 'g1', name: 'Goal 1'}, { id: 'g2', name: 'Goal 2'}]);
+    mockGetGoalsWithDepth.mockReturnValue([
+        { id: 'g1', name: 'Goal 1', level: 0 }, 
+        { id: 'g2', name: 'Goal 2', level: 0 }
+    ]);
+    mockGetTriggers.mockReturnValue([{ id: 't1', name: 'Trigger 1' }]);
+    mockGetNorms.mockReturnValue([
+        { id: 'n1', norm: 'Norm 1', condition: null }, 
+        { id: 'cn1', norm: 'Cond Norm 1', condition: 'some-cond' }
+    ]);
+  });
+
+  test('renders "No program loaded" when phaseIds are empty', () => {
+    mockGetPhaseIds.mockReturnValue([]);
+    render(<MonitoringPage />);
+    expect(screen.getByText('No program loaded.')).toBeInTheDocument();
+  });
+
+  test('renders the dashboard with initial state', () => {
+    render(<MonitoringPage />);
+    
+    // Check Header
+    expect(screen.getByText('Phase 1:')).toBeInTheDocument();
+    expect(screen.getByText('Intro')).toBeInTheDocument();
+    
+    // Check Lists
+    expect(screen.getByText(/Goal 1/)).toBeInTheDocument(); 
+    
+    expect(screen.getByText('Trigger 1')).toBeInTheDocument();
+    expect(screen.getByText('Norm 1')).toBeInTheDocument();
+    expect(screen.getByText('Cond Norm 1')).toBeInTheDocument();
+  });
+
+  describe('Control Buttons', () => {
+    test('Pause calls API and updates UI', async () => {
+      render(<MonitoringPage />);
+      const pauseBtn = screen.getByText('❚❚');
+      
+      await act(async () => {
+        fireEvent.click(pauseBtn);
+      });
+
+      expect(MonitoringAPI.pauseExperiment).toHaveBeenCalled();
+      // Ensure local state toggled (we check if play button is now inactive style or pause active)
+    });
+
+    test('Play calls API and updates UI', async () => {
+      render(<MonitoringPage />);
+      const playBtn = screen.getByText('▶');
+      
+      await act(async () => {
+        fireEvent.click(playBtn);
+      });
+
+      expect(MonitoringAPI.playExperiment).toHaveBeenCalled();
+    });
+
+    test('Next Phase calls API', async () => {
+      render(<MonitoringPage />);
+      await act(async () => {
+        fireEvent.click(screen.getByText('⏭'));
+      });
+      expect(MonitoringAPI.nextPhase).toHaveBeenCalled();
+    });
+
+    test('Reset Experiment calls logic and resets state', async () => {
+      render(<MonitoringPage />);
+      
+      // Mock graph reducer return
+      (VisProg.graphReducer as jest.Mock).mockReturnValue([{ id: 'new-phase' }]);
+
+      await act(async () => {
+        fireEvent.click(screen.getByText('⟲'));
+      });
+
+      expect(VisProg.graphReducer).toHaveBeenCalled();
+      expect(mockSetProgramState).toHaveBeenCalledWith({ phases: [{ id: 'new-phase' }] });
+      expect(VisProg.runProgramm).toHaveBeenCalled();
+    });
+    
+    test('Reset Experiment handles errors gracefully', async () => {
+        const consoleSpy = jest.spyOn(console, 'error').mockImplementation(() => {});
+        (VisProg.runProgramm as jest.Mock).mockRejectedValue(new Error('Fail'));
+        
+        render(<MonitoringPage />);
+        await act(async () => {
+            fireEvent.click(screen.getByText('⟲'));
+        });
+        
+        expect(consoleSpy).toHaveBeenCalledWith('Failed to reset program:', expect.any(Error));
+        consoleSpy.mockRestore();
+    });
+  });
+
+  describe('Stream Updates (useExperimentLogger)', () => {
+    test('Handles phase_update to next phase', () => {
+      render(<MonitoringPage />);
+      
+      expect(screen.getByText('Intro')).toBeInTheDocument(); // Phase 0
+
+      act(() => {
+        streamUpdateCallback({ type: 'phase_update', id: 'phase-2' });
+      });
+
+      expect(screen.getByText('Main')).toBeInTheDocument(); // Phase 1
+    });
+
+    test('Handles phase_update to "end"', () => {
+      render(<MonitoringPage />);
+      
+      act(() => {
+        streamUpdateCallback({ type: 'phase_update', id: 'end' });
+      });
+
+      expect(screen.getByText('Experiment finished')).toBeInTheDocument();
+      expect(screen.getByText('All phases have been successfully completed.')).toBeInTheDocument();
+    });
+
+    test('Handles phase_update with unknown ID gracefully', () => {
+      render(<MonitoringPage />);
+      act(() => {
+        streamUpdateCallback({ type: 'phase_update', id: 'unknown-phase' });
+      });
+      // Should remain on current phase
+      expect(screen.getByText('Intro')).toBeInTheDocument();
+    });
+
+    test('Handles goal_update: advances index and marks previous as achieved', () => {
+      render(<MonitoringPage />);
+      
+      // Initial: Goal 1 (index 0) is current.
+      // Send update for Goal 2 (index 1).
+      act(() => {
+        streamUpdateCallback({ type: 'goal_update', id: 'g2' });
+      });
+
+      // Goal 1 should now be marked achieved (passed via activeIds)
+      // Goal 2 should be current.
+      
+      // We can inspect the "StatusList" props implicitly by checking styling or indicators if not mocked,
+      // but since we render the full component, we check the class/text.
+      // Goal 1 should have checkmark (override logic puts checkmark for activeIds)
+      // The implementation details of StatusList show ✔️ for activeIds.
+      
+      const items = screen.getAllByRole('listitem');
+      // Helper to find checkmarks within items
+      expect(items[0]).toHaveTextContent('Goal 1');
+      // After update, g1 is active (achieved), g2 is current
+      // logic: loop i < gIndex (1). activeIds['g1'] = true.
+    });
+    
+    test('Handles goal_update with unknown ID', () => {
+        const warnSpy = jest.spyOn(console, 'warn').mockImplementation(() => {});
+        
+        render(<MonitoringPage />);
+        act(() => {
+            streamUpdateCallback({ type: 'goal_update', id: 'unknown-goal' });
+        });
+
+        expect(warnSpy).toHaveBeenCalledWith(expect.stringContaining('Goal unknown-goal not found'));
+        warnSpy.mockRestore();
+    });
+
+    test('Handles trigger_update', () => {
+      render(<MonitoringPage />);
+      
+      // Trigger 1 initially not achieved
+      act(() => {
+        streamUpdateCallback({ type: 'trigger_update', id: 't1', achieved: true });
+      });
+
+      // StatusList logic: if activeId is true, show ✔️
+      // We look for visual confirmation or check logic
+      const triggerList = screen.getByText('Triggers').parentElement;
+      expect(triggerList).toHaveTextContent('✔️'); // Assuming 't1' is the only trigger
+    });
+  });
+
+  describe('Status Updates (useStatusLogger)', () => {
+    test('Handles cond_norms_state_update', () => {
+      render(<MonitoringPage />);
+      
+      // Initial state: activeIds empty.
+      act(() => {
+        statusUpdateCallback({ 
+            type: 'cond_norms_state_update', 
+            norms: [{ id: 'cn1', active: true }] 
+        });
+      });
+
+      // Conditional Norm 1 should now be active
+      const cnList = screen.getByText('Conditional Norms').parentElement;
+      expect(cnList).toHaveTextContent('✔️');
+    });
+
+    test('Ignores status update if no changes detected', () => {
+       render(<MonitoringPage />);
+       // First update
+       act(() => {
+           statusUpdateCallback({ type: 'cond_norms_state_update', norms: [{ id: 'cn1', active: true }] });
+       });
+       
+       // Second identical update - strictly checking if this causes a rerender is hard in RTL,
+       // but we ensure no errors and state remains consistent.
+       act(() => {
+           statusUpdateCallback({ type: 'cond_norms_state_update', norms: [{ id: 'cn1', active: true }] });
+       });
+       
+       const cnList = screen.getByText('Conditional Norms').parentElement;
+       expect(cnList).toHaveTextContent('✔️');
+    });
+  });
+});
+

test/pages/monitoringPage/MonitoringPageAPI.test.ts

@@ -0,0 +1,220 @@
+import { renderHook, act, cleanup } from '@testing-library/react';
+import { 
+    sendAPICall, 
+    nextPhase,  
+    pauseExperiment, 
+    playExperiment, 
+    useExperimentLogger, 
+    useStatusLogger 
+} from '../../../src/pages/MonitoringPage/MonitoringPageAPI';
+
+// --- MOCK EVENT SOURCE SETUP ---
+// This mocks the browser's EventSource so we can manually 'push' messages to our hooks
+const mockInstances: MockEventSource[] = [];
+
+class MockEventSource {
+  url: string;
+  onmessage: ((event: MessageEvent) => void) | null = null;
+  onerror: ((event: Event) => void) | null = null; // Added onerror support
+  closed = false;
+
+  constructor(url: string) {
+    this.url = url;
+    mockInstances.push(this);
+  }
+
+  sendMessage(data: string) {
+    if (this.onmessage) {
+      this.onmessage({ data } as MessageEvent);
+    }
+  }
+
+  triggerError(err: any) {
+    if (this.onerror) {
+        this.onerror(err);
+    }
+  }
+
+  close() {
+    this.closed = true;
+  }
+}
+
+// Mock global EventSource
+beforeAll(() => {
+  (globalThis as any).EventSource = jest.fn((url: string) => new MockEventSource(url));
+});
+
+// Mock global fetch
+beforeEach(() => {
+  globalThis.fetch = jest.fn(() =>
+    Promise.resolve({
+      ok: true,
+      json: () => Promise.resolve({ reply: 'ok' }),
+    })
+  ) as jest.Mock;
+});
+
+// Cleanup after every test
+afterEach(() => {
+  cleanup();
+  jest.restoreAllMocks();
+  mockInstances.length = 0;
+});
+
+describe('MonitoringPageAPI', () => {
+
+  describe('sendAPICall', () => {
+    test('sends correct POST request', async () => {
+      await sendAPICall('test_type', 'test_ctx');
+
+      expect(globalThis.fetch).toHaveBeenCalledWith(
+        'http://localhost:8000/button_pressed',
+        expect.objectContaining({
+          method: 'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body: JSON.stringify({ type: 'test_type', context: 'test_ctx' }),
+        })
+      );
+    });
+
+    test('appends endpoint if provided', async () => {
+      await sendAPICall('t', 'c', '/extra');
+
+      expect(globalThis.fetch).toHaveBeenCalledWith(
+        expect.stringContaining('/button_pressed/extra'),
+        expect.any(Object)
+      );
+    });
+
+    test('logs error on fetch network failure', async () => {
+      (globalThis.fetch as jest.Mock).mockRejectedValue('Network error');
+      const consoleSpy = jest.spyOn(console, 'error').mockImplementation(() => {});
+
+      await sendAPICall('t', 'c');
+
+      expect(consoleSpy).toHaveBeenCalledWith('Failed to send api call:', 'Network error');
+    });
+
+    test('throws error if response is not ok', async () => {
+        (globalThis.fetch as jest.Mock).mockResolvedValue({ ok: false });
+        const consoleSpy = jest.spyOn(console, 'error').mockImplementation(() => {});
+
+        await sendAPICall('t', 'c');
+        
+        expect(consoleSpy).toHaveBeenCalledWith('Failed to send api call:', expect.any(Error));
+    });
+  });
+
+  describe('Helper Functions', () => {
+    test('nextPhase sends correct params', async () => {
+      await nextPhase();
+      expect(globalThis.fetch).toHaveBeenCalledWith(
+        expect.any(String),
+        expect.objectContaining({ body: JSON.stringify({ type: 'next_phase', context: '' }) })
+      );
+    });
+
+    test('pauseExperiment sends correct params', async () => {
+      await pauseExperiment();
+      expect(globalThis.fetch).toHaveBeenCalledWith(
+        expect.any(String),
+        expect.objectContaining({ body: JSON.stringify({ type: 'pause', context: 'true' }) })
+      );
+    });
+
+    test('playExperiment sends correct params', async () => {
+      await playExperiment();
+      expect(globalThis.fetch).toHaveBeenCalledWith(
+        expect.any(String),
+        expect.objectContaining({ body: JSON.stringify({ type: 'pause', context: 'false' }) })
+      );
+    });
+  });
+
+  describe('useExperimentLogger', () => {
+    test('connects to SSE and receives messages', () => {
+      const onUpdate = jest.fn();
+      
+      // Hook must be rendered to start the effect
+      renderHook(() => useExperimentLogger(onUpdate));
+
+      // Retrieve the mocked instance created by the hook
+      const eventSource = mockInstances[0];
+      expect(eventSource.url).toContain('/experiment_stream');
+
+      // Simulate incoming message
+      act(() => {
+        eventSource.sendMessage(JSON.stringify({ type: 'phase_update', id: '1' }));
+      });
+
+      expect(onUpdate).toHaveBeenCalledWith({ type: 'phase_update', id: '1' });
+    });
+
+    test('handles JSON parse errors in stream', () => {
+      const consoleSpy = jest.spyOn(console, 'warn').mockImplementation(() => {});
+      renderHook(() => useExperimentLogger());
+      const eventSource = mockInstances[0];
+
+      act(() => {
+        eventSource.sendMessage('invalid-json');
+      });
+
+      expect(consoleSpy).toHaveBeenCalledWith('Stream parse error:', expect.any(Error));
+    });
+    
+    
+
+    test('handles SSE connection error', () => {
+        const consoleSpy = jest.spyOn(console, 'error').mockImplementation(() => {});
+        renderHook(() => useExperimentLogger());
+        const eventSource = mockInstances[0];
+  
+        act(() => {
+          eventSource.triggerError('Connection lost');
+        });
+  
+        expect(consoleSpy).toHaveBeenCalledWith('SSE Connection Error:', 'Connection lost');
+        expect(eventSource.closed).toBe(true);
+      });
+
+    test('closes EventSource on unmount', () => {
+      const { unmount } = renderHook(() => useExperimentLogger());
+      const eventSource = mockInstances[0];
+      const closeSpy = jest.spyOn(eventSource, 'close');
+
+      unmount();
+
+      expect(closeSpy).toHaveBeenCalled();
+      expect(eventSource.closed).toBe(true);
+    });
+  });
+
+  describe('useStatusLogger', () => {
+    test('connects to SSE and receives messages', () => {
+      const onUpdate = jest.fn();
+      renderHook(() => useStatusLogger(onUpdate));
+      const eventSource = mockInstances[0];
+
+      expect(eventSource.url).toContain('/status_stream');
+
+      act(() => {
+        eventSource.sendMessage(JSON.stringify({ some: 'data' }));
+      });
+
+      expect(onUpdate).toHaveBeenCalledWith({ some: 'data' });
+    });
+
+    test('handles JSON parse errors', () => {
+      const consoleSpy = jest.spyOn(console, 'warn').mockImplementation(() => {});
+      renderHook(() => useStatusLogger());
+      const eventSource = mockInstances[0];
+
+      act(() => {
+        eventSource.sendMessage('bad-data');
+      });
+
+      expect(consoleSpy).toHaveBeenCalledWith('Status stream error:', expect.any(Error));
+    });
+  });
+});

