Merge branch 'dev' into chore/clean-visprog-code

chore: replace plan editor functionality into own folder with own files.
Merge branch 'chore/editing-css-strings' into 'dev'
2026-01-28 12:27:27 +01:00 · 2026-01-28 12:26:57 +01:00 · 2026-01-28 11:19:16 +00:00 · 2026-01-28 12:07:33 +01:00 · 2026-01-28 11:36:21 +01:00 · 2026-01-28 11:35:34 +01:00
134 changed files with 6721 additions and 604 deletions
--- a/package-lock.json
+++ b/package-lock.json
@@ -10,9 +10,11 @@
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@@ -2053,6 +2055,276 @@
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+    },
+    "node_modules/@types/d3-quadtree": {
+      "version": "3.0.6",
+      "resolved": "https://registry.npmjs.org/@types/d3-quadtree/-/d3-quadtree-3.0.6.tgz",
+      "integrity": "sha512-oUzyO1/Zm6rsxKRHA1vH0NEDG58HrT5icx/azi9MF1TWdtttWl0UIUsjEQBBh+SIkrpd21ZjEv7ptxWys1ncsg==",
+      "license": "MIT"
+    },
+    "node_modules/@types/d3-random": {
+      "version": "3.0.3",
+      "resolved": "https://registry.npmjs.org/@types/d3-random/-/d3-random-3.0.3.tgz",
+      "integrity": "sha512-Imagg1vJ3y76Y2ea0871wpabqp613+8/r0mCLEBfdtqC7xMSfj9idOnmBYyMoULfHePJyxMAw3nWhJxzc+LFwQ==",
+      "license": "MIT"
+    },
+    "node_modules/@types/d3-scale": {
+      "version": "4.0.9",
+      "resolved": "https://registry.npmjs.org/@types/d3-scale/-/d3-scale-4.0.9.tgz",
+      "integrity": "sha512-dLmtwB8zkAeO/juAMfnV+sItKjlsw2lKdZVVy6LRr0cBmegxSABiLEpGVmSJJ8O08i4+sGR6qQtb6WtuwJdvVw==",
+      "license": "MIT",
+      "dependencies": {
+        "@types/d3-time": "*"
+      }
+    },
+    "node_modules/@types/d3-scale-chromatic": {
+      "version": "3.1.0",
+      "resolved": "https://registry.npmjs.org/@types/d3-scale-chromatic/-/d3-scale-chromatic-3.1.0.tgz",
+      "integrity": "sha512-iWMJgwkK7yTRmWqRB5plb1kadXyQ5Sj8V/zYlFGMUBbIPKQScw+Dku9cAAMgJG+z5GYDoMjWGLVOvjghDEFnKQ==",
+      "license": "MIT"
+    },
    "node_modules/@types/d3-selection": {
      "version": "3.0.11",
      "resolved": "https://registry.npmjs.org/@types/d3-selection/-/d3-selection-3.0.11.tgz",
      "integrity": "sha512-bhAXu23DJWsrI45xafYpkQ4NtcKMwWnAC/vKrd2l+nxMFuvOT3XMYTIj2opv8vq8AO5Yh7Qac/nSeP/3zjTK0w==",
      "license": "MIT"
    },
+    "node_modules/@types/d3-shape": {
+      "version": "3.1.8",
+      "resolved": "https://registry.npmjs.org/@types/d3-shape/-/d3-shape-3.1.8.tgz",
+      "integrity": "sha512-lae0iWfcDeR7qt7rA88BNiqdvPS5pFVPpo5OfjElwNaT2yyekbM0C9vK+yqBqEmHr6lDkRnYNoTBYlAgJa7a4w==",
+      "license": "MIT",
+      "dependencies": {
+        "@types/d3-path": "*"
+      }
+    },
+    "node_modules/@types/d3-time": {
+      "version": "3.0.4",
+      "resolved": "https://registry.npmjs.org/@types/d3-time/-/d3-time-3.0.4.tgz",
+      "integrity": "sha512-yuzZug1nkAAaBlBBikKZTgzCeA+k1uy4ZFwWANOfKw5z5LRhV0gNA7gNkKm7HoK+HRN0wX3EkxGk0fpbWhmB7g==",
+      "license": "MIT"
+    },
+    "node_modules/@types/d3-time-format": {
+      "version": "4.0.3",
+      "resolved": "https://registry.npmjs.org/@types/d3-time-format/-/d3-time-format-4.0.3.tgz",
+      "integrity": "sha512-5xg9rC+wWL8kdDj153qZcsJ0FWiFt0J5RB6LYUNZjwSnesfblqrI/bJ1wBdJ8OQfncgbJG5+2F+qfqnqyzYxyg==",
+      "license": "MIT"
+    },
+    "node_modules/@types/d3-timer": {
+      "version": "3.0.2",
+      "resolved": "https://registry.npmjs.org/@types/d3-timer/-/d3-timer-3.0.2.tgz",
+      "integrity": "sha512-Ps3T8E8dZDam6fUyNiMkekK3XUsaUEik+idO9/YjPtfj2qruF8tFBXS7XhtE4iIXBLxhmLjP3SXpLhVf21I9Lw==",
+      "license": "MIT"
+    },
    "node_modules/@types/d3-transition": {
      "version": "3.0.9",
      "resolved": "https://registry.npmjs.org/@types/d3-transition/-/d3-transition-3.0.9.tgz",
@@ -2703,6 +3179,12 @@
      "dev": true,
      "license": "MIT"
    },
+    "node_modules/@types/geojson": {
+      "version": "7946.0.16",
+      "resolved": "https://registry.npmjs.org/@types/geojson/-/geojson-7946.0.16.tgz",
+      "integrity": "sha512-6C8nqWur3j98U6+lXDfTUWIfgvZU+EumvpHKcYjujKH7woYyLj2sUmff0tRhrqM7BohUw7Pz3ZB1jj2gW9Fvmg==",
+      "license": "MIT"
+    },
    "node_modules/@types/hast": {
      "version": "3.0.4",
      "resolved": "https://registry.npmjs.org/@types/hast/-/hast-3.0.4.tgz",
@@ -3971,6 +4453,15 @@
        "url": "https://github.com/chalk/wrap-ansi?sponsor=1"
      }
    },
+    "node_modules/clsx": {
+      "version": "2.1.1",
+      "resolved": "https://registry.npmjs.org/clsx/-/clsx-2.1.1.tgz",
+      "integrity": "sha512-eYm0QWBtUrBWZWG0d386OGAw16Z995PiOVo2B7bjWSbHedGl5e0ZWaq65kOGgUSNesEIDkB9ISbTg/JK9dhCZA==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=6"
+      }
+    },
    "node_modules/co": {
      "version": "4.6.0",
      "resolved": "https://registry.npmjs.org/co/-/co-4.6.0.tgz",
@@ -6945,9 +7436,9 @@
      }
    },
    "node_modules/react-router": {
-      "version": "7.9.3",
-      "resolved": "https://registry.npmjs.org/react-router/-/react-router-7.9.3.tgz",
-      "integrity": "sha512-4o2iWCFIwhI/eYAIL43+cjORXYn/aRQPgtFRRZb3VzoyQ5Uej0Bmqj7437L97N9NJW4wnicSwLOLS+yCXfAPgg==",
+      "version": "7.12.0",
+      "resolved": "https://registry.npmjs.org/react-router/-/react-router-7.12.0.tgz",
+      "integrity": "sha512-kTPDYPFzDVGIIGNLS5VJykK0HfHLY5MF3b+xj0/tTyNYL1gF1qs7u67Z9jEhQk2sQ98SUaHxlG31g1JtF7IfVw==",
      "license": "MIT",
      "dependencies": {
        "cookie": "^1.0.1",
@@ -6966,6 +7457,24 @@
        }
      }
    },
+    "node_modules/reactflow": {
+      "version": "11.11.4",
+      "resolved": "https://registry.npmjs.org/reactflow/-/reactflow-11.11.4.tgz",
+      "integrity": "sha512-70FOtJkUWH3BAOsN+LU9lCrKoKbtOPnz2uq0CV2PLdNSwxTXOhCbsZr50GmZ+Rtw3jx8Uv7/vBFtCGixLfd4Og==",
+      "license": "MIT",
+      "dependencies": {
+        "@reactflow/background": "11.3.14",
+        "@reactflow/controls": "11.2.14",
+        "@reactflow/core": "11.11.4",
+        "@reactflow/minimap": "11.7.14",
+        "@reactflow/node-resizer": "2.2.14",
+        "@reactflow/node-toolbar": "1.3.14"
+      },
+      "peerDependencies": {
+        "react": ">=17",
+        "react-dom": ">=17"
+      }
+    },
    "node_modules/redent": {
      "version": "3.0.0",
      "resolved": "https://registry.npmjs.org/redent/-/redent-3.0.0.tgz",
--- a/package.json
+++ b/package.json
@@ -14,9 +14,11 @@
  "dependencies": {
    "@neodrag/react": "^2.3.1",
    "@xyflow/react": "^12.8.6",
+    "clsx": "^2.1.1",
    "react": "^19.1.1",
    "react-dom": "^19.1.1",
    "react-router": "^7.9.3",
+    "reactflow": "^11.11.4",
    "zustand": "^5.0.8"
  },
  "devDependencies": {
--- a/src/App.css
+++ b/src/App.css
@@ -1,3 +1,8 @@
+{/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/}
 .logopepper {
  height: 8em;
  padding: 1.5em;
@@ -161,7 +166,13 @@ input[type="checkbox"] {
 .margin-0 {
  margin: 0;
 }
+.margin-lg {
+  margin: 1rem;
+}

+.padding-0 {
+  padding: 0;
+}
 .padding-sm {
  padding: .25rem;
 }
@@ -171,11 +182,9 @@ input[type="checkbox"] {
 .padding-lg {
  padding: 1rem;
 }
-.padding-b-sm {
-  padding-bottom: .25rem;
-}
-.padding-b-md {
-  padding-bottom: .5rem;
+.padding-h-lg {
+  padding-left: 1rem;
+  padding-right: 1rem;
 }
 .padding-b-lg {
  padding-bottom: 1rem;
@@ -204,6 +213,27 @@ input[type="checkbox"] {
  border: 3px solid canvastext;
 }

+.shadow-sm {
+  box-shadow: 0 0 0.25rem rgba(0, 0, 0, 0.25);
+}
+.shadow-md {
+  box-shadow: 0 0 0.5rem rgba(0, 0, 0, 0.25);
+}
+.shadow-lg {
+  box-shadow: 0 0 1rem rgba(0, 0, 0, 0.25);
+}
+@media (prefers-color-scheme: dark) {
+  .shadow-sm {
+    box-shadow: 0 0 0.25rem rgba(0, 0, 0, 0.5);
+  }
+  .shadow-md {
+    box-shadow: 0 0 0.5rem rgba(0, 0, 0, 0.5);
+  }
+  .shadow-lg {
+    box-shadow: 0 0 1rem rgba(0, 0, 0, 0.5);
+  }
+}
+
 .font-small {
  font-size: .75rem;
 }
@@ -220,6 +250,9 @@ input[type="checkbox"] {
  font-weight: bold;
 }