test/pages/monitoringPage/MonitoringPageComponents.test.tsx

@@ -0,0 +1,226 @@
+import React from 'react';
+import { render, screen, fireEvent, act } from '@testing-library/react';
+import '@testing-library/jest-dom';
+
+// Corrected Imports
+import { 
+  GestureControls, 
+  SpeechPresets, 
+  DirectSpeechInput, 
+  StatusList, 
+  RobotConnected 
+} from '../../../src/pages/MonitoringPage/MonitoringPageComponents';
+
+import * as MonitoringAPI from '../../../src/pages/MonitoringPage/MonitoringPageAPI';
+
+// Mock the API Call function with the correct path
+jest.mock('../../../src/pages/MonitoringPage/MonitoringPageAPI', () => ({
+  sendAPICall: jest.fn(),
+}));
+
+describe('MonitoringPageComponents', () => {
+  beforeEach(() => {
+    jest.clearAllMocks();
+  });
+
+  describe('GestureControls', () => {
+    test('renders and sends gesture command', () => {
+      render(<GestureControls />);
+      
+      fireEvent.change(screen.getByRole('combobox'), { 
+        target: { value: 'animations/Stand/Gestures/Hey_1' } 
+      });
+      
+      // Click button
+      fireEvent.click(screen.getByText('Actuate'));
+      
+      // Expect the API to be called with that new value
+      expect(MonitoringAPI.sendAPICall).toHaveBeenCalledWith('gesture', 'animations/Stand/Gestures/Hey_1');
+    });
+  });
+
+  describe('SpeechPresets', () => {
+    test('renders buttons and sends speech command', () => {
+      render(<SpeechPresets />);
+      
+      const btn = screen.getByText('"Hello, I\'m Pepper"');
+      fireEvent.click(btn);
+      
+      expect(MonitoringAPI.sendAPICall).toHaveBeenCalledWith('speech', "Hello, I'm Pepper");
+    });
+  });
+
+  describe('DirectSpeechInput', () => {
+    test('inputs text and sends on button click', () => {
+      render(<DirectSpeechInput />);
+      const input = screen.getByPlaceholderText('Type message...');
+      
+      fireEvent.change(input, { target: { value: 'Custom text' } });
+      fireEvent.click(screen.getByText('Send'));
+      
+      expect(MonitoringAPI.sendAPICall).toHaveBeenCalledWith('speech', 'Custom text');
+      expect(input).toHaveValue(''); // Should clear
+    });
+
+    test('sends on Enter key', () => {
+        render(<DirectSpeechInput />);
+        const input = screen.getByPlaceholderText('Type message...');
+        
+        fireEvent.change(input, { target: { value: 'Enter text' } });
+        fireEvent.keyDown(input, { key: 'Enter', code: 'Enter' });
+        
+        expect(MonitoringAPI.sendAPICall).toHaveBeenCalledWith('speech', 'Enter text');
+      });
+  
+      test('does not send empty text', () => {
+        render(<DirectSpeechInput />);
+        fireEvent.click(screen.getByText('Send'));
+        expect(MonitoringAPI.sendAPICall).not.toHaveBeenCalled();
+      });
+  });
+
+  describe('StatusList', () => {
+    const mockSet = jest.fn();
+    const items = [
+      { id: '1', name: 'Item 1' },
+      { id: '2', name: 'Item 2' }
+    ];
+
+    test('renders list items', () => {
+      render(<StatusList title="Test List" items={items} type="goal" activeIds={{}} />);
+      expect(screen.getByText('Test List')).toBeInTheDocument();
+      expect(screen.getByText('Item 1')).toBeInTheDocument();
+    });
+
+    test('Goals: click override on inactive item calls API', () => {
+      render(
+        <StatusList 
+          title="Goals" 
+          items={items} 
+          type="goal" 
+          activeIds={{}} 
+          setActiveIds={mockSet} 
+        />
+      );
+      
+      // Click the X (inactive)
+      const indicator = screen.getAllByText('❌')[0];
+      fireEvent.click(indicator);
+      
+      expect(MonitoringAPI.sendAPICall).toHaveBeenCalledWith('override', '1');
+      expect(mockSet).toHaveBeenCalled();
+    });
+
+    test('Conditional Norms: click override on ACTIVE item unachieves', () => {
+        render(
+          <StatusList 
+            title="CN" 
+            items={items} 
+            type="cond_norm" 
+            activeIds={{ '1': true }} 
+          />
+        );
+        
+        const indicator = screen.getByText('✔️'); // It is active
+        fireEvent.click(indicator);
+        
+        expect(MonitoringAPI.sendAPICall).toHaveBeenCalledWith('override_unachieve', '1');
+      });
+  
+      test('Current Goal highlighting', () => {
+          render(
+              <StatusList 
+                title="Goals" 
+                items={items} 
+                type="goal" 
+                activeIds={{}} 
+                currentGoalIndex={0}
+              />
+            );
+          // Using regex to handle the "(Current)" text
+          expect(screen.getByText(/Item 1/)).toBeInTheDocument();
+          expect(screen.getByText(/(Current)/)).toBeInTheDocument();
+      });
+  });
+
+  describe('RobotConnected', () => {
+    let mockEventSource: any;
+
+    beforeAll(() => {
+        Object.defineProperty(window, 'EventSource', {
+            writable: true,
+            value: jest.fn().mockImplementation(() => ({
+                close: jest.fn(),
+                onmessage: null,
+            })),
+        });
+    });
+
+    beforeEach(() => {
+        mockEventSource = new window.EventSource('url');
+        (window.EventSource as unknown as jest.Mock).mockClear();
+        (window.EventSource as unknown as jest.Mock).mockImplementation(() => mockEventSource);
+    });
+
+    test('displays disconnected initially', () => {
+        render(<RobotConnected />);
+        expect(screen.getByText('● Robot is disconnected')).toBeInTheDocument();
+    });
+
+    test('updates to connected when SSE receives true', async () => {
+        render(<RobotConnected />);
+        
+        act(() => {
+            if(mockEventSource.onmessage) {
+                mockEventSource.onmessage({ data: 'true' } as MessageEvent);
+            }
+        });
+
+        expect(await screen.findByText('● Robot is connected')).toBeInTheDocument();
+    });
+    
+    test('handles invalid JSON gracefully', async () => {
+        const consoleSpy = jest.spyOn(console, 'log').mockImplementation(() => {});
+        render(<RobotConnected />);
+        
+        act(() => {
+            if(mockEventSource.onmessage) {
+                mockEventSource.onmessage({ data: 'invalid-json' } as MessageEvent);
+            }
+        });
+        
+        // Should catch error and log it, state remains disconnected
+        expect(consoleSpy).toHaveBeenCalledWith('Ping message not in correct format:', 'invalid-json');
+        consoleSpy.mockRestore();
+    });
+
+    test('logs error if state update fails (inner catch block)', async () => {
+        const consoleSpy = jest.spyOn(console, 'log').mockImplementation(() => {});
+        
+        // 1. Force useState to return a setter that throws an error
+        const mockThrowingSetter = jest.fn(() => { throw new Error('Forced State Error'); });
+        
+        // We use mockImplementation to return [currentState, throwingSetter]
+        const useStateSpy = jest.spyOn(React, 'useState')
+            .mockImplementation(() => [null, mockThrowingSetter]);
+
+        render(<RobotConnected />);
+        
+        // 2. Trigger the event with VALID JSON ("true")
+        // This passes the first JSON.parse try/catch, 
+        // but fails when calling setConnected(true) because of our mock.
+        await act(async () => {
+            if (mockEventSource.onmessage) {
+                mockEventSource.onmessage({ data: 'true' } as MessageEvent);
+            }
+        });
+
+        // 3. Verify the specific error log from line 205
+        expect(consoleSpy).toHaveBeenCalledWith("couldnt extract connected from incoming ping data");
+        
+        // Cleanup spies
+        useStateSpy.mockRestore();
+        consoleSpy.mockRestore();
+    });
+  });
+});

test/pages/simpleProgram/SimpleProgram.tsx

@@ -0,0 +1,83 @@
+import { render, screen, fireEvent } from "@testing-library/react";
+import SimpleProgram from "../../../src/pages/SimpleProgram/SimpleProgram";
+import useProgramStore from "../../../src/utils/programStore";
+
+/**
+ * Helper to preload the program store before rendering.
+ */
+function loadProgram(phases: Record<string, unknown>[]) {
+  useProgramStore.getState().setProgramState({ phases });
+}
+
+describe("SimpleProgram", () => {
+  beforeEach(() => {
+    loadProgram([]);
+  });
+
+  test("shows empty state when no program is loaded", () => {
+    render(<SimpleProgram />);
+    expect(screen.getByText("No program loaded.")).toBeInTheDocument();
+  });
+
+  test("renders first phase content", () => {
+    loadProgram([
+      {
+        id: "phase-1",
+        norms: [{ id: "n1", norm: "Be polite" }],
+        goals: [{ id: "g1", description: "Finish task", achieved: true }],
+        triggers: [{ id: "t1", label: "Keyword trigger" }],
+      },
+    ]);
+
+    render(<SimpleProgram />);
+
+    expect(screen.getByText("Phase 1 / 1")).toBeInTheDocument();
+    expect(screen.getByText("Be polite")).toBeInTheDocument();
+    expect(screen.getByText("Finish task")).toBeInTheDocument();
+    expect(screen.getByText("Keyword trigger")).toBeInTheDocument();
+  });
+
+  test("allows navigating between phases", () => {
+    loadProgram([
+      {
+        id: "phase-1",
+        norms: [],
+        goals: [],
+        triggers: [],
+      },
+      {
+        id: "phase-2",
+        norms: [{ id: "n2", norm: "Be careful" }],
+        goals: [],
+        triggers: [],
+      },
+    ]);
+
+    render(<SimpleProgram />);
+
+    expect(screen.getByText("Phase 1 / 2")).toBeInTheDocument();
+
+    fireEvent.click(screen.getByText("Next ▶"));
+
+    expect(screen.getByText("Phase 2 / 2")).toBeInTheDocument();
+    expect(screen.getByText("Be careful")).toBeInTheDocument();
+  });
+
+  test("prev button is disabled on first phase", () => {
+    loadProgram([
+      { id: "phase-1", norms: [], goals: [], triggers: [] },
+    ]);
+
+    render(<SimpleProgram />);
+    expect(screen.getByText("◀ Prev")).toBeDisabled();
+  });
+
+  test("next button is disabled on last phase", () => {
+    loadProgram([
+      { id: "phase-1", norms: [], goals: [], triggers: [] },
+    ]);
+
+    render(<SimpleProgram />);
+    expect(screen.getByText("Next ▶")).toBeDisabled();
+  });
+});

test/pages/visProgPage/visualProgrammingUI/EditorUndoRedo.test.ts

@@ -3,6 +3,9 @@ import useFlowStore from '../../../../src/pages/VisProgPage/visualProgrammingUI/
 import { mockReactFlow } from '../../../setupFlowTests.ts';
 