+.relative {
+  position: relative;
+}

 .clickable {
  cursor: pointer;
--- a/src/App.tsx
+++ b/src/App.tsx
@@ -1,6 +1,8 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { Routes, Route, Link } from 'react-router'
 import './App.css'
-import TemplatePage from './pages/TemplatePage/Template.tsx'
 import Home from './pages/Home/Home.tsx'
 import Robot from './pages/Robot/Robot.tsx';
 import ConnectedRobots from './pages/ConnectedRobots/ConnectedRobots.tsx'
@@ -8,20 +10,21 @@ import VisProg from "./pages/VisProgPage/VisProg.tsx";
 import {useState} from "react";
 import Logging from "./components/Logging/Logging.tsx";

+
 function App(){
  const [showLogs, setShowLogs] = useState(false);

  return (
    <>
      <header>
+        <span>© Utrecht University (ICS)</span>
        <Link to={"/"}>Home</Link>
-        <button onClick={() => setShowLogs(!showLogs)}>Toggle Logging</button>
+        <button onClick={() => setShowLogs(!showLogs)}>Developer Logs</button>
      </header>
      <div className={"flex-row justify-center flex-1 min-height-0"}>
        <main className={"flex-col align-center flex-1 scroll-y"}>
          <Routes>
            <Route path="/" element={<Home />} />
-            <Route path="/template" element={<TemplatePage />} />
            <Route path="/editor" element={<VisProg />} />
            <Route path="/robot" element={<Robot />} />
            <Route path="/ConnectedRobots" element={<ConnectedRobots />} />
--- a/src/components/Dialog.tsx
+++ b/src/components/Dialog.tsx
@@ -0,0 +1,48 @@
+import {type ReactNode, type RefObject, useEffect, useRef} from "react";
+
+export default function Dialog({
+  open,
+  close,
+  classname,
+  children,
+}: {
+  open: boolean;
+  close: () => void;
+  classname?: string;
+  children: ReactNode;
+}) {
+  const ref: RefObject<HTMLDialogElement | null> = useRef(null);
+
+  useEffect(() => {
+    if (open) {
+      ref.current?.showModal();
+    } else {
+      ref.current?.close();
+    }
+  }, [open]);
+
+  function handleClickOutside(event: React.MouseEvent) {
+    if (!ref.current) return;
+
+    const dialogDimensions = ref.current.getBoundingClientRect()
+    if (
+      event.clientX < dialogDimensions.left ||
+      event.clientX > dialogDimensions.right ||
+      event.clientY < dialogDimensions.top ||
+      event.clientY > dialogDimensions.bottom
+    ) {
+      close();
+    }
+  }
+
+  return (
+    <dialog
+      ref={ref}
+      onCancel={close}
+      onPointerDown={handleClickOutside}
+      className={classname}
+    >
+      {children}
+    </dialog>
+  );
+}
--- a/src/components/Icons/Next.tsx
+++ b/src/components/Icons/Next.tsx
@@ -0,0 +1,8 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+export default function Next({ fill }: { fill?: string }) {
+    return <svg xmlns="http://www.w3.org/2000/svg" height="24px" viewBox="0 -960 960 960" width="24px" fill={fill ?? "canvas"}>
+        <path d="M664.07-224.93v-510.14h91v510.14h-91Zm-459.14 0v-510.14L587.65-480 204.93-224.93Z"/>
+    </svg>;
+}
--- a/src/components/Icons/Pause.tsx
+++ b/src/components/Icons/Pause.tsx
@@ -0,0 +1,8 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+export default function Pause({ fill }: { fill?: string }) {
+    return <svg xmlns="http://www.w3.org/2000/svg" height="24px" viewBox="0 -960 960 960" width="24px" fill={fill ?? "canvas"}>
+        <path d="M556.17-185.41v-589.18h182v589.18h-182Zm-334.34 0v-589.18h182v589.18h-182Z"/>
+    </svg>;
+}
--- a/src/components/Icons/Play.tsx
+++ b/src/components/Icons/Play.tsx
@@ -0,0 +1,8 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+export default function Play({ fill }: { fill?: string }) {
+    return <svg xmlns="http://www.w3.org/2000/svg" height="24px" viewBox="0 -960 960 960" width="24px" fill={fill ?? "canvas"}>
+        <path d="M311.87-185.41v-589.18L775.07-480l-463.2 294.59Z"/>
+    </svg>;
+}
--- a/src/components/Icons/Redo.tsx
+++ b/src/components/Icons/Redo.tsx
@@ -0,0 +1,8 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+export default function Redo({ fill }: { fill?: string }) {
+    return <svg xmlns="http://www.w3.org/2000/svg" height="24px" viewBox="0 -960 960 960" width="24px" fill={fill ?? "canvas"}>
+        <path d="M390.98-191.87q-98.44 0-168.77-65.27-70.34-65.27-70.34-161.43 0-96.15 70.34-161.54 70.33-65.39 168.77-65.39h244.11l-98.98-98.98 63.65-63.65L808.13-600 599.76-391.87l-63.65-63.65 98.98-98.98H390.98q-60.13 0-104.12 38.92-43.99 38.93-43.99 96.78 0 57.84 43.99 96.89 43.99 39.04 104.12 39.04h286.15v91H390.98Z"/>
+    </svg>;
+}
--- a/src/components/Icons/Replay.tsx
+++ b/src/components/Icons/Replay.tsx
@@ -0,0 +1,8 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+export default function Replay({ fill }: { fill?: string }) {
+    return <svg xmlns="http://www.w3.org/2000/svg" height="24px" viewBox="0 -960 960 960" width="24px" fill={fill ?? "canvas"}>
+        <path d="M480.05-70.43q-76.72 0-143.78-29.1-67.05-29.1-116.75-78.8-49.69-49.69-78.79-116.75-29.1-67.05-29.1-143.49h91q0 115.81 80.73 196.47Q364.1-161.43 480-161.43q115.8 0 196.47-80.74 80.66-80.73 80.66-196.63 0-115.81-80.73-196.47-80.74-80.66-196.64-80.66h-6.24l60.09 60.08-58.63 60.63-166.22-166.21 166.22-166.22 58.63 60.87-59.85 59.85h6q76.74 0 143.76 29.09 67.02 29.1 116.84 78.8 49.81 49.69 78.91 116.64 29.1 66.95 29.1 143.61 0 76.66-29.1 143.71-29.1 67.06-78.79 116.75-49.7 49.7-116.7 78.8-67.01 29.1-143.73 29.1Z"/>
+    </svg>;
+}
--- a/src/components/Logging/Definitions.ts
+++ b/src/components/Logging/Definitions.ts
@@ -0,0 +1,34 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import type {Cell} from "../../utils/cellStore.ts";
+import type {LogRecord} from "./useLogs.ts";
+
+/**
+ * Zustand store definition for managing user preferences related to logging.
+ *
+ * Includes flags for toggling relative timestamps and automatic scroll behavior.
+ */
+export type LoggingSettings = {
+  /** Whether to display log timestamps as relative (e.g., "2m 15s ago") instead of absolute. */
+  showRelativeTime: boolean;
+  /** Updates the `showRelativeTime` setting. */
+  setShowRelativeTime: (showRelativeTime: boolean) => void;
+};
+
+/**
+ * Props for any component that renders a single log message entry.
+ *
+ * @param recordCell - A reactive `Cell` containing a single `LogRecord`.
+ * @param onUpdate - Optional callback triggered when the log entry updates.
+ */
+export type MessageComponentProps = {
+  recordCell: Cell<LogRecord>,
+  onUpdate?: () => void,
+};
+
+/**
+ * Key used for the experiment filter predicate in the filter map, to exclude experiment logs from the developer logs.
+ */
+export const EXPERIMENT_FILTER_KEY = "experiment_filter";
+export const EXPERIMENT_LOGGER_NAME = "experiment";
--- a/src/components/Logging/Filters.module.css
+++ b/src/components/Logging/Filters.module.css
@@ -1,3 +1,8 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
 .filter-root {
  position: relative;
  display: flex;
--- a/src/components/Logging/Filters.tsx
+++ b/src/components/Logging/Filters.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {useEffect, useRef, useState} from "react";

 import type {LogFilterPredicate} from "./useLogs.ts";
@@ -13,9 +16,8 @@ type Setter<T> = (value: T | ((prev: T) => T)) => void;
 * Mapping of log level names to their corresponding numeric severity.
 * Used for comparison in log filtering predicates.
 */
-const optionMapping = new Map([
+const optionMapping: Map<string, number> = new Map([
  ["ALL", 0],
-  ["LLM", 9],
  ["DEBUG", 10],
  ["INFO", 20],
  ["WARNING", 30],
@@ -93,7 +95,7 @@ function GlobalLevelFilter({
  filterPredicates: Map<string, LogFilterPredicate>;
  setFilterPredicates: Setter<Map<string, LogFilterPredicate>>;
 }) {
-  const selected = filterPredicates.get(GLOBAL_LOG_LEVEL_PREDICATE_KEY)?.value || "ALL";
+  const selected = filterPredicates.get(GLOBAL_LOG_LEVEL_PREDICATE_KEY)?.value ?? "ALL";
  const setSelected = (selected: string | null) => {
    if (!selected || !optionMapping.has(selected)) return;

--- a/src/components/Logging/Logging.module.css
+++ b/src/components/Logging/Logging.module.css
@@ -1,3 +1,8 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
 .logging-container {
  box-sizing: border-box;

@@ -5,7 +10,6 @@
  flex-shrink: 0;

  box-shadow: 0 0 1rem black;
-  padding: 1rem 1rem 0 1rem;
 }

 .no-numbers {
@@ -15,8 +19,6 @@
 }

 .log-container {
-  margin-bottom: .5rem;
-
  .accented-0, .accented-10 {
    background-color: color-mix(in oklab, canvas, rgb(159, 159, 159) 35%)
  }
@@ -32,7 +34,7 @@
 }

 .floating-button {
-  position: fixed;
+  position: absolute;
  bottom: 1rem;
  right: 1rem;
  box-shadow: 0 0 1rem rgba(0, 0, 0, 0.5);
--- a/src/components/Logging/Logging.tsx
+++ b/src/components/Logging/Logging.tsx
@@ -1,38 +1,26 @@
-import {useEffect, useRef, useState} from "react";
-import {create} from "zustand";
-
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import {type ComponentType, useEffect, useRef, useState} from "react";
 import formatDuration from "../../utils/formatDuration.ts";
 import {type LogFilterPredicate, type LogRecord, useLogs} from "./useLogs.ts";
 import Filters from "./Filters.tsx";
 import {type Cell, useCell} from "../../utils/cellStore.ts";
-
 import styles from "./Logging.module.css";
-
+import {
+  EXPERIMENT_FILTER_KEY,
+  EXPERIMENT_LOGGER_NAME,
+  type LoggingSettings,
+  type MessageComponentProps
+} from "./Definitions.ts";
+import {create} from "zustand";

 /**
- * Zustand store definition for managing user preferences related to logging.
- *
- * Includes flags for toggling relative timestamps and automatic scroll behavior.
- */
-type LoggingSettings = {
-  /** Whether to display log timestamps as relative (e.g., "2m 15s ago") instead of absolute. */
-  showRelativeTime: boolean;
-  /** Updates the `showRelativeTime` setting. */
-  setShowRelativeTime: (showRelativeTime: boolean) => void;
-  /** Whether the log view should automatically scroll to the newest entry. */
-  scrollToBottom: boolean;
-  /** Updates the `scrollToBottom` setting. */
-  setScrollToBottom: (scrollToBottom: boolean) => void;
-};
-
-/**
- * Global Zustand store for logging UI preferences.
+ * Local Zustand store for logging UI preferences.
 */
 const useLoggingSettings = create<LoggingSettings>((set) => ({
  showRelativeTime: false,
  setShowRelativeTime: (showRelativeTime: boolean) => set({ showRelativeTime }),
-  scrollToBottom: true,
-  setScrollToBottom: (scrollToBottom: boolean) => set({ scrollToBottom }),
 }));

 /**
@@ -45,13 +33,7 @@ const useLoggingSettings = create<LoggingSettings>((set) => ({
 * @param onUpdate - Optional callback triggered when the log entry updates.
 * @returns A JSX element displaying a formatted log message.
 */
-function LogMessage({
-  recordCell,
-  onUpdate,
-}: {
-  recordCell: Cell<LogRecord>,
-  onUpdate?: () => void,
-}) {
+function LogMessage({ recordCell, onUpdate }: MessageComponentProps) {
  const { showRelativeTime, setShowRelativeTime } = useLoggingSettings();
  const record = useCell(recordCell);

@@ -69,7 +51,7 @@ function LogMessage({
  /** Simplifies the logger name by showing only the last path segment. */
  const normalizedName = record.name.split(".").pop() || record.name;

-  // Notify parent component (e.g. for scroll updates) when this record changes.
+  // Notify the parent component (e.g., for scroll updates) when this record changes.
  useEffect(() => {
    if (onUpdate) onUpdate();
  }, [record, onUpdate]);
@@ -77,11 +59,10 @@ function LogMessage({
  return <div className={`${styles.logContainer} round-md border-lg flex-row gap-md`}>
    <div className={`${styles[`accented${normalizedLevelNo}`]} flex-col padding-sm justify-between`}>
      <span className={"mono bold"}>{record.levelname}</span>
-      <span className={"mono clickable font-small"}
-        onClick={() => setShowRelativeTime(!showRelativeTime)}
-      >{showRelativeTime
-        ? formatDuration(record.relativeCreated)
-        : new Date(record.created * 1000).toLocaleTimeString()
+      <span className={"mono clickable font-small"} onClick={() => setShowRelativeTime(!showRelativeTime)}>{
+        showRelativeTime
+          ? formatDuration(record.relativeCreated)
+          : new Date(record.created * 1000).toLocaleTimeString()
      }</span>
    </div>
    <div className={"flex-col flex-1 padding-sm"}>
@@ -100,12 +81,18 @@ function LogMessage({
 * - A floating "Scroll to bottom" button when not at the bottom.
 *
 * @param recordCells - Array of reactive log records to display.
+ * @param MessageComponent - A component to use to render each log message entry.
 * @returns A scrollable log list component.
 */
-function LogMessages({ recordCells }: { recordCells: Cell<LogRecord>[] }) {
+export function LogMessages({
+  recordCells,
+  MessageComponent,
+}: {
+  recordCells: Cell<LogRecord>[],
+  MessageComponent: ComponentType<MessageComponentProps>,
+}) {
  const scrollableRef = useRef<HTMLDivElement>(null);
-  const lastElementRef = useRef<HTMLLIElement>(null)
-  const { scrollToBottom, setScrollToBottom } = useLoggingSettings();
+  const [scrollToBottom, setScrollToBottom] = useState(true);

  // Disable auto-scroll if the user manually scrolls.
  useEffect(() => {
@@ -124,30 +111,28 @@ function LogMessages({ recordCells }: { recordCells: Cell<LogRecord>[] }) {
  }, [scrollableRef, setScrollToBottom]);

  /**
-   * Scrolls the last log message into view if auto-scroll is enabled,
-   * or if forced (e.g., user clicks "Scroll to bottom").
+   * Scrolls the log messages to the bottom, making the latest messages visible.
   *
   * @param force - If true, forces scrolling even if `scrollToBottom` is false.
   */
-  function scrollLastElementIntoView(force = false) {
-    if ((!scrollToBottom && !force) || !lastElementRef.current) return;
-    lastElementRef.current.scrollIntoView({ behavior: "smooth" });
+  function showBottom(force = false) {
+    if ((!scrollToBottom && !force) || !scrollableRef.current) return;
+    scrollableRef.current.scrollTo({top: scrollableRef.current.scrollHeight, left: 0, behavior: "smooth"});
  }

-  return <div ref={scrollableRef} className={"min-height-0 scroll-y padding-b-md"}>
+  return <div ref={scrollableRef} className={"min-height-0 scroll-y padding-h-lg padding-b-lg flex-1"}>
    <ol className={`${styles.noNumbers} margin-0 flex-col gap-md`}>
      {recordCells.map((recordCell, i) => (
        <li key={`${i}_${recordCell.get().firstRelativeCreated}`}>
-          <LogMessage recordCell={recordCell} onUpdate={scrollLastElementIntoView} />
+          <MessageComponent recordCell={recordCell} onUpdate={showBottom} />
        </li>
      ))}
-      <li ref={lastElementRef}></li>
    </ol>
    {!scrollToBottom && <button
      className={styles.floatingButton}
      onClick={() => {
        setScrollToBottom(true);
-        scrollLastElementIntoView(true);
+        showBottom(true);
      }}
    >
      Scroll to bottom
@@ -164,16 +149,27 @@ function LogMessages({ recordCells }: { recordCells: Cell<LogRecord>[] }) {
 * - Zustand-managed UI settings (auto-scroll, timestamp display).
 *
 * This component uses the `useLogs` hook to fetch and filter logs based on
- * active predicates, and re-renders automatically as new logs arrive.
+ * active predicates and re-renders automatically as new logs arrive.
 *
 * @returns The complete logging UI as a React element.
 */
 export default function Logging() {
-  const [filterPredicates, setFilterPredicates] = useState(new Map<string, LogFilterPredicate>());
+  // By default, filter experiment logs from this debug logger
+  const [filterPredicates, setFilterPredicates] = useState(new Map<string, LogFilterPredicate>([
+    [
+      EXPERIMENT_FILTER_KEY,
+      {
+        predicate: (r) => r.name == EXPERIMENT_LOGGER_NAME ? false : null,
+        priority: 999,
+        value: null,
+      } as LogFilterPredicate,
+    ],
+  ]));
  const { filteredLogs, distinctNames } = useLogs(filterPredicates)
+  distinctNames.delete(EXPERIMENT_LOGGER_NAME);

-  return <div className={`flex-col gap-lg min-height-0 ${styles.loggingContainer}`}>
-    <div className={"flex-row gap-lg justify-between align-center"}>
+  return <div className={`flex-col min-height-0 relative ${styles.loggingContainer}`}>
+    <div className={"flex-row gap-lg justify-between align-center padding-lg"}>
      <h2 className={"margin-0"}>Logs</h2>
      <Filters
        filterPredicates={filterPredicates}
@@ -181,6 +177,6 @@ export default function Logging() {
        agentNames={distinctNames}
      />
    </div>
-    <LogMessages recordCells={filteredLogs} />
+    <LogMessages recordCells={filteredLogs} MessageComponent={LogMessage} />
  </div>;
 }
--- a/src/components/Logging/useLogs.ts
+++ b/src/components/Logging/useLogs.ts
@@ -1,8 +1,26 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {useCallback, useEffect, useRef, useState} from "react";

 import {applyPriorityPredicates, type PriorityFilterPredicate} from "../../utils/priorityFiltering.ts";
 import {cell, type Cell} from "../../utils/cellStore.ts";

+type ExtraLevelName = 'LLM' | 'OBSERVATION' | 'ACTION' | 'CHAT';
+
+export type LevelName = ExtraLevelName | 'DEBUG' | 'INFO' | 'WARNING' | 'ERROR' | 'CRITICAL' | string;
+
+/**
+ * Extra fields that are added to log records in the backend but are not part of the standard `LogRecord` type.
+ *
+ * @property reference - (Optional) A reference identifier linking related log messages.
+ * @property role - (Optional) For chat log messages, the role of the agent that generated the message.
+ */
+type ExtraLogRecordFields = {
+  reference?: string;
+  role?: string;
+}
+
 /**
 * Represents a single log record emitted by the backend logging system.
 *
@@ -12,21 +30,19 @@ import {cell, type Cell} from "../../utils/cellStore.ts";
 * @property levelno - The numeric severity value corresponding to `levelname`.
 * @property created - The UNIX timestamp (in seconds) when this record was created.
 * @property relativeCreated - The time (in milliseconds) since the logging system started.
- * @property reference - (Optional) A reference identifier linking related log messages.
 * @property firstCreated - Timestamp of the first log in this reference group.
 * @property firstRelativeCreated - Relative timestamp of the first log in this reference group.
 */
 export type LogRecord = {
  name: string;
  message: string;
-  levelname: 'LLM' | 'DEBUG' | 'INFO' | 'WARNING' | 'ERROR' | 'CRITICAL' | string;
+  levelname: LevelName;
  levelno: number;
  created: number;
  relativeCreated: number;
-  reference?: string;
  firstCreated: number;
  firstRelativeCreated: number;
-};
+} & ExtraLogRecordFields;

 /**
 * A log filter predicate with priority support, used to determine whether
@@ -37,7 +53,7 @@ export type LogRecord = {
 *
 * @template T - The type of record being filtered (here, `LogRecord`).
 */
-export type LogFilterPredicate = PriorityFilterPredicate<LogRecord> & { 
+export type LogFilterPredicate = PriorityFilterPredicate<LogRecord> & {
  // eslint-disable-next-line @typescript-eslint/no-explicit-any
  value: any };

--- a/src/components/MultilineTextField.tsx
+++ b/src/components/MultilineTextField.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { useEffect, useRef, useState } from "react";
 import styles from "./TextField.module.css";

--- a/src/components/ScrollIntoView.tsx
+++ b/src/components/ScrollIntoView.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {useEffect, useRef} from "react";

 /**
--- a/src/components/TextField.module.css
+++ b/src/components/TextField.module.css
@@ -1,3 +1,8 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
 .text-field {
  border: 1px solid transparent;
  border-radius: 5pt;
--- a/src/components/TextField.tsx
+++ b/src/components/TextField.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {useEffect, useState} from "react";
 import styles from "./TextField.module.css";

--- a/src/components/components.tsx
+++ b/src/components/components.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { useState } from 'react'