 
+
+
+
 beforeAll(() => {
   mockReactFlow();
 });

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'));
+  });
+});

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"));
+  });
+
+});

test/pages/visProgPage/visualProgrammingUI/VisProgStores.test.tsx

@@ -1,5 +1,6 @@
 import {act} from '@testing-library/react';
 import type {Connection, Edge, 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';
@@ -594,5 +595,48 @@ describe('FlowStore Functionality', () => {
       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);
+    });
+  });
+})
 });

test/pages/visProgPage/visualProgrammingUI/components/DragDropSidebar.test.tsx

@@ -95,7 +95,11 @@ describe("Drag & drop node creation", () => {
     const node = nodes[0];
 
     expect(node.type).toBe("phase");
-    expect(node.id).toBe("phase-1");
+
+    // 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({

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();
+  });
+});

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);
+  });
+});

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)
+    });
+  })
+});

test/pages/visProgPage/visualProgrammingUI/components/SaveLoadPanel.test.tsx

@@ -105,6 +105,8 @@ describe("SaveLoadPanel - combined tests", () => {
   });
 
   test("onLoad with invalid JSON does not update store", async () => {
+    const consoleSpy = jest.spyOn(console, 'error').mockImplementation(() => {});
+  
     const file = new File(["not json"], "bad.json", { type: "application/json" });
     file.text = jest.fn(() => Promise.resolve(`{"bad json`));
 
@@ -112,20 +114,19 @@ describe("SaveLoadPanel - combined tests", () => {
 
     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("");
     });
+
+    // Clean up the spy
+    consoleSpy.mockRestore();
   });
 
   test("onLoad resolves to null when no file is chosen (user cancels) and does not update store", async () => {

test/pages/visProgPage/visualProgrammingUI/nodes/BeliefGlobals.test.ts

@@ -0,0 +1,274 @@
+import { describe, it, expect, jest, beforeEach } from '@jest/globals';
+import {type Connection, getOutgoers, type Node} from '@xyflow/react';
+import {ruleResult} from "../../../../../src/pages/VisProgPage/visualProgrammingUI/HandleRuleLogic.ts";
+import {BasicBeliefReduce} from "../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.tsx";
+import {
+  BeliefGlobalReduce, noBeliefCycles,
+  noMatchingLeftRightBelief
+} from "../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/BeliefGlobals.ts";
+import { InferredBeliefReduce } from "../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.tsx";
+import useFlowStore from "../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx";
+import * as BasicModule from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode';
+import * as InferredModule from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.tsx';
+import * as FlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx';
+
+
+describe('BeliefGlobalReduce', () => {
+  const nodes: Node[] = [];
+
+  beforeEach(() => {
+    jest.clearAllMocks();
+  });
+
+  it('delegates to BasicBeliefReduce for basic_belief nodes', () => {
+    const spy = jest
+      .spyOn(BasicModule, 'BasicBeliefReduce')
+      .mockReturnValue('basic-result' as any);
+
+    const node = { id: '1', type: 'basic_belief' } as Node;
+
+    const result = BeliefGlobalReduce(node, nodes);
+
+    expect(spy).toHaveBeenCalledWith(node, nodes);
+    expect(result).toBe('basic-result');
+  });
+
+  it('delegates to InferredBeliefReduce for inferred_belief nodes', () => {
+    const spy = jest
+      .spyOn(InferredModule, 'InferredBeliefReduce')
+      .mockReturnValue('inferred-result' as any);
+
+    const node = { id: '2', type: 'inferred_belief' } as Node;
+
+    const result = BeliefGlobalReduce(node, nodes);
+
+    expect(spy).toHaveBeenCalledWith(node, nodes);
+    expect(result).toBe('inferred-result');
+  });
+
+  it('returns undefined for unknown node types', () => {
+    const node = { id: '3', type: 'other' } as Node;
+
+    const result = BeliefGlobalReduce(node, nodes);
+
+    expect(result).toBeUndefined();
+    expect(BasicBeliefReduce).not.toHaveBeenCalled();
+    expect(InferredBeliefReduce).not.toHaveBeenCalled();
+  });
+});
+
+describe('noMatchingLeftRightBelief rule', () => {
+  let getStateSpy: ReturnType<typeof jest.spyOn>;
+
+  beforeEach(() => {
+    jest.clearAllMocks();
+    getStateSpy = jest.spyOn(FlowStore.default, 'getState');
+  });
+
+  it('is satisfied when target node is not an inferred belief', () => {
+    getStateSpy.mockReturnValue({
+      nodes: [{ id: 't1', type: 'basic_belief' }],
+    } as any);
+
+    const result = noMatchingLeftRightBelief(
+      { source: 's1', target: 't1' } as Connection,
+      null as any
+    );
+
+    expect(result).toBe(ruleResult.satisfied);
+  });
+
+  it('is satisfied when inferred belief has no matching left/right', () => {
+    getStateSpy.mockReturnValue({
+      nodes: [
+        {
+          id: 't1',
+          type: 'inferred_belief',
+          data: {
+            inferredBelief: {
+              left: 'a',
+              right: 'b',
+            },
+          },
+        },
+      ],
+    } as any);
+
+    const result = noMatchingLeftRightBelief(
+      { source: 'c', target: 't1' } as Connection,
+      null as any
+    );
+
+    expect(result).toBe(ruleResult.satisfied);
+  });
+
+  it('is NOT satisfied when source matches left input', () => {
+    getStateSpy.mockReturnValue({
+      nodes: [
+        {
+          id: 't1',
+          type: 'inferred_belief',
+          data: {
+            inferredBelief: {
+              left: 's1',
+              right: 's2',
+            },
+          },
+        },
+      ],
+    } as any);
+
+    const result = noMatchingLeftRightBelief(
+      { source: 's1', target: 't1' } as Connection,
+      null as any
+    );
+
+    expect(result.isSatisfied).toBe(false);
+    if (!(result.isSatisfied)) {
+      expect(result.message).toContain(
+        'Connecting one belief to both input handles of an inferred belief node is not allowed'
+      );
+    }
+  });
+
+  it('is NOT satisfied when source matches right input', () => {
+    getStateSpy.mockReturnValue({
+      nodes: [
+        {
+          id: 't1',
+          type: 'inferred_belief',
+          data: {
+            inferredBelief: {
+              left: 's1',
+              right: 's2',
+            },
+          },
+        },
+      ],
+    } as any);
+
+    const result = noMatchingLeftRightBelief(
+      { source: 's2', target: 't1' } as Connection,
+      null as any
+    );
+
+    expect(result.isSatisfied).toBe(false);
+    if (!(result.isSatisfied)) {
+      expect(result.message).toContain(
+        'Connecting one belief to both input handles of an inferred belief node is not allowed'
+      );
+    }
+  });
+});
+
+
+jest.mock('@xyflow/react', () => ({
+  getOutgoers: jest.fn(),
+  getConnectedEdges: jest.fn(), // include if some tests require it
+}));
+
+describe('noBeliefCycles rule', () => {
+  beforeEach(() => {
+    jest.clearAllMocks();
+  });
+
+  it('returns notSatisfied when source === target', () => {
+    const result = noBeliefCycles({ source: 'n1', target: 'n1' } as any, null as any);
+    expect(result.isSatisfied).toBe(false);
+    if (!(result.isSatisfied)) {
+      expect(result.message).toContain('Cyclical connection exists');
+    }
+  });
+
+  it('returns satisfied when there are no outgoing inferred beliefs', () => {
+    jest.spyOn(useFlowStore, 'getState').mockReturnValue({
+      nodes: [{ id: 'n1', type: 'inferred_belief' }],
+      edges: [],
+    } as any);
+
+    (getOutgoers as jest.Mock).mockReturnValue([]);
+
+    const result = noBeliefCycles({ source: 'n1', target: 'n2' } as any, null as any);
+    expect(result).toBe(ruleResult.satisfied);
+  });
+
+  it('returns notSatisfied for direct cycle', () => {
+    jest.spyOn(useFlowStore, 'getState').mockReturnValue({
+      nodes: [
+        { id: 'n1', type: 'inferred_belief' },
+        { id: 'n2', type: 'inferred_belief' },
+      ],
+      edges: [{ source: 'n2', target: 'n1' }],
+    } as any);
+
+    // @ts-expect-error is acting up
+    (getOutgoers as jest.Mock).mockImplementation(({ id }) => {
+      if (id === 'n2') return [{ id: 'n1', type: 'inferred_belief' }];
+      return [];
+    });
+
+    const result = noBeliefCycles({ source: 'n1', target: 'n2' } as any, null as any);
+    expect(result.isSatisfied).toBe(false);
+    if (!(result.isSatisfied)) {
+      expect(result.message).toContain('Cyclical connection exists');
+    }
+  });
+
+  it('returns notSatisfied for indirect cycle', () => {
+    jest.spyOn(useFlowStore, 'getState').mockReturnValue({
+      nodes: [
+        { id: 'A', type: 'inferred_belief' },
+        { id: 'B', type: 'inferred_belief' },
+        { id: 'C', type: 'inferred_belief' },
+      ],
+      edges: [
+        { source: 'A', target: 'B' },
+        { source: 'B', target: 'C' },
+        { source: 'C', target: 'A' },
+      ],
+    } as any);
+
+    // @ts-expect-error is acting up
+    (getOutgoers as jest.Mock).mockImplementation(({ id }) => {
+      const mapping: Record<string, any[]> = {
+        A: [{ id: 'B', type: 'inferred_belief' }],
+        B: [{ id: 'C', type: 'inferred_belief' }],
+        C: [{ id: 'A', type: 'inferred_belief' }],
+      };
+      return mapping[id] || [];
+    });
+
+    const result = noBeliefCycles({ source: 'A', target: 'B' } as any, null as any);
+    expect(result.isSatisfied).toBe(false);
+    if (!(result.isSatisfied)) {
+      expect(result.message).toContain('Cyclical connection exists');
+    }
+  });
+
+  it('returns satisfied when no cycle exists in a multi-node graph', () => {
+    jest.spyOn(useFlowStore, 'getState').mockReturnValue({
+      nodes: [
+        { id: 'A', type: 'inferred_belief' },
+        { id: 'B', type: 'inferred_belief' },
+        { id: 'C', type: 'inferred_belief' },
+      ],
+      edges: [
+        { source: 'A', target: 'B' },
+        { source: 'B', target: 'C' },
+      ],
+    } as any);
+
+    // @ts-expect-error is acting up
+    (getOutgoers as jest.Mock).mockImplementation(({ id }) => {
+      const mapping: Record<string, any[]> = {
+        A: [{ id: 'B', type: 'inferred_belief' }],
+        B: [{ id: 'C', type: 'inferred_belief' }],
+        C: [],
+      };
+      return mapping[id] || [];
+    });
+
+    const result = noBeliefCycles({ source: 'A', target: 'B' } as any, null as any);
+    expect(result).toBe(ruleResult.satisfied);
+  });
+});