 /**
--- a/src/index.css
+++ b/src/index.css
@@ -1,3 +1,14 @@
+{/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/}
+
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
 :root {
  font-family: system-ui, Avenir, Helvetica, Arial, sans-serif;
  line-height: 1.5;
@@ -8,6 +19,9 @@
  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 +29,14 @@
  -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;
@@ -41,7 +63,7 @@ button {
  font-size: 1em;
  font-weight: 500;
  font-family: inherit;
-  background-color: #1a1a1a;
+  background-color: canvas;
  cursor: pointer;
  transition: border-color 0.25s;
 }
@@ -64,9 +86,6 @@ button:focus-visible {
    --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) {
--- a/src/main.tsx
+++ b/src/main.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { StrictMode } from 'react'
 import { createRoot } from 'react-dom/client'
 import { BrowserRouter } from 'react-router'
--- a/src/pages/ConnectedRobots/ConnectedRobots.tsx
+++ b/src/pages/ConnectedRobots/ConnectedRobots.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { useEffect, useState } from 'react'

 /**
--- a/src/pages/Home/Home.module.css
+++ b/src/pages/Home/Home.module.css
@@ -1,3 +1,8 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
 .read_the_docs {
  color: #888;
 }
--- a/src/pages/Home/Home.tsx
+++ b/src/pages/Home/Home.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { Link } from 'react-router'
 import pepperLogo from '../../assets/pepper_transp2_small.svg'
 import styles from './Home.module.css'
@@ -21,7 +24,6 @@ function Home() {
      <div className={styles.links}>
        <Link to={"/robot"}>Robot Interaction →</Link>
        <Link to={"/editor"}>Editor →</Link>
-        <Link to={"/template"}>Template →</Link>
        <Link to={"/ConnectedRobots"}>Connected Robots →</Link>
      </div>
    </div>
--- a/src/pages/MonitoringPage/MonitoringPage.module.css
+++ b/src/pages/MonitoringPage/MonitoringPage.module.css
@@ -0,0 +1,271 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
+.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 */
+}
+
+.controlsButtons {
+  display: flex;
+  flex-direction: row;
+  justify-content: center;
+  align-items: center;
+  gap: .25rem;
+  max-width: 260px;
+  flex-wrap: wrap;
+
+  button {
+    display: flex;
+    justify-content: center;
+    align-items: center;
+  }
+}
+
+.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;
+}
+
+/* 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;
+  }
+}
--- a/src/pages/MonitoringPage/MonitoringPage.tsx
+++ b/src/pages/MonitoringPage/MonitoringPage.tsx
@@ -0,0 +1,401 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+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, runProgram } 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';
+import ExperimentLogs from "./components/ExperimentLogs.tsx";
+
+// ----------------------------------------------------------------------
+// 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 runProgram();
+      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 */}
+      <ExperimentLogs />
+
+      {/* FOOTER */}
+      <footer className={styles.controlsSection}>
+        <GestureControls />
+        <SpeechPresets />
+        <DirectSpeechInput />
+      </footer>
+    </div>
+  );
+}
+
+export default MonitoringPage;
--- a/src/pages/MonitoringPage/MonitoringPageAPI.ts
+++ b/src/pages/MonitoringPage/MonitoringPageAPI.ts
@@ -0,0 +1,124 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+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();
+  }, []);
+}
--- a/src/pages/MonitoringPage/MonitoringPageComponents.tsx
+++ b/src/pages/MonitoringPage/MonitoringPageComponents.tsx
@@ -0,0 +1,235 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+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>
+  )
+}
--- a/src/pages/MonitoringPage/components/ExperimentLogs.module.css
+++ b/src/pages/MonitoringPage/components/ExperimentLogs.module.css
@@ -0,0 +1,39 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
+.logs {
+  /* grid-area used in MonitoringPage.module.css */
+  grid-area: logs;
+  box-shadow: var(--panel-shadow);
+
+  height: 900px;
+  width: 450px;
+
+  .live {
+    width: .5rem;
+    height: .5rem;
+    left: .5rem;
+    background: red;
+    border-radius: 50%;
+  }
+}
+
+.chat-message.alternate {
+  align-items: end;
+  text-align: end;
+
+  background-color: color-mix(in oklab, canvas, 75% #86c4fa);
+
+  .message-head {
+    flex-direction: row-reverse;
+  }
+}
+
+.download-list {
+  box-sizing: border-box;
+  list-style: none;
+  height: 50dvh;
+  min-width: 300px;
+}
--- a/src/pages/MonitoringPage/components/ExperimentLogs.tsx
+++ b/src/pages/MonitoringPage/components/ExperimentLogs.tsx
@@ -0,0 +1,189 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import styles from "./ExperimentLogs.module.css";
+import {LogMessages} from "../../../components/Logging/Logging.tsx";
+import {useEffect, useMemo, useState} from "react";
+import {type LogFilterPredicate, type LogRecord, useLogs} from "../../../components/Logging/useLogs.ts";
+import capitalize from "../../../utils/capitalize.ts";
+import {useCell} from "../../../utils/cellStore.ts";
+import {
+  EXPERIMENT_FILTER_KEY,
+  EXPERIMENT_LOGGER_NAME,
+  type LoggingSettings,
+  type MessageComponentProps,
+} from "../../../components/Logging/Definitions.ts";
+import formatDuration from "../../../utils/formatDuration.ts";
+import {create} from "zustand";
+import Dialog from "../../../components/Dialog.tsx";
+import delayedResolve from "../../../utils/delayedResolve.ts";
+
+/**
+ * Local Zustand store for logging UI preferences.
+ */
+const useLoggingSettings = create<LoggingSettings>((set) => ({
+  showRelativeTime: false,
+  setShowRelativeTime: (showRelativeTime: boolean) => set({ showRelativeTime }),
+}));
+
+/**
+ * A dedicated component for rendering chat messages.
+ *
+ * @param record The chat record to render.
+ */
+function ChatMessage({ record }: { record: LogRecord }) {
+  const { showRelativeTime, setShowRelativeTime } = useLoggingSettings();
+
+  const reverse = record.role === "user" ? styles.alternate : "";
+
+  return <div className={`${styles.chatMessage} ${reverse} flex-col padding-md padding-h-lg shadow-md round-md`}>
+    <div className={`${styles.messageHead} flex-row gap-md align-center`}>
+      <span className={"bold"}>{capitalize(record.role ?? "unknown")}</span>
+      <span className={"font-small"}>•</span>
+      <span className={"mono clickable font-small"} onClick={() => setShowRelativeTime(!showRelativeTime)}>{
+        showRelativeTime
+          ? formatDuration(record.relativeCreated)
+          : new Date(record.created * 1000).toLocaleTimeString()
+      }</span>
+    </div>
+    <span>{record.message}</span>
+  </div>
+}
+
+/**
+ * A generic log message component showing the log level, time, and message text.
+ *
+ * @param record The log record to render.
+ */
+function DefaultMessage({ record }: { record: LogRecord }) {
+  const { showRelativeTime, setShowRelativeTime } = useLoggingSettings();
+
+  return <div>
+    <div className={"flex-row gap-md align-center"}>
+      <span className={"font-small"}>{record.levelname}</span>
+      <span className={"font-small"}>•</span>
+      <span className={"mono clickable font-small"} onClick={() => setShowRelativeTime(!showRelativeTime)}>{
+        showRelativeTime
+          ? formatDuration(record.relativeCreated)
+          : new Date(record.created * 1000).toLocaleTimeString()
+      }</span>
+    </div>
+    <span>{record.message}</span>
+  </div>;
+}
+
+/**
+ * A custom component for rendering experiment messages, which might include chat messages.
+ *
+ * @param recordCell The cell containing the log record to render.
+ * @param onUpdate A callback to notify the parent component when the record changes.
+ */
+function ExperimentMessage({recordCell, onUpdate}: MessageComponentProps) {
+  const record = useCell(recordCell);
+
+  // Notify the parent component (e.g., for scroll updates) when this record changes.
+  useEffect(() => {
+    if (onUpdate) onUpdate();
+  }, [record, onUpdate]);
+
+  if (record.levelname == "CHAT") {
+    return <ChatMessage record={record} />
+  } else {
+    return <DefaultMessage record={record} />
+  }
+}
+
+/**
+ * A download dialog listing experiment logs to download.
+ *
+ * @param filenames The list of available experiment logs to download.
+ * @param refresh A callback to refresh the list of available experiment logs.
+ */
+function DownloadScreen({filenames, refresh}: {filenames: string[] | null, refresh: () => void}) {
+  const list = (() => {
+    if (filenames == null) return <div className={`${styles.downloadList} flex-col align-center justify-center`}>
+      <p>Loading...</p>
+    </div>;
+    if (filenames.length === 0) return <div className={`${styles.downloadList} flex-col align-center justify-center`}>
+      <p>No files available.</p>
+    </div>
+
+    return <ol className={`${styles.downloadList} margin-0 padding-h-lg scroll-y`}>
+      {filenames!.map((filename) => (
+        <li><a key={filename} href={`http://localhost:8000/api/logs/files/${filename}`} download={filename}>{filename}</a></li>
+      ))}
+    </ol>;
+  })();
+
+  return <div className={"flex-col"}>
+    <p className={"margin-lg"}>Select a file to download:</p>
+    {list}
+    <button onClick={refresh} className={"margin-lg shadow-sm"}>Refresh</button>
+  </div>;
+}
+
+/**
+ * A button that opens a download dialog for experiment logs when pressed.
+ */
+function DownloadButton() {
+  const [showModal, setShowModal] = useState(false);
+  const [filenames, setFilenames] = useState<string[] | null>(null);
+
+  async function getFiles(): Promise<string[]> {
+    const response = await fetch("http://localhost:8000/api/logs/files");
+    const files = await response.json();
+    files.sort();
+    return files;
+  }
+
+  useEffect(() => {
+    getFiles().then(setFilenames);
+  }, [showModal]);
+
+  return <>
+    <button className={"shadow-sm"} onClick={() => setShowModal((curr) => !curr)}>Download...</button>
+    <Dialog open={showModal} close={() => setShowModal(false)} classname={"padding-0 round-lg"}>
+      <DownloadScreen filenames={filenames} refresh={async () => {
+        setFilenames(null);
+        const files = await delayedResolve(getFiles(), 250);
+        setFilenames(files);
+      }} />
+    </Dialog>
+  </>;
+}
+
+/**
+ * A component for rendering experiment logs. This component uses the `useLogs` hook with a filter to show only
+ * experiment logs.
+ */
+export default function ExperimentLogs() {
+  // Show only experiment logs in this logger
+  const filters = useMemo(() => new Map<string, LogFilterPredicate>([
+    [
+      EXPERIMENT_FILTER_KEY,
+      {
+        predicate: (r) => r.name == EXPERIMENT_LOGGER_NAME,
+        priority: 999,
+        value: null,
+      } as LogFilterPredicate,
+    ],
+  ]), []);
+
+  const { filteredLogs } = useLogs(filters);
+
+  return <aside className={`${styles.logs} flex-col relative`}>
+    <div className={`${styles.head} padding-lg`}>
+      <div className={"flex-row align-center justify-between"}>
+        <h3>Logs</h3>
+        <div className={"flex-row gap-md align-center"}>
+          <div className={`flex-row align-center gap-md relative padding-md shadow-sm round-md`}>
+            <div className={styles.live}></div>
+            <span>Live</span>
+          </div>
+          <DownloadButton />
+        </div>
+      </div>
+    </div>
+    <LogMessages recordCells={filteredLogs} MessageComponent={ExperimentMessage} />
+  </aside>;
+}
--- a/src/pages/Robot/Robot.tsx
+++ b/src/pages/Robot/Robot.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { useState, useEffect, useRef } from 'react'

 /**
--- a/src/pages/TemplatePage/Template.tsx
+++ b/src/pages/TemplatePage/Template.tsx
@@ -1,11 +0,0 @@
-import Counter from '../../components/components.tsx'
-
-function TemplatePage() {
-  return (
-    <>
-      <Counter />
-    </>
-  )
-}
-
-export default TemplatePage
--- a/src/pages/VisProgPage/VisProg.module.css
+++ b/src/pages/VisProgPage/VisProg.module.css
@@ -1,3 +1,8 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
 /* editor UI */

 .inner-editor-container {
@@ -84,7 +89,10 @@
    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;
@@ -158,12 +166,40 @@
    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;
--- a/src/pages/VisProgPage/VisProg.tsx
+++ b/src/pages/VisProgPage/VisProg.tsx
@@ -1,23 +1,29 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {
  Background,
  Controls,
  Panel,
  ReactFlow,
  ReactFlowProvider,
-  MarkerType,
+  MarkerType, getOutgoers
 } from '@xyflow/react';
 import '@xyflow/react/dist/style.css';
+import warningStyles from './visualProgrammingUI/components/WarningSidebar.module.css'
 import {type CSSProperties, useEffect, useState} from "react";
 import {useShallow} from 'zustand/react/shallow';
-import orderPhaseNodeArray from "../../utils/orderPhaseNodes.ts";
 import useProgramStore from "../../utils/programStore.ts";
 import {DndToolbar} from './visualProgrammingUI/components/DragDropSidebar.tsx';
-import type {PhaseNode} from "./visualProgrammingUI/nodes/PhaseNode.tsx";
+import {type EditorWarning, globalWarning} from "./visualProgrammingUI/components/EditorWarnings.tsx";
+import {WarningsSidebar} from "./visualProgrammingUI/components/WarningSidebar.tsx";
 import useFlowStore from './visualProgrammingUI/VisProgStores.tsx';
 import type {FlowState} from './visualProgrammingUI/VisProgTypes.tsx';
 import styles from './VisProg.module.css'
-import { 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, runProgram} from './VisProgLogic.ts';

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

@@ -42,6 +48,7 @@ const selector = (state: FlowState) => ({
  nodes: state.nodes,
  edges: state.edges,
  onNodesChange: state.onNodesChange,
+  onNodesDelete: state.onNodesDelete,
  onEdgesDelete: state.onEdgesDelete,
  onEdgesChange: state.onEdgesChange,
  onConnect: state.onConnect,
@@ -67,6 +74,7 @@ const VisProgUI = () => {
  const {
    nodes, edges,
    onNodesChange,
+    onNodesDelete,
    onEdgesDelete,
    onEdgesChange,
    onConnect,
@@ -89,15 +97,36 @@ const VisProgUI = () => {
    window.addEventListener('keydown', handler);
    return () => window.removeEventListener('keydown', handler);
  });
+  const {unregisterWarning, registerWarning} = useFlowStore();
+  useEffect(() => {
+
+    if (checkPhaseChain()) {
+      unregisterWarning(globalWarning,'INCOMPLETE_PROGRAM');
+    } else {
+      // create global warning for incomplete program chain
+      const incompleteProgramWarning : EditorWarning = {
+        scope: {
+          id: globalWarning,
+          handleId: undefined
+        },
+        type: 'INCOMPLETE_PROGRAM',
+        severity: "ERROR",
+        description: "there is no complete phase chain from the startNode to the EndNode"
+      }
+
+      registerWarning(incompleteProgramWarning);
+    }
+  },[edges, registerWarning, unregisterWarning])

  return (
-    <div className={`${styles.innerEditorContainer} round-lg border-lg`} style={({'--flow-zoom': zoom} as CSSProperties)}>
+    <div className={`${styles.innerEditorContainer} round-lg border-lg flex-row`} style={({'--flow-zoom': zoom} as CSSProperties)}>
      <ReactFlow
        nodes={nodes}
        edges={edges}
        defaultEdgeOptions={DEFAULT_EDGE_OPTIONS}
        nodeTypes={NodeTypes}
        onNodesChange={onNodesChange}
+        onNodesDelete={onNodesDelete}
        onEdgesDelete={onEdgesDelete}
        onEdgesChange={onEdgesChange}
        onReconnect={onReconnect}
@@ -108,9 +137,11 @@ const VisProgUI = () => {
        onNodeDragStop={endBatchAction}
        preventScrolling={scrollable}
        onMove={(_, viewport) => setZoom(viewport.zoom)}
+        reconnectRadius={15}
        snapToGrid
        fitView
        proOptions={{hideAttribution: true}}
+        style={{flexGrow: 3}}
      >
        <Panel position="top-center" className={styles.dndPanel}>
          <DndToolbar/> {/* contains the drag and drop panel for nodes */}
@@ -119,12 +150,16 @@ 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>
+        <Panel position="center-right" className={warningStyles.warningsSidebar}>
+          <WarningsSidebar/>
+        </Panel>
        <Controls/>
        <Background/>
      </ReactFlow>
+
    </div>
  );
 };
@@ -144,41 +179,23 @@ function VisualProgrammingUI() {
  );
 }

-// 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.");
+const checkPhaseChain = (): boolean => {
+  const {nodes, edges} = useFlowStore.getState();

-    // 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."));
-}
+  function checkForCompleteChain(currentNodeId: string): boolean {
+    const outgoingPhases = getOutgoers({id: currentNodeId}, nodes, edges)
+      .filter(node => ["end", "phase"].includes(node.type!));

-/**
- * Reduces the graph into its phases' information and recursively calls their reducing function
- */ 
-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)
-    }); 
-}
+    if (outgoingPhases.length === 0) return false;
+    if (outgoingPhases.some(node => node.type === "end" )) return true;

+    const next = outgoingPhases.map(node => checkForCompleteChain(node.id))
+      .find(result => result);
+    return !!next;
+  }

+  return checkForCompleteChain('start');
+};

 /**
 * houses the entire page, so also UI elements
@@ -186,10 +203,44 @@ function graphReducer() {
 * @constructor
 */
 function VisProgPage() {
+  const [showSimpleProgram, setShowSimpleProgram] = useState(false);
+  const [programValidity, setProgramValidity] = useState<boolean>(true);
+  const {isProgramValid, severityIndex} = useFlowStore();
+  const setProgramState = useProgramStore((state) => state.setProgramState);
+
+  const validity = () => {return isProgramValid();}
+
+  useEffect(() => {
+    setProgramValidity(validity);
+    // the following eslint disable is required as it wants us to use all possible dependencies for the useEffect statement,
+    // however this would cause unneeded updates
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [severityIndex]);
+
+  const processProgram = () => {
+    const phases = graphReducer();       // reduce graph
+    setProgramState({ phases });          // <-- save to store
+    setShowSimpleProgram(true);          // show SimpleProgram
+    runProgram();                        // 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={processProgram} disabled={!programValidity}>Run Program</button>
    </>
  )
 }
--- a/src/pages/VisProgPage/VisProgLogic.ts
+++ b/src/pages/VisProgPage/VisProgLogic.ts
@@ -0,0 +1,46 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import useProgramStore from "../../utils/programStore";
+import orderPhaseNodeArray from "../../utils/orderPhaseNodes";
+import useFlowStore from './visualProgrammingUI/VisProgStores';
+import { NodeReduces } from './visualProgrammingUI/NodeRegistry';
+import type { PhaseNode } from "./visualProgrammingUI/nodes/PhaseNode";
+
+/**
+ * Reduces the graph into its phases' information and recursively calls their reducing function
+ */ 
+export function graphReducer() {
+  const { nodes } = useFlowStore.getState();
+  return orderPhaseNodeArray(nodes.filter((n) => n.type == 'phase') as PhaseNode [])
+    .map((n) => {
+      const reducer = NodeReduces['phase'];
+      return reducer(n, nodes)
+    }); 
+}
+
+
+/**
+ * Outputs the prepared program to the console and sends it to the backend
+ */
+export function runProgram() {
+  const phases = graphReducer();
+  const program = {phases}
+  console.log(JSON.stringify(program, null, 2));
+  fetch(
+    "http://localhost:8000/program",
+    {
+      method: "POST",
+      headers: {"Content-Type": "application/json"},
+      body: JSON.stringify(program),
+    }
+  ).then((res) => {
+    if (!res.ok) throw new Error("Failed communicating with the backend.")
+    console.log("Successfully sent the program to the backend.");
+
+    // store reduced program in global program store for further use in the UI
+    // when the program was sent to the backend successfully:
+    useProgramStore.getState().setProgramState(structuredClone(program));
+  }).catch(() => console.log("Failed to send program to the backend."));
+  console.log(program);
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/EditorUndoRedo.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/EditorUndoRedo.ts
@@ -1,10 +1,21 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import type {Edge, Node} from "@xyflow/react";
 import type {StateCreator, StoreApi } from 'zustand/vanilla';
+import type {
+  SeverityIndex,
+  WarningRegistry
+} from "./components/EditorWarnings.tsx";
 import type {FlowState} from "./VisProgTypes.tsx";

 export type FlowSnapshot = {
  nodes: Node[];
  edges: Edge[];
+  warnings: {
+    warningRegistry: WarningRegistry;
+    severityIndex: SeverityIndex;
+  }
 }

 /**
@@ -41,7 +52,11 @@ export const UndoRedo = (
   */
  const getSnapshot = (state : BaseFlowState) : FlowSnapshot => (structuredClone({
    nodes: state.nodes,
-    edges: state.edges
+    edges: state.edges,
+    warnings: {
+      warningRegistry: state.editorWarningRegistry,
+      severityIndex: state.severityIndex,
+    }
  }));

  const initialState = config(set, get, api);
@@ -78,6 +93,8 @@ export const UndoRedo = (
      set({
        nodes: snapshot.nodes,
        edges: snapshot.edges,
+        editorWarningRegistry: snapshot.warnings.warningRegistry,
+        severityIndex: snapshot.warnings.severityIndex,
      });

      state.future.push(currentSnapshot); // push current to redo
@@ -97,6 +114,8 @@ export const UndoRedo = (
      set({
        nodes: snapshot.nodes,
        edges: snapshot.edges,
+        editorWarningRegistry: snapshot.warnings.warningRegistry,
+        severityIndex: snapshot.warnings.severityIndex,
      });

      state.past.push(currentSnapshot); // push current to undo
--- a/src/pages/VisProgPage/visualProgrammingUI/HandleRuleLogic.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/HandleRuleLogic.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {type Connection} from "@xyflow/react";
 import {useEffect} from "react";
 import useFlowStore from "./VisProgStores.tsx";
@@ -107,4 +110,16 @@ export function useHandleRules(
    // finally we return a function that evaluates all rules using the created context
    return evaluateRules(targetRules, connection, context);
  };
+}
+
+export function validateConnectionWithRules(
+  connection: Connection,
+  context: ConnectionContext
+): RuleResult {
+  const rules = useFlowStore.getState().getTargetRules(
+    connection.target!,
+    connection.targetHandle!
+  );
+
+  return evaluateRules(rules,connection, context);
 }
--- a/src/pages/VisProgPage/visualProgrammingUI/HandleRules.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/HandleRules.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {
  type HandleRule,
  ruleResult
@@ -43,3 +46,4 @@ export const noSelfConnections : HandleRule =
  }