test/pages/visProgPage/visualProgrammingUI/nodes/BeliefNode.test.tsx

@@ -0,0 +1,742 @@
+// BasicBeliefNode.test.tsx
+import { describe, it, beforeEach } from '@jest/globals';
+import { screen, waitFor } from '@testing-library/react';
+import userEvent from '@testing-library/user-event';
+import { renderWithProviders } from '../.././/./../../test-utils/test-utils';
+import BasicBeliefNode, { type BasicBeliefNodeData } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.tsx';
+import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
+import type { Node } from '@xyflow/react';
+import '@testing-library/jest-dom';
+
+describe('BasicBeliefNode', () => {
+  let user: ReturnType<typeof userEvent.setup>;
+
+  beforeEach(() => {
+    user = userEvent.setup();
+  });
+  describe('Rendering', () => {
+    it('should render the basic belief node with keyword type by default', () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'keyword', id: 'help', value: 'help', label: 'Keyword said:' },
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      expect(screen.getByText('Belief:')).toBeInTheDocument();
+      expect(screen.getByDisplayValue('Keyword said:')).toBeInTheDocument();
+      expect(screen.getByDisplayValue('help')).toBeInTheDocument();
+    });
+
+    it('should render with semantic belief type', () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-2',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'semantic', id: 'test', value: 'test value', description: "test description", label: 'Detected with LLM:' },
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      expect(screen.getByDisplayValue('Detected with LLM:')).toBeInTheDocument();
+      expect(screen.getByDisplayValue('test value')).toBeInTheDocument();
+    });
+
+    it('should render with object belief type', () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-3',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'object', id: 'obj1', value: 'cup', label: 'Object found:' },
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      expect(screen.getByDisplayValue('Object found:')).toBeInTheDocument();
+      expect(screen.getByDisplayValue('cup')).toBeInTheDocument();
+    });
+
+    it('should render with emotion belief type and select dropdown', () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-4',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'emotion', id: 'em1', value: 'happy', label: 'Emotion recognised:' },
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      expect(screen.getByDisplayValue('Emotion recognised:')).toBeInTheDocument();
+      // For emotion type, we should check that the select has the correct value selected
+      const selectElement = screen.getByDisplayValue('Happy');
+      expect(selectElement).toBeInTheDocument();
+      expect((selectElement as HTMLSelectElement).value).toBe('happy');
+    });
+
+    it('should render emotion dropdown with all emotion options', () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-5',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'emotion', id: 'em1', value: 'happy', label: 'Emotion recognised:' },
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const selectElement = screen.getByDisplayValue('Happy');
+      expect(selectElement).toBeInTheDocument();
+      
+      // Check that all emotion options are present
+      expect(screen.getByText('Happy')).toBeInTheDocument();
+      expect(screen.getByText('Angry')).toBeInTheDocument();
+      expect(screen.getByText('Sad')).toBeInTheDocument();
+      expect(screen.getByText('Cheerful')).toBeInTheDocument();
+    });
+
+    it('should render without wrapping quotes for object type', () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-6',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'object', id: 'obj1', value: 'chair', label: 'Object found:' },
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      // Object type should not have wrapping quotes
+      const inputs = screen.getAllByDisplayValue('chair');
+      expect(inputs.length).toBe(1); // Only the text input, no extra quote elements
+    });
+  });
+
+  describe('User Interactions', () => {
+    it('should update belief type when select is changed', async () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'keyword', id: 'kw1', value: 'hello', label: 'Keyword said:' },
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const select = screen.getByDisplayValue('Keyword said:');
+      await user.selectOptions(select, 'semantic');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const updatedNode = state.nodes.find(n => n.id === 'belief-1') as Node<BasicBeliefNodeData>;
+        expect(updatedNode?.data.belief.type).toBe('semantic');
+        // Note: The component doesn't update the label when changing type
+        // So we can't test for label change
+      });
+    });
+
+    it('should update text value when typing for keyword type', async () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'keyword', id: 'kw1', value: '', label: 'Keyword said:' },
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByPlaceholderText('keyword...');
+      await user.type(input, 'help me{enter}');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const updatedNode = state.nodes.find(n => n.id === 'belief-1') as Node<BasicBeliefNodeData>;
+        expect(updatedNode?.data.belief.value).toBe('help me');
+      });
+    });
+
+    it('should update text value when typing for semantic type', async () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'semantic', id: 'test', value: 'test value', description: "test description", label: 'Detected with LLM:' },
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByDisplayValue('test value') as HTMLInputElement;
+      
+      // Clear the input
+      for (let i = 0; i < 'test value'.length; i++) {
+        await user.type(input, '{backspace}');
+      }
+      await user.type(input, 'new semantic value{enter}');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const updatedNode = state.nodes.find(n => n.id === 'belief-1') as Node<BasicBeliefNodeData>;
+        expect(updatedNode?.data.belief.value).toBe('new semantic value');
+      });
+    });
+
+    it('should update emotion value when selecting from dropdown', async () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'emotion', id: 'em1', value: 'happy', label: 'Emotion recognised:' },
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const select = screen.getByDisplayValue('Happy');
+      await user.selectOptions(select, 'sad');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const updatedNode = state.nodes.find(n => n.id === 'belief-1') as Node<BasicBeliefNodeData>;
+        expect(updatedNode?.data.belief.value).toBe('sad');
+      });
+    });
+
+    it('should preserve value when switching between text-based belief types', async () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'keyword', id: 'kw1', value: 'test value', label: 'Keyword said:' },
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      // Switch from keyword to semantic
+      const typeSelect = screen.getByDisplayValue('Keyword said:');
+      await user.selectOptions(typeSelect, 'semantic');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const updatedNode = state.nodes.find(n => n.id === 'belief-1') as Node<BasicBeliefNodeData>;
+        expect(updatedNode?.data.belief.type).toBe('semantic');
+        expect(updatedNode?.data.belief.value).toBe('test value'); // Value should be preserved
+      });
+    });
+
+    it('should automatically choose the first option when switching to emotion type, and carry on to the text values', async () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'keyword', id: 'kw1', value: 'some text', label: 'Keyword said:' },
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      // Switch from keyword to emotion
+      const typeSelect = screen.getByDisplayValue('Keyword said:');
+      await user.selectOptions(typeSelect, 'emotion');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const updatedNode = state.nodes.find(n => n.id === 'belief-1') as Node<BasicBeliefNodeData>;
+        expect(updatedNode?.data.belief.type).toBe('emotion');
+        // The component doesn't reset the value when changing types
+        // So it keeps the old value even though it doesn't make sense for emotion type
+        expect(updatedNode?.data.belief.value).toBe('Happy');
+      });
+    });
+  });
+
+  // ... rest of the tests remain the same, just fixing the Integration with Store section ...
+
+  describe('Integration with Store', () => {
+    it('should properly update the store when changing belief value', async () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'keyword', id: 'kw1', value: '', label: 'Keyword said:' },
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByPlaceholderText('keyword...');
+      await user.type(input, 'emergency{enter}');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        expect(state.nodes).toHaveLength(1);
+        expect(state.nodes[0].id).toBe('belief-1');
+        const beliefData = state.nodes[0].data as BasicBeliefNodeData;
+        expect(beliefData.belief.value).toBe('emergency');
+        expect(beliefData.belief.type).toBe('keyword');
+      });
+    });
+
+    it('should properly update the store when changing belief type', async () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'keyword', id: 'kw1', value: 'test', label: 'Keyword said:' },
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const select = screen.getByDisplayValue('Keyword said:');
+      await user.selectOptions(select, 'object');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const beliefData = state.nodes[0].data as BasicBeliefNodeData;
+        expect(beliefData.belief.type).toBe('object');
+        // Note: The component doesn't update the label when changing type
+        expect(beliefData.belief.value).toBe('test'); // Value should be preserved
+      });
+    });
+
+    it('should not affect other nodes when updating one belief node', async () => {
+      const belief1: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief 1',
+          droppable: true,
+          belief: { type: 'keyword', id: 'kw1', value: 'hello', label: 'Keyword said:' },
+          hasReduce: true,
+        },
+      };
+
+      const belief2: Node<BasicBeliefNodeData> = {
+        id: 'belief-2',
+        type: 'basic_belief',
+        position: { x: 100, y: 0 },
+        data: {
+          label: 'Belief 2',
+          droppable: true,
+          belief: { type: 'object', id: 'obj1', value: 'chair', label: 'Object found:' },
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [belief1, belief2],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={belief1.id}
+          type={belief1.type as string}
+          data={belief1.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByDisplayValue('hello') as HTMLInputElement;
+      
+      // Clear the input
+      for (let i = 0; i < 'hello'.length; i++) {
+        await user.type(input, '{backspace}');
+      }
+      await user.type(input, 'goodbye{enter}');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const updatedBelief1 = state.nodes.find(n => n.id === 'belief-1') as Node<BasicBeliefNodeData>;
+        const unchangedBelief2 = state.nodes.find(n => n.id === 'belief-2') as Node<BasicBeliefNodeData>;
+
+        expect(updatedBelief1.data.belief.value).toBe('goodbye');
+        expect(unchangedBelief2.data.belief.value).toBe('chair');
+        expect(unchangedBelief2.data.belief.type).toBe('object');
+      });
+    });
+
+    it('should handle multiple rapid updates to belief value', async () => {
+      const mockNode: Node<BasicBeliefNodeData> = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Belief',
+          droppable: true,
+          belief: { type: 'semantic', id: 'test', value: 'test value', description: "test description", label: 'Detected with LLM:' },
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <BasicBeliefNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByDisplayValue('test value') as HTMLInputElement;
+      
+      await user.type(input, '1');
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const nodeData = state.nodes[0].data as BasicBeliefNodeData;
+        expect(nodeData.belief.value).toBe('test value');
+      });
+
+      await user.type(input, '2');
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const nodeData = state.nodes[0].data as BasicBeliefNodeData;
+        expect(nodeData.belief.value).toBe('test value');
+      });
+
+      await user.type(input, '{enter}');
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const nodeData = state.nodes[0].data as BasicBeliefNodeData;
+        expect(nodeData.belief.value).toBe('test value12');
+      });
+    });
+  });
+});

test/pages/visProgPage/visualProgrammingUI/nodes/GoalNode.test.tsx

@@ -0,0 +1,253 @@
+import { describe, it, beforeEach } from '@jest/globals';
+import { screen, waitFor } from '@testing-library/react';
+import userEvent from '@testing-library/user-event';
+import { renderWithProviders } from '../../../../test-utils/test-utils.tsx';
+import GoalNode, { GoalReduce, type GoalNodeData } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode';
+import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
+import type { Node } from '@xyflow/react';
+import '@testing-library/jest-dom';
+import { GoalNodeDefaults } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.default.ts';
+import { defaultPlan } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/components/Plan.default.ts';
+
+describe('GoalNode', () => {
+  let user: ReturnType<typeof userEvent.setup>;
+
+  beforeEach(() => {
+    user = userEvent.setup();
+    jest.clearAllMocks();
+  });
+
+  it('renders the Goal node with default data', () => {
+    const mockNode: Node = {
+      id: 'goal-1',
+      type: 'goal',
+      position: { x: 0, y: 0 },
+      data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)) },
+    };
+
+    renderWithProviders(
+      <GoalNode
+        id={mockNode.id}
+        type={mockNode.type as string}
+        data={mockNode.data as any}
+        selected={false}
+        isConnectable={true}
+        zIndex={0}
+        dragging={false}
+        selectable={true}
+        deletable={true}
+        draggable={true}
+        positionAbsoluteX={0}
+        positionAbsoluteY={0}
+      />
+    );
+
+    expect(screen.getByPlaceholderText('To ...')).toBeInTheDocument();
+  });
+
+  it('updates goal name when user types and commits', async () => {
+    const mockNode: Node<GoalNodeData> = {
+      id: 'goal-2',
+      type: 'goal',
+      position: { x: 0, y: 0 },
+      data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), name: '' },
+    };
+
+    useFlowStore.setState({ nodes: [mockNode], edges: [] });
+
+    renderWithProviders(
+      <GoalNode
+        id={mockNode.id}
+        type={mockNode.type as string}
+        data={mockNode.data as any}
+        selected={false}
+        isConnectable={true}
+        zIndex={0}
+        dragging={false}
+        selectable={true}
+        deletable={true}
+        draggable={true}
+        positionAbsoluteX={0}
+        positionAbsoluteY={0}
+      />
+    );
+
+    const input = screen.getByPlaceholderText('To ...');
+
+    await user.type(input, 'Save the world{enter}');
+
+    await waitFor(() => {
+      const state = useFlowStore.getState();
+      const updated = state.nodes.find(n => n.id === 'goal-2');
+      expect(updated?.data.name).toBe('Save the world');
+    });
+  });
+
+  it('shows plan message and disabled checked checkbox when plan does not iterate', () => {
+    const mockNode: Node<GoalNodeData> = {
+      id: 'goal-3',
+      type: 'goal',
+      position: { x: 0, y: 0 },
+      data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), plan: defaultPlan, name: 'G' },
+    };
+
+    useFlowStore.setState({ nodes: [mockNode], edges: [] });
+
+    renderWithProviders(
+      <GoalNode
+        id={mockNode.id}
+        type={mockNode.type as string}
+        data={mockNode.data as any}
+        selected={false}
+        isConnectable={true}
+        zIndex={0}
+        dragging={false}
+        selectable={true}
+        deletable={true}
+        draggable={true}
+        positionAbsoluteX={0}
+        positionAbsoluteY={0}
+      />
+    );
+
+    expect(screen.getByText(/Will follow plan 'Default Plan' until all steps complete./i)).toBeInTheDocument();
+
+    const checkbox = screen.getByLabelText(/This plan always succeeds!/i) as HTMLInputElement;
+    expect(checkbox).toBeDisabled();
+    expect(checkbox.checked).toBe(true);
+  });
+
+  it('allows toggling can_fail when plan iterates', async () => {
+    // plan with an llm-step will make DoesPlanIterate return true
+    const iterPlan = { ...defaultPlan, id: 'p-iter', steps: [{ id: 'a-1', type: 'llm', goal: 'do' }] } as any;
+    const mockNode: Node<GoalNodeData> = {
+      id: 'goal-4',
+      type: 'goal',
+      position: { x: 0, y: 0 },
+      data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), plan: iterPlan, name: 'Iterating' },
+    };
+
+    useFlowStore.setState({ nodes: [mockNode], edges: [] });
+
+    renderWithProviders(
+      <GoalNode
+        id={mockNode.id}
+        type={mockNode.type as string}
+        data={mockNode.data as any}
+        selected={false}
+        isConnectable={true}
+        zIndex={0}
+        dragging={false}
+        selectable={true}
+        deletable={true}
+        draggable={true}
+        positionAbsoluteX={0}
+        positionAbsoluteY={0}
+      />
+    );
+
+    const checkbox = screen.getByLabelText(/Check if this plan fails/i) as HTMLInputElement;
+    expect(checkbox).not.toBeDisabled();
+    expect(checkbox.checked).toBe(false);
+
+    await user.click(checkbox);
+
+    await waitFor(() => {
+      const state = useFlowStore.getState();
+      const updated = state.nodes.find(n => n.id === 'goal-4');
+      expect(updated?.data.can_fail).toBe(true);
+    });
+  });
+
+  it('disables the checkbox and shows description when plan includes a checking sub-goal', () => {
+    const childGoal: Node = {
+      id: 'child-1',
+      type: 'goal',
+      position: { x: 0, y: 0 },
+      data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), can_fail: true },
+    };
+
+    const p = { ...defaultPlan, id: 'p-2', steps: [{ id: 'child-1', type: 'goal' } as any] } as any;
+
+    const mockNode: Node<GoalNodeData> = {
+      id: 'goal-5',
+      type: 'goal',
+      position: { x: 0, y: 0 },
+      data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), plan: p, name: 'HasCheck' },
+    };
+
+    useFlowStore.setState({ nodes: [mockNode, childGoal], edges: [] });
+
+    renderWithProviders(
+      <GoalNode
+        id={mockNode.id}
+        type={mockNode.type as string}
+        data={mockNode.data as any}
+        selected={false}
+        isConnectable={true}
+        zIndex={0}
+        dragging={false}
+        selectable={true}
+        deletable={true}
+        draggable={true}
+        positionAbsoluteX={0}
+        positionAbsoluteY={0}
+      />
+    );
+
+    const checkbox = screen.getByRole('checkbox') as HTMLInputElement;
+    expect(checkbox).toBeDisabled();
+    expect(checkbox.checked).toBe(true);
+
+    // description box should be visible because there's a checking subgoal
+    expect(screen.getByPlaceholderText('Describe the condition of this goal...')).toBeInTheDocument();
+  });
+
+  it('reduces its data correctly (GoalReduce)', () => {
+    const childGoal: Node = {
+      id: 'child-2',
+      type: 'goal',
+      position: { x: 0, y: 0 },
+      data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), can_fail: true },
+    };
+
+    const p = { ...defaultPlan, id: 'p-3', steps: [{ id: 'child-2', type: 'goal' } as any] } as any;
+
+    const mockNode: Node = {
+      id: 'goal-6',
+      type: 'goal',
+      position: { x: 0, y: 0 },
+      data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), plan: p, name: 'ReduceMe', description: 'desc', can_fail: false },
+    };
+
+    const reduced = GoalReduce(mockNode, [mockNode, childGoal]);
+    expect(reduced).toEqual({
+      id: 'goal-6',
+      name: 'ReduceMe',
+      description: 'desc',
+      can_fail: true,
+      plan: {
+        id: expect.anything(),
+        steps: expect.any(Array),
+      }
+    });
+  });
+
+  it('adds a goal into a plan when a goal is connected to another', () => {
+    const source: Node = { id: 'g-src', type: 'goal', position: { x: 0, y: 0 }, data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), name: 'Source' } };
+    const target: Node = { id: 'g-target', type: 'goal', position: { x: 0, y: 0 }, data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), name: 'Target' } };
+
+    useFlowStore.setState({ nodes: [source, target], edges: [] });
+
+    // Simulate react-flow connect
+    useFlowStore.getState().onConnect({ source: 'g-src', target: 'g-target', sourceHandle: null, targetHandle: null });
+
+    const state = useFlowStore.getState();
+    const updatedTarget = state.nodes.find(n => n.id === 'g-target');
+
+    expect(updatedTarget?.data.plan).toBeDefined();
+    const plan = updatedTarget?.data.plan as any;
+    expect(plan.steps.length).toBe(1);
+    expect(plan.steps[0].id).toBe('g-src');
+  });
+});