+
--- a/src/pages/VisProgPage/visualProgrammingUI/NodeRegistry.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/NodeRegistry.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import EndNode, {
  EndConnectionTarget,
  EndConnectionSource,
@@ -52,15 +55,24 @@ import TriggerNode, {
  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,
+  BasicBeliefReduce
+,
  BasicBeliefTooltip
-} from "./nodes/BasicBeliefNode";
-import { BasicBeliefNodeDefaults } from "./nodes/BasicBeliefNode.default";
+} from "./nodes/BasicBeliefNode.tsx";
+import { BasicBeliefNodeDefaults } from "./nodes/BasicBeliefNode.default.ts";

 /**
 * Registered node types in the visual programming system.
@@ -76,6 +88,7 @@ export const NodeTypes = {
  goal: GoalNode,
  trigger: TriggerNode,
  basic_belief: BasicBeliefNode,
+  inferred_belief: InferredBeliefNode,
 };

 /**
@@ -91,6 +104,7 @@ export const NodeDefaults = {
  goal: GoalNodeDefaults,
  trigger: TriggerNodeDefaults,
  basic_belief: BasicBeliefNodeDefaults,
+  inferred_belief: InferredBeliefNodeDefaults,
 };


@@ -108,6 +122,7 @@ export const NodeReduces = {
  goal: GoalReduce,
  trigger: TriggerReduce,
  basic_belief: BasicBeliefReduce,
+  inferred_belief: InferredBeliefReduce,
 }


@@ -126,6 +141,7 @@ export const NodeConnections = {
    goal: GoalConnectionTarget,
    trigger: TriggerConnectionTarget,
    basic_belief: BasicBeliefConnectionTarget,
+    inferred_belief: InferredBeliefConnectionTarget,
  },
  Sources: {
    start: StartConnectionSource,
@@ -134,7 +150,8 @@ export const NodeConnections = {
    norm: NormConnectionSource,
    goal: GoalConnectionSource,
    trigger: TriggerConnectionSource,
-    basic_belief: BasicBeliefConnectionSource
+    basic_belief: BasicBeliefConnectionSource,
+    inferred_belief: InferredBeliefConnectionSource,
  }
 }

@@ -153,6 +170,7 @@ export const NodeDisconnections = {
    goal: GoalDisconnectionTarget,
    trigger: TriggerDisconnectionTarget,
    basic_belief: BasicBeliefDisconnectionTarget,
+    inferred_belief: InferredBeliefDisconnectionTarget,
  },
  Sources: {
    start: StartDisconnectionSource,
@@ -162,6 +180,7 @@ export const NodeDisconnections = {
    goal: GoalDisconnectionSource,
    trigger: TriggerDisconnectionSource,
    basic_belief: BasicBeliefDisconnectionSource,
+    inferred_belief: InferredBeliefDisconnectionSource,
  },
 }

@@ -186,6 +205,7 @@ export const NodesInPhase = {
  end: () => false,
  phase: () => false,
  basic_belief: () => false,
+  inferred_belief: () => false,
 }

 /**
@@ -199,4 +219,5 @@ export const NodeTooltips = {
  goal: GoalTooltip,
  trigger: TriggerTooltip,
  basic_belief: BasicBeliefTooltip,
+  inferred_belief: InferredBeliefTooltip,
 }
--- a/src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { create } from 'zustand';
 import {
  applyNodeChanges,
@@ -9,6 +12,8 @@ import {
  type XYPosition,
 } from '@xyflow/react';
 import '@xyflow/react/dist/style.css';
+import {type ConnectionContext, validateConnectionWithRules} from "./HandleRuleLogic.ts";
+import {editorWarningRegistry} from "./components/EditorWarnings.tsx";
 import type { FlowState } from './VisProgTypes';
 import {
  NodeDefaults,
@@ -43,19 +48,18 @@ function createNode(id: string, type: string, position: XYPosition, data: Record
    }
 }

-  //* 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 nodes, created by using createNode. */
+// Start and End don't need to apply the UUID, since they are technically never compiled into a program.
+const startNode = createNode('start', 'start', {x: 110, y: 100}, {label: "Start"}, false)
+const endNode = createNode('end', 'end', {x: 590, y: 100}, {label: "End"}, false)
+const initialPhaseNode = createNode(crypto.randomUUID(), 'phase', {x:235, y:100}, {label: "Phase 1", children : [], isFirstPhase: false, nextPhaseId: null})

-  const initialNodes : Node[] = [startNode, endNode, initialPhaseNode,];
+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[] = [];

-
 /**
 * useFlowStore contains the implementation for all editor functionality
 * and stores the current state of the visual programming editor
@@ -86,7 +90,9 @@ const useFlowStore = create<FlowState>(UndoRedo((set, get) => ({
   */
  onNodesChange: (changes) => set({nodes: applyNodeChanges(changes, get().nodes)}),

-  onNodesDelete: (nodes) => nodes.forEach(node => get().unregisterNodeRules(node.id)),
+  onNodesDelete: (nodes) => nodes.forEach((_node) => {
+    return;
+  }),

  onEdgesDelete: (edges) => {
    // we make sure any affected nodes get updated to reflect removal of edges
@@ -129,7 +135,41 @@ 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
@@ -182,19 +222,32 @@ const useFlowStore = create<FlowState>(UndoRedo((set, get) => ({
   * Deletes a node by ID, respecting NodeDeletes rules.
   * Also removes all edges connected to that node.
   */
-  deleteNode: (nodeId) => {
+  deleteNode: (nodeId, deleteElements) => {
    get().pushSnapshot();

    // Let's find our node to check if they have a special deletion function
    const ourNode = get().nodes.find((n)=>n.id==nodeId);
    const ourFunction = Object.entries(NodeDeletes).find(([t])=>t==ourNode?.type)?.[1]
-    
+
+
+
    // If there's no function, OR, our function tells us we can delete it, let's do so...
    if (ourFunction == undefined || ourFunction()) {
-      set({
-      nodes: get().nodes.filter((n) => n.id !== nodeId),
-      edges: get().edges.filter((e) => e.source !== nodeId && e.target !== nodeId),
-      })}
+      if (deleteElements){
+        deleteElements({
+          nodes: get().nodes.filter((n) => n.id === nodeId),
+          edges: get().edges.filter((e) => e.source !== nodeId && e.target === nodeId)}
+        ).then(() => {
+          get().unregisterNodeRules(nodeId);
+          get().unregisterWarningsForId(nodeId);
+        });
+      } else {
+        set({
+        nodes: get().nodes.filter((n) => n.id !== nodeId),
+        edges: get().edges.filter((e) => e.source !== nodeId && e.target !== nodeId),
+        })
+      }
+    }
  },

  /**
@@ -306,8 +359,12 @@ const useFlowStore = create<FlowState>(UndoRedo((set, get) => ({
      })
      return { ruleRegistry: registry };
    })
-  }
+  },
+  ...editorWarningRegistry(get, set),
  }))
 );

+
+
 export default useFlowStore;
+
--- a/src/pages/VisProgPage/visualProgrammingUI/VisProgTypes.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/VisProgTypes.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 // VisProgTypes.ts
 import type {
  Edge,
@@ -7,8 +10,9 @@ import type {
  OnReconnect,
  Node,
  OnEdgesDelete,
-  OnNodesDelete
+  OnNodesDelete, DeleteElementsOptions
 } from '@xyflow/react';
+import type {EditorWarningRegistry} from "./components/EditorWarnings.tsx";
 import type {HandleRule} from "./HandleRuleLogic.ts";
 import type { NodeTypes } from './NodeRegistry';
 import type {FlowSnapshot} from "./EditorUndoRedo.ts";
@@ -68,7 +72,10 @@ export type FlowState = {
   * Deletes a node and any connected edges.
   * @param nodeId - the ID of the node to delete
   */
-  deleteNode: (nodeId: string) => void;
+  deleteNode: (nodeId: string,  deleteElements?: (params: DeleteElementsOptions) => Promise<{
+    deletedNodes: Node[]
+    deletedEdges: Edge[]
+  }>) => void;

  /**
   * Replaces the current nodes array in the store.
@@ -94,7 +101,7 @@ export type FlowState = {
   * @param node - the Node object to add
   */
  addNode: (node: Node) => void;
-} & UndoRedoState & HandleRuleRegistry;
+} & UndoRedoState & HandleRuleRegistry & EditorWarningRegistry;

 export type UndoRedoState = {
  // UndoRedo Types
@@ -129,4 +136,7 @@ export type HandleRuleRegistry = {