test/pages/visProgPage/visualProgrammingUI/nodes/InferredBeliefNode.test.tsx

@@ -0,0 +1,129 @@
+import { describe, it, expect, jest, beforeEach } from '@jest/globals';
+import type {Node, Edge} from '@xyflow/react';
+import * as FlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx';
+import {
+  type InferredBelief,
+  InferredBeliefConnectionTarget,
+  InferredBeliefDisconnectionTarget,
+  InferredBeliefReduce,
+} from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.tsx';
+
+// helper functions
+function inferredNode(overrides = {}): Node {
+  return {
+    id: 'i1',
+    type: 'inferred_belief',
+    position: {x: 0, y: 0},
+    data: {
+      inferredBelief: {
+        left: undefined,
+        operator: true,
+        right: undefined,
+      },
+      ...overrides,
+    },
+  } as Node;
+}
+
+describe('InferredBelief connection logic', () => {
+  let getStateSpy: ReturnType<typeof jest.spyOn>;
+
+  beforeEach(() => {
+    jest.clearAllMocks();
+    getStateSpy = jest.spyOn(FlowStore.default, 'getState');
+  });
+
+  it('sets left belief when connected on beliefLeft handle', () => {
+    const node = inferredNode();
+
+    getStateSpy.mockReturnValue({
+      nodes: [{ id: 'b1', type: 'basic_belief' }],
+      edges: [
+        {
+          source: 'b1',
+          target: 'i1',
+          targetHandle: 'beliefLeft',
+        } as Edge,
+      ],
+    } as any);
+
+    InferredBeliefConnectionTarget(node, 'b1');
+
+    expect((node.data.inferredBelief as InferredBelief).left).toBe('b1');
+    expect((node.data.inferredBelief as InferredBelief).right).toBeUndefined();
+  });
+
+  it('sets right belief when connected on beliefRight handle', () => {
+    const node = inferredNode();
+
+    getStateSpy.mockReturnValue({
+      nodes: [{ id: 'b2', type: 'basic_belief' }],
+      edges: [
+        {
+          source: 'b2',
+          target: 'i1',
+          targetHandle: 'beliefRight',
+        } as Edge,
+      ],
+    } as any);
+
+    InferredBeliefConnectionTarget(node, 'b2');
+
+    expect((node.data.inferredBelief as InferredBelief).right).toBe('b2');
+  });
+
+  it('ignores connections from unsupported node types', () => {
+    const node = inferredNode();
+
+    getStateSpy.mockReturnValue({
+      nodes: [{ id: 'x', type: 'norm' }],
+      edges: [],
+    } as any);
+
+    InferredBeliefConnectionTarget(node, 'x');
+
+    expect((node.data.inferredBelief as InferredBelief).left).toBeUndefined();
+    expect((node.data.inferredBelief as InferredBelief).right).toBeUndefined();
+  });
+
+  it('clears left or right belief on disconnection', () => {
+    const node = inferredNode({
+      inferredBelief: { left: 'a', right: 'b', operator: true },
+    });
+
+    InferredBeliefDisconnectionTarget(node, 'a');
+    expect((node.data.inferredBelief as InferredBelief).left).toBeUndefined();
+
+    InferredBeliefDisconnectionTarget(node, 'b');
+    expect((node.data.inferredBelief as InferredBelief).right).toBeUndefined();
+  });
+});
+
+describe('InferredBeliefReduce', () => {
+  beforeEach(() => {
+    jest.clearAllMocks();
+  });
+
+  it('throws if left belief is missing', () => {
+    const node = inferredNode({
+      inferredBelief: { left: 'l', right: 'r', operator: true },
+    });
+
+    expect(() =>
+      InferredBeliefReduce(node, [{ id: 'r' } as Node])
+    ).toThrow('No Left belief found');
+  });
+
+  it('throws if right belief is missing', () => {
+    const node = inferredNode({
+      inferredBelief: { left: 'l', right: 'r', operator: true },
+    });
+
+    expect(() =>
+      InferredBeliefReduce(node, [{ id: 'l' } as Node])
+    ).toThrow('No Right Belief found');
+  });
+
+});
+
+

test/pages/visProgPage/visualProgrammingUI/nodes/NormNode.test.tsx

@@ -10,8 +10,9 @@ import NormNode, {
 import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
 import type { Node } from '@xyflow/react';
 import '@testing-library/jest-dom'
-
-
+import { NormNodeDefaults } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.default.ts';
+import { BasicBeliefNodeDefaults } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.default.ts';
+import BasicBeliefNode, { BasicBeliefConnectionSource } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.tsx';
 
 describe('NormNode', () => {
   let user: ReturnType<typeof userEvent.setup>;
@@ -26,12 +27,7 @@ describe('NormNode', () => {
         id: 'norm-1',
         type: 'norm',
         position: { x: 0, y: 0 },
-        data: {
-          label: 'Test Norm',
-          droppable: true,
-          norm: '',
-          hasReduce: true,
-        },
+        data: {...JSON.parse(JSON.stringify(NormNodeDefaults))},
       };
 
       renderWithProviders(
@@ -60,6 +56,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: 'Be respectful to humans',
@@ -94,8 +91,10 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
+          conditions: [],
           norm: '',
           hasReduce: true,
           critical: false
@@ -129,6 +128,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: 'Dragged norm',
@@ -165,6 +165,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: '',
@@ -210,6 +211,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: 'Initial norm text',
@@ -261,6 +263,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: '',
@@ -314,6 +317,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: '',
@@ -358,6 +362,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: '',
@@ -399,25 +404,41 @@ describe('NormNode', () => {
 
   describe('NormReduce Function', () => {
     it('should reduce a norm node to its essential data', () => {
+
+      const condition: Node = {
+        id: "belief-1",
+        type: 'basic_belief',
+        position: {x: 10, y: 10},
+        data: {
+          ...JSON.parse(JSON.stringify(BasicBeliefNodeDefaults))
+        }
+      }
+      
       const normNode: Node = {
         id: 'norm-1',
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Safety Norm',
           droppable: true,
           norm: 'Never harm humans',
           hasReduce: true,
+          condition: "belief-1"
         },
       };
 
-      const allNodes: Node[] = [normNode];
+      const allNodes: Node[] = [normNode, condition];
       const result = NormReduce(normNode, allNodes);
-
       expect(result).toEqual({
         id: 'norm-1',
         label: 'Safety Norm',
         norm: 'Never harm humans',
+        critical: false,
+        condition: {
+          id: "belief-1", 
+          keyword: ""
+        },
       });
     });
 
@@ -427,6 +448,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Norm 1',
           droppable: true,
           norm: 'Be helpful',
@@ -439,6 +461,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 100, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Norm 2',
           droppable: true,
           norm: 'Be honest',
@@ -463,6 +486,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Empty Norm',
           droppable: true,
           norm: '',
@@ -482,6 +506,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Custom Label',
           droppable: false,
           norm: 'Test norm',
@@ -502,6 +527,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: 'Test',
@@ -514,6 +540,7 @@ describe('NormNode', () => {
         type: 'phase',
         position: { x: 100, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Phase 1',
           droppable: true,
           children: [],
@@ -532,6 +559,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: 'Test',
@@ -544,6 +572,7 @@ describe('NormNode', () => {
         type: 'phase',
         position: { x: 100, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Phase 1',
           droppable: true,
           children: [],
@@ -562,6 +591,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...NormNodeDefaults,
           label: 'Test Norm',
           droppable: true,
           norm: 'Test',
@@ -583,6 +613,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: '',
@@ -634,6 +665,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Test Norm',
           droppable: true,
           norm: '',
@@ -682,6 +714,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Norm 1',
           droppable: true,
           norm: 'Original norm 1',
@@ -694,6 +727,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 100, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Norm 2',
           droppable: true,
           norm: 'Original norm 2',
@@ -748,6 +782,7 @@ describe('NormNode', () => {
         type: 'norm',
         position: { x: 0, y: 0 },
         data: {
+          ...NormNodeDefaults,
           label: 'Test Norm',
           droppable: true,
           norm: 'haa haa fuyaaah - link',
@@ -778,21 +813,140 @@ describe('NormNode', () => {
       );
 
       const input = screen.getByPlaceholderText('Pepper should ...');
+      expect(input).toBeDefined()
 
-      await user.type(input, 'a');
+      await user.type(input, 'a{enter}');
       await waitFor(() => {
-        expect(useFlowStore.getState().nodes[0].data.norm).toBe('haa haa fuyaaah - link');
+        expect(useFlowStore.getState().nodes[0].data.norm).toBe('haa haa fuyaaah - linka');
       });
 
-      await user.type(input, 'b');
+      await user.type(input, 'b{enter}');
       await waitFor(() => {
-        expect(useFlowStore.getState().nodes[0].data.norm).toBe('haa haa fuyaaah - link');
+        expect(useFlowStore.getState().nodes[0].data.norm).toBe('haa haa fuyaaah - linkab');
       });
 
-      await user.type(input, 'c');
+      await user.type(input, 'c{enter}');
       await waitFor(() => {
-        expect(useFlowStore.getState().nodes[0].data.norm).toBe('haa haa fuyaaah - link');
-      }, { timeout: 3000 });
+        expect(useFlowStore.getState().nodes[0].data.norm).toBe('haa haa fuyaaah - linkabc');
+      });
+    });
+  });
+
+  describe('Integration beliefs', () => { 
+    it('should update visually when adding beliefs', async () => {
+      // Setup state
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
+          label: 'Test Norm',
+          droppable: true,
+          norm: 'haa haa fuyaaah - link',
+          hasReduce: true,
+        }
+      };
+
+      const mockBelief: Node = {
+        id: 'basic_belief-1',
+        type: 'basic_belief',
+        position: {x:100, y:100},
+        data: {
+          ...JSON.parse(JSON.stringify(BasicBeliefNodeDefaults))
+        }
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode, mockBelief],
+        edges: [],
+      });
+       
+      // Simulate connecting
+      NormConnectionTarget(mockNode, mockBelief.id);
+      BasicBeliefConnectionSource(mockBelief, mockNode.id)
+      
+      renderWithProviders(
+        <div>
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+        <BasicBeliefNode
+          id={mockBelief.id}
+          type={mockBelief.type as string}
+          data={mockBelief.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+        </div>
+      ); 
+
+      await waitFor(() => {
+        expect(screen.getByTestId('norm-condition-information')).toBeInTheDocument();
+      });
+
+
+    });
+  
+  it('should update the data when adding beliefs', async () => {
+      // Setup state
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
+          label: 'Test Norm',
+          droppable: true,
+          norm: 'haa haa fuyaaah - link',
+          hasReduce: true,
+        }
+      };
+
+      const mockBelief1: Node = {
+        id: 'basic_belief-1',
+        type: 'basic_belief',
+        position: {x:100, y:100},
+        data: {
+          ...JSON.parse(JSON.stringify(BasicBeliefNodeDefaults))
+        }
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode, mockBelief1],
+        edges: [],
+      });
+       
+      // Simulate connecting
+      useFlowStore.getState().onConnect({
+        source: 'basic_belief-1',
+        target: 'norm-1',
+        sourceHandle: null,
+        targetHandle: null,
+      });
+   
+    
+      const state = useFlowStore.getState();
+      const updatedNorm = state.nodes.find(n => n.id === 'norm-1');
+      expect(updatedNorm?.data.condition).toEqual("basic_belief-1");
     });
   });
 });

test/pages/visProgPage/visualProgrammingUI/nodes/PhaseNode.test.tsx

@@ -1,8 +1,10 @@
+import type { Node, Edge, Connection } from '@xyflow/react'
 import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
-import type { PhaseNodeData } from "../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode";
-import { getByTestId, render } from '@testing-library/react';
+import type {PhaseNode, PhaseNodeData} from "../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode";
+import {act, getByTestId, render} from '@testing-library/react';
 import userEvent from '@testing-library/user-event';
 import VisProgPage from '../../../../../src/pages/VisProgPage/VisProg';
+import {mockReactFlow} from "../../../../setupFlowTests.ts";
 
 
 class ResizeObserver {
@@ -76,8 +78,10 @@ describe('PhaseNode', () => {
 
     // Find nodes
     const nodes = useFlowStore.getState().nodes;
-    const p1 = nodes.find((x) => x.id === 'phase-1')!;
-    const p2 = nodes.find((x) => x.id === 'phase-2')!;
+    const phaseNodes = nodes.filter((x) => x.type === 'phase');
+    const p1 = phaseNodes[0];
+    const p2 = phaseNodes[1];
+
 
     // expect same value, not same reference
     expect(p1.data.children).not.toBe(p2.data.children);
@@ -98,4 +102,195 @@ describe('PhaseNode', () => {
     expect(p1_data.children.length == 1);
     expect(p2_data.children.length == 2);
   });
-});
+});
+
+// --| Helper functions |--
+
+function createPhaseNode(
+  id: string,
+  overrides: Partial<PhaseNodeData> = {},
+): Node<PhaseNodeData> {
+  return {
+    id: id,
+    type: 'phase',
+    position: { x: 0, y: 0 },
+    data: {
+      label: 'Phase',
+      droppable: true,
+      children: [],
+      hasReduce: true,
+      nextPhaseId: null,
+      isFirstPhase: false,
+      ...overrides,
+    },
+  }
+}
+
+function createNode(id: string, type: string): Node {
+  return {
+    id: id,
+    type: type,
+    position: { x: 0, y: 0 },
+    data: {},
+  }
+}
+
+function connect(source: string, target: string): Connection {
+  return {
+    source: source,
+    target: target,
+    sourceHandle: null,
+    targetHandle: null
+  };
+}
+
+function edge(source: string, target: string): Edge {
+  return {
+    id: `${source}-${target}`,
+    source: source,
+    target: target,
+  }
+}
+
+// --| Connection Tests |--
+
+describe('PhaseNode Connection logic', () => {
+  beforeAll(() => {
+    mockReactFlow();
+  });
+
+  describe('PhaseConnections', () => {
+    test('connecting start => phase sets isFirstPhase to true', () => {
+      const phase = createPhaseNode('phase-1')
+      const start = createNode('start', 'start')
+
+      useFlowStore.setState({ nodes: [phase, start] })
+
+      // verify it starts of false
+      expect(phase.data.isFirstPhase).toBe(false);
+
+      act(() => {
+        useFlowStore.getState().onConnect(connect('start', 'phase-1'))
+      })
+
+      const updatedPhase = useFlowStore
+        .getState()
+        .nodes.find((n) => n.id === 'phase-1') as PhaseNode
+
+      expect(updatedPhase.data.isFirstPhase).toBe(true)
+    })
+
+    test('connecting task => phase adds child', () => {
+      const phase = createPhaseNode('phase-1')
+      const norm = createNode('norm-1', 'norm')
+
+      useFlowStore.setState({ nodes: [phase, norm] })
+
+      act(() => {
+        useFlowStore.getState().onConnect(connect('norm-1', 'phase-1'))
+      })
+
+      const updatedPhase = useFlowStore
+        .getState()
+        .nodes.find((n) => n.id === 'phase-1') as PhaseNode
+
+      expect(updatedPhase.data.children).toEqual(['norm-1'])
+    })
+
+    test('connecting phase => phase sets nextPhaseId', () => {
+      const p1 = createPhaseNode('phase-1')
+      const p2 = createPhaseNode('phase-2')
+
+      useFlowStore.setState({ nodes: [p1, p2] })
+
+      act(() => {
+        useFlowStore.getState().onConnect(connect('phase-1', 'phase-2'))
+      })
+
+      const updatedP1 = useFlowStore
+        .getState()
+        .nodes.find((n) => n.id === 'phase-1') as PhaseNode
+
+      expect(updatedP1.data.nextPhaseId).toBe('phase-2')
+    })
+
+    test('connecting phase to end => phase sets nextPhaseId to "end"', () => {
+      const phase = createPhaseNode('phase-1')
+      const end = createNode('end', 'end')
+
+      useFlowStore.setState({ nodes: [phase, end] })
+
+      act(() => {
+        useFlowStore.getState().onConnect(connect('phase-1', 'end'))
+      })
+
+      const updatedPhase = useFlowStore
+        .getState()
+        .nodes.find((n) => n.id === 'phase-1') as PhaseNode
+
+      expect(updatedPhase.data.nextPhaseId).toBe('end')
+    })
+  })
+
+  describe('PhaseDisconnections', () => {
+    test('disconnecting task => phase removes child', () => {
+      const phase = createPhaseNode('phase-1', { children: ['norm-1'] })
+      const norm = createNode('norm-1', 'norm')
+
+      useFlowStore.setState({
+        nodes: [phase, norm],
+        edges: [edge('norm-1', 'phase-1')]
+      })
+
+      act(() => {
+        useFlowStore.getState().onEdgesDelete([edge('norm-1', 'phase-1')])
+      })
+
+      const updatedPhase = useFlowStore
+        .getState()
+        .nodes.find((n) => n.id === 'phase-1') as PhaseNode
+
+      expect(updatedPhase.data.children).toEqual([])
+    })
+
+    test('disconnecting start => phase sets isFirstPhase to false', () => {
+      const phase = createPhaseNode('phase-1', { isFirstPhase: true })
+      const start = createNode('start', 'start')
+
+      useFlowStore.setState({
+        nodes: [phase, start],
+        edges: [edge('start', 'phase-1')]
+      })
+
+      act(() => {
+        useFlowStore.getState().onEdgesDelete([edge('start', 'phase-1')])
+      })
+
+      const updatedPhase = useFlowStore
+        .getState()
+        .nodes.find((n) => n.id === 'phase-1') as PhaseNode
+
+      expect(updatedPhase.data.isFirstPhase).toBe(false)
+    })
+
+    test('disconnecting phase => phase sets nextPhaseId to null', () => {
+      const p1 = createPhaseNode('phase-1', { nextPhaseId: 'phase-2' })
+      const p2 = createPhaseNode('phase-2')
+
+      useFlowStore.setState({
+        nodes: [p1, p2],
+        edges: [edge('phase-1', 'phase-2')]
+      })
+
+      act(() => {
+        useFlowStore.getState().onEdgesDelete([edge('phase-1', 'phase-2')])
+      })
+
+      const updatedP1 = useFlowStore
+        .getState()
+        .nodes.find((n) => n.id === 'phase-1') as PhaseNode
+
+      expect(updatedP1.data.nextPhaseId).toBeNull()
+    })
+  })
+})

test/pages/visProgPage/visualProgrammingUI/nodes/TriggerNode.test.tsx

@@ -1,22 +1,25 @@
 import { describe, it, beforeEach } from '@jest/globals';
-import { screen, waitFor } from '@testing-library/react';
-import userEvent from '@testing-library/user-event';
+import { screen } from '@testing-library/react';
 import { renderWithProviders } from '../../../../test-utils/test-utils.tsx';
 import TriggerNode, {
   TriggerReduce,
-  TriggerNodeCanConnect,
   type TriggerNodeData,
   TriggerConnectionSource, TriggerConnectionTarget
 } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode';
 import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
 import type { Node } from '@xyflow/react';
 import '@testing-library/jest-dom';
+import { TriggerNodeDefaults } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.default.ts';
+import { BasicBeliefNodeDefaults } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.default.ts';
+import { defaultPlan } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/components/Plan.default.ts';
+import { NormNodeDefaults } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.default.ts';
+import { GoalNodeDefaults } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.default.ts';
+import { act } from '@testing-library/react';
 
 describe('TriggerNode', () => {
-  let user: ReturnType<typeof userEvent.setup>;
 
   beforeEach(() => {
-    user = userEvent.setup();
+    jest.clearAllMocks();
   });
 
   describe('Rendering', () => {
@@ -26,11 +29,7 @@ describe('TriggerNode', () => {
         type: 'trigger',
         position: { x: 0, y: 0 },
         data: {
-          label: 'Keyword Trigger',
-          droppable: true,
-          triggerType: 'keywords',
-          triggers: [],
-          hasReduce: true,
+          ...JSON.parse(JSON.stringify(TriggerNodeDefaults)),
         },
       };
 
@@ -51,161 +50,60 @@ describe('TriggerNode', () => {
         />
       );
 
-      expect(screen.getByText(/Triggers when the keyword is spoken/i)).toBeInTheDocument();
-      expect(screen.getByPlaceholderText('...')).toBeInTheDocument();
-    });
-
-    it('should render TriggerNode with emotion type', () => {
-      const mockNode: Node<TriggerNodeData> = {
-        id: 'trigger-2',
-        type: 'trigger',
-        position: { x: 0, y: 0 },
-        data: {
-          label: 'Emotion Trigger',
-          droppable: true,
-          triggerType: 'emotion',
-          triggers: [],
-          hasReduce: true,
-        },
-      };
-
-      renderWithProviders(
-        <TriggerNode
-          id={mockNode.id}
-          type={mockNode.type as string}
-          data={mockNode.data as any}
-          selected={false}
-          isConnectable={true}
-          zIndex={0}
-          dragging={false}
-          selectable={true}
-          deletable={true}
-          draggable={true}
-          positionAbsoluteX={0}
-          positionAbsoluteY={0}
-        />
-      );
-
-      expect(screen.getByText(/Emotion\?/i)).toBeInTheDocument();
-    });
-  });
-
-  describe('User Interactions', () => {
-    it('should add a new keyword', async () => {
-      const mockNode: Node<TriggerNodeData> = {
-        id: 'trigger-1',
-        type: 'trigger',
-        position: { x: 0, y: 0 },
-        data: {
-          label: 'Keyword Trigger',
-          droppable: true,
-          triggerType: 'keywords',
-          triggers: [],
-          hasReduce: true,
-        },
-      };
-
-      useFlowStore.setState({ nodes: [mockNode], edges: [] });
-
-      renderWithProviders(
-        <TriggerNode
-          id={mockNode.id}
-          type={mockNode.type as string}
-          data={mockNode.data as any}
-          selected={false}
-          isConnectable={true}
-          zIndex={0}
-          dragging={false}
-          selectable={true}
-          deletable={true}
-          draggable={true}
-          positionAbsoluteX={0}
-          positionAbsoluteY={0}
-        />
-      );
-
-      const input = screen.getByPlaceholderText('...');
-      await user.type(input, 'hello{enter}');
-
-      await waitFor(() => {
-        const node = useFlowStore.getState().nodes.find(n => n.id === 'trigger-1') as Node<TriggerNodeData> | undefined;
-        expect(node?.data.triggers.length).toBe(1);
-        expect(node?.data.triggers[0].keyword).toBe('hello');
-      });
-
-    });
-
-    it('should remove a keyword when cleared', async () => {
-      const mockNode: Node<TriggerNodeData> = {
-        id: 'trigger-1',
-        type: 'trigger',
-        position: { x: 0, y: 0 },
-        data: {
-          label: 'Keyword Trigger',
-          droppable: true,
-          triggerType: 'keywords',
-          triggers: [{ id: 'kw1', keyword: 'hello' }],
-          hasReduce: true,
-        },
-      };
-
-      useFlowStore.setState({ nodes: [mockNode], edges: [] });
-
-      renderWithProviders(
-        <TriggerNode
-          id={mockNode.id}
-          type={mockNode.type as string}
-          data={mockNode.data as any}
-          selected={false}
-          isConnectable={true}
-          zIndex={0}
-          dragging={false}
-          selectable={true}
-          deletable={true}
-          draggable={true}
-          positionAbsoluteX={0}
-          positionAbsoluteY={0}
-        />
-      );
-
-      const input = screen.getByDisplayValue('hello');
-      for (let i = 0; i < 'hello'.length; i++) {
-        await user.type(input, '{backspace}');
-      }
-      await user.type(input, '{enter}');
-
-      await waitFor(() => {
-        const node = useFlowStore.getState().nodes.find(n => n.id === 'trigger-1') as Node<TriggerNodeData> | undefined;
-        expect(node?.data.triggers.length).toBe(0);
-        });
-
+      expect(screen.getByText(/Triggers when the condition is met/i)).toBeInTheDocument();
+      expect(screen.getByText(/Belief is currently/i)).toBeInTheDocument();
+      expect(screen.getByText(/Plan is currently/i)).toBeInTheDocument();
     });
   });
 