  // cleans up all registered rules of all handles of the provided node
  unregisterNodeRules: (nodeId: string) => void
-}
+}
+
+
+
--- a/src/pages/VisProgPage/visualProgrammingUI/components/DragDropSidebar.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/DragDropSidebar.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { useDraggable } from '@neodrag/react';
 import { useReactFlow, type XYPosition } from '@xyflow/react';
 import { type ReactNode, useCallback, useRef, useState } from 'react';
--- a/src/pages/VisProgPage/visualProgrammingUI/components/EditorWarnings.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/EditorWarnings.tsx
@@ -0,0 +1,248 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+/* contains all logic for the VisProgEditor warning system
+*
+* Missing but desirable features:
+* - Warning filtering:
+*     - if there is no completely connected chain of startNode-[PhaseNodes]-EndNode
+*       then hide any startNode, phaseNode, or endNode specific warnings
+*/
+import useFlowStore from "../VisProgStores.tsx";
+import type {FlowState} from "../VisProgTypes.tsx";
+
+// --| Type definitions |--
+
+export type WarningId = NodeId | "GLOBAL_WARNINGS";
+export type NodeId = string;
+
+
+export type WarningType =
+  | 'MISSING_INPUT'
+  | 'MISSING_OUTPUT'
+  | 'PLAN_IS_UNDEFINED'
+  | 'INCOMPLETE_PROGRAM'
+  | 'NOT_CONNECTED_TO_PROGRAM'
+  | string
+
+export type WarningSeverity =
+  | 'INFO' // Acceptable, but important to be aware of
+  | 'WARNING' // Acceptable, but probably undesirable behavior
+  | 'ERROR' // Prevents running program, should be fixed before running program is allowed
+
+/**
+ * warning scope, include a handleId if the warning is handle specific
+ */
+export type WarningScope = {
+  id: string;
+  handleId?: string;
+}
+
+export type EditorWarning = {
+  scope: WarningScope;
+  type: WarningType;
+  severity: WarningSeverity;
+  description: string;
+};
+
+/**
+ * a scoped WarningKey,
+ * the handleId scoping is only needed for handle specific errors
+ *
+ * "`WarningType`:`handleId`"
+ */
+export type WarningKey = string; // for warnings that can occur on a per-handle basis
+
+/**
+ * a composite key used in the severityIndex
+ *
+ * "`WarningId`|`WarningKey`"
+ */
+export type CompositeWarningKey = string;
+
+export type WarningRegistry = Map<WarningId , Map<WarningKey, EditorWarning>>;
+export type SeverityIndex = Map<WarningSeverity, Set<CompositeWarningKey>>;
+
+type ZustandSet = (partial: Partial<FlowState> | ((state: FlowState) => Partial<FlowState>)) => void;
+type ZustandGet = () => FlowState;
+
+export type EditorWarningRegistry = {
+  /**
+   * stores all editor warnings
+   */
+  editorWarningRegistry: WarningRegistry;
+  /**
+   * index of warnings by severity
+   */
+  severityIndex: SeverityIndex;
+
+  /**
+   * gets all warnings and returns them as a list of warnings
+   * @returns {EditorWarning[]}
+   */
+  getWarnings: () => EditorWarning[];
+
+  /**
+   * gets all warnings with the current severity
+   * @param {WarningSeverity} warningSeverity
+   * @returns {EditorWarning[]}
+   */
+  getWarningsBySeverity: (warningSeverity: WarningSeverity) => EditorWarning[];
+
+  /**
+   * checks if there are no warnings of breaking severity
+   * @returns {boolean}
+   */
+  isProgramValid: () => boolean;
+
+  /**
+   * registers a warning to the warningRegistry and the SeverityIndex
+   * @param {EditorWarning} warning
+   */
+  registerWarning: (warning: EditorWarning) => void;
+
+  /**
+   * unregisters a warning from the warningRegistry and the SeverityIndex
+   * @param {EditorWarning} warning
+   */
+  unregisterWarning: (id: WarningId, warningKey: WarningKey) => void
+
+  /**
+   * unregisters warnings from the warningRegistry and the SeverityIndex
+   * @param {WarningId} warning
+   */
+  unregisterWarningsForId: (id: WarningId) => void;
+}
+
+// --| implemented logic |--
+
+/**
+ * the id to use for global editor warnings
+ * @type {string}
+ */
+export const globalWarning = "GLOBAL_WARNINGS";
+
+export function editorWarningRegistry(get: ZustandGet, set: ZustandSet) : EditorWarningRegistry { return {
+  editorWarningRegistry: new Map<NodeId, Map<WarningKey, EditorWarning>>(),
+  severityIndex: new Map([
+    ['INFO', new Set<CompositeWarningKey>()],
+    ['WARNING', new Set<CompositeWarningKey>()],
+    ['ERROR', new Set<CompositeWarningKey>()],
+  ]),
+
+  getWarningsBySeverity: (warningSeverity) => {
+    const wRegistry = new Map([...get().editorWarningRegistry].map(([k, v]) => [k, new Map(v)]));
+    const sIndex = new Map(get().severityIndex);
+    const warningKeys = sIndex.get(warningSeverity);
+    const warnings: EditorWarning[] = [];
+
+    warningKeys?.forEach(
+      (compositeKey) => {
+        const [id, warningKey] = compositeKey.split('|');
+        const warning = wRegistry.get(id)?.get(warningKey);
+
+        if (warning) {
+          warnings.push(warning);
+        }
+      }
+    )
+
+    return warnings;
+  },
+
+  isProgramValid: () => {
+    const sIndex = get().severityIndex;
+    return (sIndex.get("ERROR")!.size === 0);
+  },
+
+  getWarnings: () => Array.from(get().editorWarningRegistry.values())
+      .flatMap(innerMap => Array.from(innerMap.values())),
+
+
+  registerWarning: (warning) => {
+    const { scope: {id, handleId}, type, severity } = warning;
+    const warningKey = handleId ? `${type}:${handleId}` : type;
+    const compositeKey = `${id}|${warningKey}`;
+    const wRegistry = new Map([...get().editorWarningRegistry].map(([k, v]) => [k, new Map(v)]));
+    const sIndex = new Map(get().severityIndex);
+    // add to warning registry
+    if (!wRegistry.has(id)) {
+      wRegistry.set(id, new Map());
+    }
+    wRegistry.get(id)!.set(warningKey, warning);
+
+
+    // add to severityIndex
+    if (!sIndex.get(severity)!.has(compositeKey)) {
+      sIndex.get(severity)!.add(compositeKey);
+    }
+
+    set({
+      editorWarningRegistry: wRegistry,
+      severityIndex: sIndex
+    })
+  },
+
+  unregisterWarning: (id, warningKey) => {
+    const wRegistry = new Map([...get().editorWarningRegistry].map(([k, v]) => [k, new Map(v)]));
+    const sIndex = new Map(get().severityIndex);
+    // verify if the warning was created already
+    const warning = wRegistry.get(id)?.get(warningKey);
+    if (!warning) return;
+
+    // remove from warning registry
+    wRegistry.get(id)!.delete(warningKey);
+
+
+    // remove from severityIndex
+    sIndex.get(warning.severity)!.delete(`${id}|${warningKey}`);
+
+    set({
+      editorWarningRegistry: wRegistry,
+      severityIndex: sIndex
+    })
+  },
+
+  unregisterWarningsForId: (id) => {
+    const wRegistry = new Map([...get().editorWarningRegistry].map(([k, v]) => [k, new Map(v)]));
+    const sIndex = new Map(get().severityIndex);
+
+    const nodeWarnings = wRegistry.get(id);
+
+    // remove from severity index
+    if (nodeWarnings) {
+      nodeWarnings.forEach((warning) => {
+        const warningKey = warning.scope.handleId
+          ? `${warning.type}:${warning.scope.handleId}`
+          : warning.type;
+        sIndex.get(warning.severity)?.delete(`${id}|${warningKey}`);
+      });
+    }
+
+    // remove from warning registry
+    wRegistry.delete(id);
+
+    set({
+      editorWarningRegistry: wRegistry,
+      severityIndex: sIndex
+    })
+  },
+}}
+
+
+
+/**
+ * returns a summary of the warningRegistry
+ * @returns {{info: number, warning: number, error: number, isValid: boolean}}
+ */
+export function warningSummary() {
+  const {severityIndex, isProgramValid} = useFlowStore.getState();
+  return {
+    info: severityIndex.get('INFO')!.size,
+    warning: severityIndex.get('WARNING')!.size,
+    error: severityIndex.get('ERROR')!.size,
+    isValid: isProgramValid(),
+  };
+}
+
+
--- a/src/pages/VisProgPage/visualProgrammingUI/components/NodeComponents.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/NodeComponents.tsx
@@ -1,4 +1,7 @@
-import {NodeToolbar} from '@xyflow/react';
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import {NodeToolbar, useReactFlow} from '@xyflow/react';
 import '@xyflow/react/dist/style.css';
 import {type JSX, useState} from "react";
 import {createPortal} from "react-dom";
@@ -30,10 +33,11 @@ type ToolbarProps = {
 */
 export function Toolbar({nodeId, allowDelete}: ToolbarProps) {
  const {nodes, deleteNode} = useFlowStore();
-
+  const { deleteElements } = useReactFlow();

  const deleteParentNode = () => {
-    deleteNode(nodeId);
+
+    deleteNode(nodeId, deleteElements);
  };

  const nodeType = nodes.find((node) => node.id === nodeId)?.type as keyof typeof NodeTooltips;
--- a/src/pages/VisProgPage/visualProgrammingUI/components/Plan.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/Plan.default.ts
@@ -1,7 +0,0 @@
-import type { Plan } from "./Plan";
-
-export const defaultPlan: Plan = {
-    name: "Default Plan",
-    id: "-1",
-    steps: [],
-}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.tsx
@@ -1,243 +0,0 @@
-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 { setScrollable } = useFlowStore();
-
-  //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();
-    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) && (<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}>{
-                      step.type == "goal" ? ""/* TODO: Add support for goals */
-                      : GetActionValue(step)}
-                      </span>
-                  </div>
-                ))}
-              </div>
-            </div>
-          )}
-
-          {/* Buttons */}
-          <div className="flex-row gap-md">
-              {/* Close button */}
-              <button type="button" onClick={close}>
-              Cancel
-              </button>
-
-              {/* Confirm/ Create button */}
-              <button
-              type="button"
-              disabled={!draftPlan}
-              onClick={() => {
-                  if (!draftPlan) return;
-                  onSave(draftPlan);
-                  close();
-              }}>
-              {draftPlan?.id === plan?.id ? "Confirm" : "Create"}
-              </button>
-
-              {/* Reset button */}
-              <button
-              type="button"
-              disabled={!draftPlan}
-              onClick={() => {
-                  onSave(undefined);
-                  close();
-              }}>
-              Reset
-              </button>
-        </div>
-      </form>
-    </dialog>
-  </>
-);
-}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/ActionAdder.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/ActionAdder.tsx
@@ -0,0 +1,72 @@
+import { TextField } from "../../../../../components/TextField";
+import GestureValueEditor from "./GestureValueEditor";
+import type { ActionTypes } from "./Plan";
+import styles from './PlanEditor.module.css';
+
+type ActionAdderProps = {
+  newActionType: ActionTypes;
+  setNewActionType: (t: ActionTypes) => void;
+  newActionValue: string;
+  setNewActionValue: (v: string) => void;
+  setNewActionGestureType: (b: boolean) => void;
+  onAdd: () => void;
+  showSuggestion: boolean;
+};
+
+
+export function ActionAdder({
+  newActionType,
+  setNewActionType,
+  newActionValue,
+  setNewActionValue,
+  setNewActionGestureType,
+  onAdd,
+  showSuggestion,
+}: ActionAdderProps) {
+  return (
+    <div className={styles.planEditorLeft}>
+      <h4>Add Action</h4>
+
+      {showSuggestion && (
+        <div className={styles.stepSuggestion}>
+          <label>Filled in as a suggestion!</label>
+          <label>Feel free to change!</label>
+        </div>
+      )}
+
+      <label>
+        Action Type <wbr />
+        <select
+          value={newActionType}
+          onChange={(e) => {
+            setNewActionType(e.target.value as ActionTypes);
+            setNewActionValue("");
+          }}
+        >
+          <option value="speech">Speech Action</option>
+          <option value="gesture">Gesture Action</option>
+          <option value="llm">LLM Action</option>
+        </select>
+      </label>
+
+      {newActionType === "gesture" ? (
+        <GestureValueEditor
+          value={newActionValue}
+          setValue={setNewActionValue}
+          setType={setNewActionGestureType}
+          placeholder="Gesture name"
+        />
+      ) : (
+        <TextField
+          value={newActionValue}
+          setValue={setNewActionValue}
+          placeholder={newActionType === "speech" ? "Speech text" : "LLM goal"}
+        />
+      )}
+
+      <button type="button" disabled={!newActionValue} onClick={onAdd}>
+        Add Step
+      </button>
+    </div>
+  );
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/GestureValueEditor.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/GestureValueEditor.module.css
@@ -1,4 +1,8 @@
-
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
 .gestureEditor {
  display: flex;
  flex-direction: column;
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/GestureValueEditor.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/GestureValueEditor.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { useState, useRef } from "react";
 import styles from './GestureValueEditor.module.css'