   describe('TriggerReduce Function', () => {
     it('should reduce a trigger node to its essential data', () => {
+      const conditionNode: Node = {
+        id: 'belief-1',
+        type: 'basic_belief',
+        position: { x: 0, y: 0 },
+        data: {
+          ...JSON.parse(JSON.stringify(BasicBeliefNodeDefaults)),
+        },
+      };
+
       const triggerNode: Node = {
         id: 'trigger-1',
         type: 'trigger',
         position: { x: 0, y: 0 },
         data: {
-          label: 'Keyword Trigger',
-          droppable: true,
-          triggerType: 'keywords',
-          triggers: [{ id: 'kw1', keyword: 'hello' }],
-          hasReduce: true,
+          ...JSON.parse(JSON.stringify(TriggerNodeDefaults)),
+          condition: "belief-1",
+          plan: defaultPlan,
+          name: "trigger-1"
         },
       };
 
-    const allNodes: Node[] = [triggerNode];
-    const result = TriggerReduce(triggerNode, allNodes);
+      useFlowStore.setState({
+        nodes: [conditionNode, triggerNode],
+        edges: [],
+      });
+
+      useFlowStore.getState().onConnect({
+        source: 'belief-1',
+        target: 'trigger-1',
+        sourceHandle: null,
+        targetHandle: null,
+      });
+
+    const result = TriggerReduce(triggerNode, useFlowStore.getState().nodes);
 
     expect(result).toEqual({
       id: 'trigger-1',
-      type: 'keywords',
-      label: 'Keyword Trigger',
-      keywords: [{ id: 'kw1', keyword: 'hello' }],
-    });
+      name: "trigger-1",
+      condition: {
+        id: "belief-1",
+        keyword: "",
+      },
+      plan: {
+        id: expect.anything(),
+        steps: [],
+      },});
     });
   });
 
@@ -217,11 +115,8 @@ describe('TriggerNode', () => {
         type: 'trigger',
         position: { x: 0, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(TriggerNodeDefaults)),
           label: 'Trigger 1',
-          droppable: true,
-          triggerType: 'keywords',
-          triggers: [],
-          hasReduce: true,
         },
       };
 
@@ -230,10 +125,8 @@ describe('TriggerNode', () => {
         type: 'norm',
         position: { x: 100, y: 0 },
         data: {
+          ...JSON.parse(JSON.stringify(NormNodeDefaults)),
           label: 'Norm 1',
-          droppable: true,
-          norm: 'test',
-          hasReduce: true,
         },
       };
 
@@ -242,10 +135,48 @@ describe('TriggerNode', () => {
         TriggerConnectionTarget(node1, node2.id);
       }).not.toThrow();
     });
+  });
 
-    it('should return true for TriggerNodeCanConnect if connection exists', () => {
-      const connection = { source: 'trigger-1', target: 'norm-1' };
-      expect(TriggerNodeCanConnect(connection as any)).toBe(true);
+  describe('TriggerConnects Function', () => {
+    it('should correctly remove a goal from the triggers plan after it has been disconnected', () => {
+      // first, define the goal node and trigger node.
+      const goal: Node = {
+        id: 'g-1',
+        type: 'goal',
+        position: { x: 0, y: 0 },
+        data: { ...JSON.parse(JSON.stringify(GoalNodeDefaults)), name: 'Goal 1' },
+      };
+
+      const trigger: Node<TriggerNodeData> = {
+        id: 'trigger-1',
+        type: 'trigger',
+        position: { x: 0, y: 0 },
+        data: { ...JSON.parse(JSON.stringify(TriggerNodeDefaults)) },
+      };
+
+      // set initial store
+      useFlowStore.setState({ nodes: [goal, trigger], edges: [] });
+
+      // then, connect the goal to the trigger.
+      act(() => {
+        useFlowStore.getState().onConnect({ source: 'g-1', target: 'trigger-1', sourceHandle: null, targetHandle: null });
+      });
+      // expect the goal id to be part of a goal step of the plan.
+      let updatedTrigger = useFlowStore.getState().nodes.find((n) => n.id === 'trigger-1');
+      expect(updatedTrigger?.data.plan).toBeDefined();
+      const plan = updatedTrigger?.data.plan as any;
+      expect(plan.steps.find((s: any) => s.id === 'g-1')).toBeDefined();
+
+      // then, disconnect the goal from the trigger.
+      act(() => {
+        useFlowStore.getState().onEdgesDelete([{ id: 'g-1-trigger-1', source: 'g-1', target: 'trigger-1' } as any]);
+      });
+
+      // finally, expect the goal id to NOT be part of the goal step of the plan.
+      updatedTrigger = useFlowStore.getState().nodes.find((n) => n.id === 'trigger-1');
+      const planAfter = updatedTrigger?.data.plan as any;
+      const stillHas = planAfter?.steps?.find((s: any) => s.id === 'g-1');
+      expect(stillHas).toBeUndefined();
     });
   });
-});
+ });

test/pages/visProgPage/visualProgrammingUI/nodes/UniversalNodes.test.tsx

@@ -8,22 +8,22 @@ import { createElement } from 'react';
 import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
 
 
-describe('NormNode', () => {
+describe('Universal Nodes', () => {
   beforeEach(() => {
     jest.clearAllMocks();
   });
 
-  function createNode(id: string, type: string, position: XYPosition, data: Record<string, unknown>, deletable?: boolean) {
+  function createNode(id: string, type: string, position: XYPosition, data: Record<string, unknown>, deletable? : boolean) {
     const defaultData = NodeDefaults[type as keyof typeof NodeDefaults]
-    const newData = {
-        id: id,
-        type: type,
-        position: position,
-        data: data,
-        deletable: deletable,
+
+    return {
+      id: id,
+      type: type,
+      position: position,
+      data: {...defaultData, ...data},
+      deletable: deletable
     }
-    return {...defaultData, ...newData}
-  }  
+  }
 
 
     /**
@@ -45,34 +45,34 @@ describe('NormNode', () => {
     
   describe('Rendering', () => {
     test.each(getAllTypes())('it should render %s node with the default data', (nodeType) => {
-    const lengthBefore = screen.getAllByText(/.*/).length;
+      const lengthBefore = screen.getAllByText(/.*/).length;
 
-    const newNode = createNode(nodeType + "1", nodeType, {x: 200, y:200}, {});
+      const newNode = createNode(nodeType + "1", nodeType, {x: 200, y:200}, {});
 
-    const found = Object.entries(NodeTypes).find(([t]) => t === nodeType);
-    const uiElement = found ? found[1] : null;
+      const found = Object.entries(NodeTypes).find(([t]) => t === nodeType);
+      const uiElement = found ? found[1] : null;
 
-    expect(uiElement).not.toBeNull();
-    const props = {
-      id: newNode.id,
-      type: newNode.type as string,
-      data: newNode.data as any,
-      selected: false,
-      isConnectable: true,
-      zIndex: 0,
-      dragging: false,
-      selectable: true,
-      deletable: true,
-      draggable: true,
-      positionAbsoluteX: 0,
-      positionAbsoluteY: 0,
-    };
+      expect(uiElement).not.toBeNull();
+      const props = {
+        id: newNode.id,
+        type: newNode.type as string,
+        data: newNode.data as any,
+        selected: false,
+        isConnectable: true,
+        zIndex: 0,
+        dragging: false,
+        selectable: true,
+        deletable: true,
+        draggable: true,
+        positionAbsoluteX: 0,
+        positionAbsoluteY: 0,
+      };
 
-    renderWithProviders(createElement(uiElement as React.ComponentType<any>, props));
-    const lengthAfter = screen.getAllByText(/.*/).length;
+      renderWithProviders(createElement(uiElement as React.ComponentType<any>, props));
+      const lengthAfter = screen.getAllByText(/.*/).length;
 
-    expect(lengthBefore + 1 === lengthAfter);
-  });
+      expect(lengthBefore + 1 === lengthAfter);
+    });
   
   });
 
@@ -107,6 +107,50 @@ describe('NormNode', () => {
     }); 
   });
 
+  describe('Disconnecting', () => {
+    test.each(getAllTypes())('it should remove the correct data when something is disconnected on a %s node.', (nodeType) => {
+      // Create two nodes - one of the current type and one to connect to
+      const sourceNode = createNode('source-1', nodeType, {x: 100, y: 100}, {});
+      const targetNode = createNode('target-1', 'basic_belief', {x: 300, y: 100}, {});
+      
+      // Add nodes to store
+      useFlowStore.setState({ nodes: [sourceNode, targetNode] });
+
+      // Spy on the connect functions
+      const sourceConnectSpy = jest.spyOn(NodeConnections.Sources, nodeType as keyof typeof NodeConnections.Sources);
+      const targetConnectSpy = jest.spyOn(NodeConnections.Targets, 'basic_belief');
+
+      // Simulate connection
+      useFlowStore.getState().onConnect({
+        source: 'source-1', 
+        target: 'target-1',
+        sourceHandle: null,
+        targetHandle: null,
+      });
+
+    
+      // Verify the connect functions were called
+      expect(sourceConnectSpy).toHaveBeenCalledWith(sourceNode, targetNode.id);
+      expect(targetConnectSpy).toHaveBeenCalledWith(targetNode, sourceNode.id);
+
+      // Find this connection, and delete it
+      const edge = useFlowStore.getState().edges[0];
+      useFlowStore.getState().onEdgesDelete([edge]);
+
+      // Find the nodes in the flow
+      const newSourceNode = useFlowStore.getState().nodes.find((node) => node.id == "source-1");
+      const newTargetNode = useFlowStore.getState().nodes.find((node) => node.id == "target-1");
+
+      // Expect them to be the same after deleting the edges
+      expect(newSourceNode).toBe(sourceNode);
+      expect(newTargetNode).toBe(targetNode);
+
+      // Restore our spies
+      sourceConnectSpy.mockRestore();
+      targetConnectSpy.mockRestore();
+    }); 
+  });
+
   describe('Reducing', () => {
     test.each(getAllTypes())('it should correctly call/ not call the reduce function when %s node is in a phase', (nodeType) => {
       // Create a phase node and a node of the current type
@@ -141,7 +185,7 @@ describe('NormNode', () => {
       // Verify the correct structure is present using NodesInPhase
       expect(result).toHaveLength(nodeType !== 'phase' ? 1 : 2);
       expect(result[0]).toHaveProperty('id', 'phase-1');
-      expect(result[0]).toHaveProperty('label', 'Test Phase');
+      expect(result[0]).toHaveProperty('name', 'Test Phase');
 
       // Restore mocks
       phaseReduceSpy.mockRestore();

test/setupFlowTests.ts

@@ -2,6 +2,11 @@ import '@testing-library/jest-dom';
 import { cleanup } from '@testing-library/react';
 import useFlowStore from '../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx';
 
+if (!globalThis.structuredClone) {
+  globalThis.structuredClone = (obj: any) => {
+    return JSON.parse(JSON.stringify(obj));
+  };
+}
 
 // To make sure that the tests are working, it's important that you are using
 // this implementation of ResizeObserver and DOMMatrixReadOnly
@@ -61,6 +66,7 @@ export const mockReactFlow = () => {
     width: 200,
     height: 200,
   });
+
 };
 
 
@@ -72,7 +78,8 @@ beforeAll(() => {
     past: [],
     future: [],
     isBatchAction: false,
-    edgeReconnectSuccessful: true
+    edgeReconnectSuccessful: true,
+    ruleRegistry: new Map()
   });
 });
 
@@ -84,7 +91,21 @@ afterEach(() => {
     past: [],
     future: [],
     isBatchAction: false,
-    edgeReconnectSuccessful: true
+    edgeReconnectSuccessful: true,
+    ruleRegistry: new Map()
   });
 });
 
+if (typeof HTMLDialogElement !== 'undefined') {
+  if (!HTMLDialogElement.prototype.showModal) {
+    HTMLDialogElement.prototype.showModal = function () {
+      // basic behavior: mark as open
+      this.setAttribute('open', '');
+    };
+  }
+  if (!HTMLDialogElement.prototype.close) {
+    HTMLDialogElement.prototype.close = function () {
+      this.removeAttribute('open');
+    };
+  }
+}

test/test-utils/test-utils.tsx

@@ -19,6 +19,48 @@ export function renderWithProviders(
 }
 
 
+type SidebarRect = Partial<DOMRect>;
+
+const defaultRect: DOMRect = {
+  top: 0,
+  left: 0,
+  bottom: 100,
+  right: 200,
+  width: 200,
+  height: 100,
+  x: 0,
+  y: 0,
+  toJSON: () => {},
+};
+
+/**
+ * Renders a component and injects a mock `#draggable-sidebar`
+ * element required by Tooltip positioning logic.
+ */
+export function renderWithSidebar(
+  ui: ReactElement,
+  rect: SidebarRect = {},
+  options?: RenderOptions
+) {
+  const sidebar = document.createElement('div');
+  sidebar.id = 'draggable-sidebar';
+
+  sidebar.getBoundingClientRect = jest.fn(() => ({
+    ...defaultRect,
+    ...rect,
+  }));
+
+  document.body.appendChild(sidebar);
+
+  const result = render(ui, options);
+
+  return {
+    ...result,
+    sidebar,
+  };
+}
+
+
 // Re-export everything from testing library
 //eslint-disable-next-line react-refresh/only-export-components
 export * from '@testing-library/react';

test/utils/orderPhaseNodes.test.ts

@@ -0,0 +1,110 @@
+import type {PhaseNode} from "../../src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx";
+import orderPhaseNodeArray from "../../src/utils/orderPhaseNodes.ts";
+
+function createPhaseNode(
+  id: string,
+  isFirst: boolean = false,
+  nextPhaseId: string | null = null
+): PhaseNode {
+  return {
+    id: id,
+    type: 'phase',
+    position: { x: 0, y: 0 },
+    data: {
+      label: 'Phase',
+      droppable: true,
+      children: [],
+      hasReduce: true,
+      nextPhaseId: nextPhaseId,
+      isFirstPhase: isFirst,
+    },
+  }
+}
+
+describe("orderPhaseNodes", () => {
+  test.each([
+    {
+      testCase: {
+        testName: "Throws correct error when there is no first phase (empty input array)",
+        input: [],
+        expected: "No phaseNode with isFirstObject = true found"
+      }
+    },{
+      testCase: {
+        testName: "Throws correct error when there is no first phase",
+        input: [
+          createPhaseNode("phase-1", false, "phase-2"),
+          createPhaseNode("phase-2", false, "phase-3"),
+          createPhaseNode("phase-3", false, "end")
+        ],
+        expected: "No phaseNode with isFirstObject = true found"
+      }
+    },{
+      testCase: {
+        testName: "Throws correct error when the program doesn't lead to an end node (missing phase-phase connection)",
+        input: [
+          createPhaseNode("phase-1", true, "phase-2"),
+          createPhaseNode("phase-2", false, null),
+          createPhaseNode("phase-3", false, "end")
+        ],
+        expected: "Incomplete phase sequence, program does not reach the end node"
+      }
+    },{
+      testCase: {
+        testName: "Throws correct error when the program doesn't lead to an end node (missing phase-end connection)",
+        input: [
+          createPhaseNode("phase-1", true, "phase-2"),
+          createPhaseNode("phase-2", false, "phase-3"),
+          createPhaseNode("phase-3", false, null)
+        ],
+        expected: "Incomplete phase sequence, program does not reach the end node"
+      }
+    },{
+      testCase: {
+        testName: "Throws correct error when the program leads to a non-existent phase",
+        input: [
+          createPhaseNode("phase-1", true, "phase-2"),
+          createPhaseNode("phase-2", false, "phase-3"),
+          createPhaseNode("phase-3", false, "phase-4")
+        ],
+        expected: "Incomplete phase sequence, phaseNode with id \"phase-4\" not found"
+      }
+    }
+  ])(`Error Handling: $testCase.testName`, ({testCase}) => {
+    expect(() => { orderPhaseNodeArray(testCase.input) }).toThrow(testCase.expected);
+  })
+  test.each([
+    {
+      testCase: {
+        testName: "Already correctly ordered phases stay ordered",
+        input: [
+          createPhaseNode("phase-1", true, "phase-2"),
+          createPhaseNode("phase-2", false, "phase-3"),
+          createPhaseNode("phase-3", false, "end")
+        ],
+        expected: [
+          createPhaseNode("phase-1", true, "phase-2"),
+          createPhaseNode("phase-2", false, "phase-3"),
+          createPhaseNode("phase-3", false, "end")
+        ]
+      }
+    },{
+      testCase: {
+        testName: "Incorrectly ordered phases get ordered correctly",
+        input: [
+          createPhaseNode("phase-3", false, "end"),
+          createPhaseNode("phase-1", true, "phase-2"),
+          createPhaseNode("phase-2", false, "phase-3"),
+        ],
+        expected: [
+          createPhaseNode("phase-1", true, "phase-2"),
+          createPhaseNode("phase-2", false, "phase-3"),
+          createPhaseNode("phase-3", false, "end")
+        ]
+      }
+    }
+  ])(`Functional: $testCase.testName`, ({testCase}) => {
+    const output = orderPhaseNodeArray(testCase.input);
+    expect(output).toEqual(testCase.expected);
+  })
+})

test/utils/programStore.test.ts

@@ -0,0 +1,226 @@
+import useProgramStore, {type ReducedProgram} from "../../src/utils/programStore.ts";
+
+
+describe('useProgramStore', () => {
+  beforeEach(() => {
+    // Reset store before each test
+    useProgramStore.setState({
+      currentProgram: { phases: [] },
+    });
+  });
+
+  const mockProgram: ReducedProgram = {
+    phases: [
+      {
+        id: 'phase-1',
+        norms: [{ id: 'norm-1' }],
+        goals: [{ id: 'goal-1' }],
+        triggers: [{ id: 'trigger-1' }],
+      },
+      {
+        id: 'phase-2',
+        norms: [{ id: 'norm-2' }],
+        goals: [{ id: 'goal-2' }],
+        triggers: [{ id: 'trigger-2' }],
+      },
+    ],
+  };
+
+  it('should set and get the program state', () => {
+    useProgramStore.getState().setProgramState(mockProgram);
+
+    const program = useProgramStore.getState().getProgramState();
+    expect(program).toEqual(mockProgram);
+  });
+
+  it('should return the ids of all phases in the program', () => {
+    useProgramStore.getState().setProgramState(mockProgram);
+
+    const phaseIds = useProgramStore.getState().getPhaseIds();
+    expect(phaseIds).toEqual(['phase-1', 'phase-2']);
+  });
+
+  it('should return all norms for a given phase', () => {
+    useProgramStore.getState().setProgramState(mockProgram);
+
+    const norms = useProgramStore.getState().getNormsInPhase('phase-1');
+    expect(norms).toEqual([{ id: 'norm-1' }]);
+  });
+
+  it('should return all goals for a given phase', () => {
+    useProgramStore.getState().setProgramState(mockProgram);
+
+    const goals = useProgramStore.getState().getGoalsInPhase('phase-2');
+    expect(goals).toEqual([{ id: 'goal-2' }]);
+  });
+
+  it('should return all triggers for a given phase', () => {
+    useProgramStore.getState().setProgramState(mockProgram);
+
+    const triggers = useProgramStore.getState().getTriggersInPhase('phase-1');
+    expect(triggers).toEqual([{ id: 'trigger-1' }]);
+  });
+
+  it('throws if phase does not exist when getting norms', () => {
+    useProgramStore.getState().setProgramState(mockProgram);
+
+    expect(() =>
+      useProgramStore.getState().getNormsInPhase('missing-phase')
+    ).toThrow('phase with id:"missing-phase" not found');
+  });
+
+  it('throws if phase does not exist when getting goals', () => {
+    useProgramStore.getState().setProgramState(mockProgram);
+
+    expect(() =>
+      useProgramStore.getState().getGoalsInPhase('missing-phase')
+    ).toThrow('phase with id:"missing-phase" not found');
+  });
+
+  it('throws if phase does not exist when getting triggers', () => {
+    useProgramStore.getState().setProgramState(mockProgram);
+
+    expect(() =>
+      useProgramStore.getState().getTriggersInPhase('missing-phase')
+    ).toThrow('phase with id:"missing-phase" not found');
+  });
+
+  it('should clone program state when setting it (no shared references should exist)', () => {
+    const changeableMockProgram: ReducedProgram = {
+      phases: [
+        {
+          id: 'phase-1',
+          norms: [{ id: 'norm-1' }],
+          goals: [{ id: 'goal-1' }],
+          triggers: [{ id: 'trigger-1' }],
+        },
+        {
+          id: 'phase-2',
+          norms: [{ id: 'norm-2' }],
+          goals: [{ id: 'goal-2' }],
+          triggers: [{ id: 'trigger-2' }],
+        },
+      ],
+    };
+
+    useProgramStore.getState().setProgramState(changeableMockProgram);
+
+    const storedProgram = useProgramStore.getState().getProgramState();
+
+    // mutate original
+    (changeableMockProgram.phases[0].norms as any[]).push({ id: 'norm-mutated' });
+
+    // store should NOT change
+    expect(storedProgram.phases[0]['norms']).toHaveLength(1);
+  });
+});
+
+describe('getGoalsWithDepth', () => {
+    const complexProgram: ReducedProgram = {
+      phases: [
+        {
+          id: 'phase-nested',
+          goals: [
+            // Level 0: Root Goal 1
+            {
+              id: 'root-1',
+              name: 'Root Goal 1',
+              plan: {
+                steps: [
+                  // This is an ACTION (no plan), should be ignored
+                  { id: 'action-1', type: 'speech' },
+                  
+                  // Level 1: Child Goal
+                  {
+                    id: 'child-1',
+                    name: 'Child Goal',
+                    plan: {
+                      steps: [
+                        // Level 2: Grandchild Goal
+                        { 
+                          id: 'grandchild-1', 
+                          name: 'Grandchild', 
+                          plan: { steps: [] } // Empty plan is still a plan
+                        }
+                      ]
+                    }
+                  }
+                ]
+              }
+            },
+            // Level 0: Root Goal 2 (Sibling)
+            {
+              id: 'root-2',
+              name: 'Root Goal 2',
+              plan: { steps: [] }
+            }
+          ]
+        }
+      ]
+    };
+
+    it('should flatten nested goals and assign correct depth levels', () => {
+      useProgramStore.getState().setProgramState(complexProgram);
+
+      const goals = useProgramStore.getState().getGoalsWithDepth('phase-nested');
+
+      // logic: Root 1 -> Child 1 -> Grandchild 1 -> Root 2
+      expect(goals).toHaveLength(4);
+
+      // Check Root 1
+      expect(goals[0]).toEqual(expect.objectContaining({ id: 'root-1', level: 0 }));
+      
+      // Check Child 1
+      expect(goals[1]).toEqual(expect.objectContaining({ id: 'child-1', level: 1 }));
+
+      // Check Grandchild 1
+      expect(goals[2]).toEqual(expect.objectContaining({ id: 'grandchild-1', level: 2 }));
+
+      // Check Root 2
+      expect(goals[3]).toEqual(expect.objectContaining({ id: 'root-2', level: 0 }));
+    });
+
+    it('should ignore steps that are not goals (missing "plan" property)', () => {
+      useProgramStore.getState().setProgramState(complexProgram);
+      const goals = useProgramStore.getState().getGoalsWithDepth('phase-nested');
+
+      // The 'action-1' object should NOT be in the list
+      const action = goals.find(g => g.id === 'action-1');
+      expect(action).toBeUndefined();
+    });
+
+    it('throws if phase does not exist', () => {
+      useProgramStore.getState().setProgramState(complexProgram);
+
+      expect(() =>
+        useProgramStore.getState().getGoalsWithDepth('missing-phase')
+      ).toThrow('phase with id:"missing-phase" not found');
+    });
+  });
+
+it('should return the names of all phases in the program', () => {
+    // Define a program specifically with names for this test
+    const programWithNames: ReducedProgram = {
+      phases: [
+        {
+          id: 'phase-1',
+          name: 'Introduction Phase', // Assuming the property is 'name'
+          norms: [],
+          goals: [],
+          triggers: [],
+        },
+        {
+          id: 'phase-2',
+          name: 'Execution Phase',
+          norms: [],
+          goals: [],
+          triggers: [],
+        },
+      ],
+    };
+
+    useProgramStore.getState().setProgramState(programWithNames);
+
+    const phaseNames = useProgramStore.getState().getPhaseNames();
+    expect(phaseNames).toEqual(['Introduction Phase', 'Execution Phase']);
+  });