--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/Plan.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/Plan.default.ts
@@ -0,0 +1,10 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import type { Plan, PlanElement } from "./Plan";
+
+export const defaultPlan: Plan = {
+    name: "Default Plan",
+    id: "-1",
+    steps: [] as PlanElement[],
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/Plan.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/Plan.tsx
@@ -1,3 +1,10 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import { type Node } from "@xyflow/react"
+import { GoalReduce } from "../../nodes/GoalNode"
+
+
 export type Plan = {
    name: string,
    id: string,
@@ -7,10 +14,7 @@ export type Plan = {
 export type PlanElement = Goal | Action

 export type Goal = {
-    id: string,
-    name: string,
-    plan: Plan,
-    can_fail: boolean,
+    id: string // we let the reducer figure out the rest dynamically
    type: "goal"
 }

@@ -19,23 +23,24 @@ 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(plan?: Plan) {
+export function PlanReduce(_nodes: Node[], plan?: Plan, ) {
    if (!plan) return ""
    return {
        id: plan.id,
-        steps: plan.steps.map((x) => StepReduce(x))
+        steps: plan.steps.map((x) => StepReduce(x, _nodes))
    }
 }


 // Extract the wanted information from a plan element.
-function StepReduce(planElement: PlanElement) {
+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 {
@@ -56,12 +61,7 @@ function StepReduce(planElement: PlanElement) {
                goal: planElement.goal,
            }
        case ("goal"):
-            return {
-                id: planElement.id,
-                plan: planElement.plan,
-                can_fail: planElement.can_fail,
-            };
-        default:
+            return thisNode ? GoalReduce(thisNode, nodes) : {}
    }
 }

@@ -71,10 +71,36 @@ function StepReduce(planElement: PlanElement) {
 * @param plan: the plan to check
 * @returns: a boolean 
 */
-export function DoesPlanIterate(plan?: Plan) : boolean {
+export function DoesPlanIterate( _nodes: Node[], plan?: Plan,) : boolean {
    // TODO: should recursively check plans that have goals (and thus more plans) in them.
    if (!plan) return false
-    return plan.steps.filter((step) => step.type == "llm").length > 0;
+    return plan.steps.filter((step) => step.type == "llm").length > 0 || 
+     (
+        // Find the goal node of this step
+        plan.steps.filter((step) => step.type == "goal").map((goalStep) => {
+        const goalId = goalStep.id;
+        const goalNode = _nodes.find((x) => x.id === goalId);
+        // In case we don't find any valid plan, this node doesn't iterate
+        if (!goalNode || !goalNode.data.plan) return false;
+        // Otherwise, check if this node can fail - if so, we should have the option to iterate
+        return (goalNode && goalNode.data.plan && goalNode.data.can_fail)
+        })
+    ).includes(true);
+}
+
+/**
+ * Checks if any of the plan's goal steps has its can_fail value set to true.
+ * @param plan: plan to check
+ * @param _nodes: nodes in flow store.
+ */
+export function HasCheckingSubGoal(plan: Plan, _nodes: Node[]) {
+    const goalSteps = plan.steps.filter((x) => x.type == "goal");
+    return goalSteps.map((goalStep) => {
+        // Find the goal node and check its can_fail data boolean.
+        const goalId = goalStep.id;
+        const goalNode = _nodes.find((x) => x.id === goalId);
+        return (goalNode && goalNode.data.can_fail)
+    }).includes(true);
 }

 /**
@@ -98,4 +124,6 @@ export function GetActionValue(action: Action) {
            return returnAction.goal;
        default:
    }
-}
+}
+
+
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/PlanEditingFunctions.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/PlanEditingFunctions.tsx
@@ -0,0 +1,39 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+// This file is to avoid sharing both functions and components which eslint dislikes. :)
+import type { GoalNode } from "../../nodes/GoalNode"
+import type { Goal, Plan } from "./Plan"
+
+/**
+ * Inserts a goal into a plan
+ * @param plan: plan to insert goal into
+ * @param goalNode: the goal node to insert into the plan.
+ * @returns: a new plan with the goal inside.
+ */
+export function insertGoalInPlan(plan: Plan, goalNode: GoalNode): Plan {
+    const planElement : Goal = {
+        id: goalNode.id,
+        type: "goal",
+    }
+
+    return {
+        ...plan,
+        steps: [...plan.steps, planElement],
+    }
+}
+
+
+/**
+ * Deletes a goal from  a plan
+ * @param plan: plan to delete goal from
+ * @param goalID: the goal node to delete.
+ * @returns: a new plan with the goal removed.
+ */
+export function deleteGoalInPlanByID(plan: Plan, goalID: string) {
+    const updatedPlan = {...plan,
+        steps: plan.steps.filter((x) => x.id !== goalID)
+    }
+    return updatedPlan.steps.length == 0 ? undefined : updatedPlan
+}
+
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/PlanEditor.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/PlanEditor.module.css
@@ -1,3 +1,8 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
 .planDialog {
  overflow:visible;
  width: 80vw;
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/PlanEditor.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/PlanEditor.tsx
@@ -0,0 +1,214 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import {useRef, useState} from "react";
+import useFlowStore from "../../VisProgStores.tsx";
+import styles from './PlanEditor.module.css';
+import { type Action, type ActionTypes, type Plan } from "./Plan.tsx";
+import { defaultPlan } from "./Plan.default.ts";
+import { TextField } from "../../../../../components/TextField.tsx";
+import { StepsList } from "./StepList.tsx";
+import { ActionAdder } from "./ActionAdder.tsx";
+
+
+
+type PlanEditorDialogProps = {
+  plan?: Plan;
+  onSave: (plan: Plan | undefined) => void;
+  description? : string;
+};
+
+
+/**
+ * Creates an action, as a step for a plan.
+ * @param type the type of action to build
+ * @param value the value of this action to build
+ * @param isGestureTag whether or not this action, restricted to gestures, is a tag.
+ * @returns An action
+ */
+function buildAction(
+  type: ActionTypes,
+  value: string,
+  isGestureTag: boolean
+): Action {
+  const id = crypto.randomUUID();
+
+  switch (type) {
+    case "speech":
+      return { id, text: value, type: "speech" };
+    case "gesture":
+      return { id, gesture: value, isTag: isGestureTag, type: "gesture" };
+    case "llm":
+      return { id, goal: value, type: "llm" };
+  }
+}
+
+
+
+
+
+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 addAction = () => {
+    if (!draftPlan) return;
+    // Add action to steps
+    const action = buildAction(newActionType, newActionValue, newActionGestureType);
+    setDraftPlan({
+        ...draftPlan,
+        steps: [...draftPlan.steps, action],});
+
+    // Reset current action building
+    setNewActionValue("");
+    setNewActionType("speech"); 
+    setHasInteractedWithPlan(true);
+  }
+                            
+
+  const showSuggestion : boolean = (
+    !plan && 
+    !!description && 
+    draftPlan !== null && 
+    draftPlan.steps.length === 0 && 
+    !hasInteractedWithPlan)
+
+  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) */}
+                <ActionAdder 
+                  newActionType={newActionType}
+                  setNewActionType={setNewActionType}
+                  newActionValue={newActionValue}
+                  setNewActionValue={setNewActionValue}
+                  setNewActionGestureType={setNewActionGestureType}
+                  onAdd={addAction}
+                  showSuggestion={showSuggestion}
+                />
+              </div>
+
+              {/* Right Side (Steps shown) */}
+              <div className={styles.planEditorRight}>
+                  <h4>Steps</h4>
+                  {/* Map over all steps */}
+                  <StepsList
+                    steps={draftPlan.steps}
+                    nodes={nodes}
+                    onRemove={(id) =>
+                      setDraftPlan({
+                        ...draftPlan,
+                        steps: draftPlan.steps.filter(s => s.id !== id),
+                      })
+                    }
+                  />
+              </div>
+            </div>
+          )}
+
+          {/* Buttons */}
+          <div className="flex-row gap-md">
+              {/* Close button */}
+              <button type="button" onClick={close}>
+              Cancel
+              </button>
+
+              {/* Confirm/ Create button */}
+              <button
+              type="button"
+              disabled={!draftPlan}
+              onClick={() => {
+                  if (!draftPlan) return;
+                  onSave(draftPlan);
+                  close();
+              }}>
+              {draftPlan?.id === plan?.id ? "Confirm" : "Create"}
+              </button>
+
+              {/* Reset button */}
+              <button
+              type="button"
+              disabled={!draftPlan}
+              onClick={() => {
+                  onSave(undefined);
+                  close();
+              }}>
+              Reset
+              </button>
+        </div>
+      </form>
+    </dialog>
+  </>
+);
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/StepList.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor/StepList.tsx
@@ -0,0 +1,54 @@
+import { GetActionValue, type PlanElement } from "./Plan";
+import styles from './PlanEditor.module.css';
+import { type Node} from "@xyflow/react"
+
+type StepsListProps = {
+  steps: PlanElement[];
+  onRemove: (id: string) => void;
+  nodes: Node[];
+};
+
+function getStepLabel(
+  step: PlanElement,
+  nodes: Node[],
+): string {
+  if (step.type === "goal") {
+    // For goals, we lookup the value through the nodes in the diagram
+    const node = nodes.find(n => n.id === step.id);
+    return (node?.data?.name as string)?.trim() || "unnamed goal";
+  }
+
+  // Not a goal, we lookup the correct action value of the action
+  return GetActionValue(step) ?? "";
+}
+
+export function StepsList({ steps, onRemove, nodes }: StepsListProps) {
+  if (steps.length === 0) {
+    return <div className={styles.emptySteps}>No steps yet</div>;
+  }
+
+  return (
+    <>
+      {steps.map((step, index) => (
+        <div
+          key={step.id}
+          role="button"
+          tabIndex={0}
+          className={styles.planStep}
+          onClick={() => onRemove(step.id)}
+          onKeyDown={(e) => {
+            if (e.key === "Enter" || e.key === " ") {
+              onRemove(step.id);
+            }
+          }}
+        >
+          <span className={styles.stepIndex}>{index + 1}.</span>
+          <span className={styles.stepType}>{step.type}:</span>
+          <span className={styles.stepName}>
+            {getStepLabel(step, nodes)}
+          </span>
+        </div>
+      ))}
+    </>
+  );
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/RuleBasedHandle.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/RuleBasedHandle.module.css
@@ -1,7 +1,21 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
+:global(.react-flow__handle.source){
+    border-radius: 100%;
+}
+:global(.react-flow__handle.target){
+    border-radius: 15%;
+}
+
+
+
 :global(.react-flow__handle.connected) {
    background: lightgray;
    border-color: green;
-    filter: drop-shadow(0 0 0.25rem green);
+    filter: drop-shadow(0 0 0.15rem green);
 }

 :global(.singleConnectionHandle.connected) {
@@ -16,19 +30,19 @@
 :global(.singleConnectionHandle.unconnected){
    background: lightsalmon;
    border-color: #ff6060;
-    filter: drop-shadow(0 0 0.25rem #ff6060);
+    filter: drop-shadow(0 0 0.15rem #ff6060);
 }

 :global(.react-flow__handle.connectingto) {
    background: #ff6060;
    border-color: coral;
-    filter: drop-shadow(0 0 0.25rem coral);
+    filter: drop-shadow(0 0 0.15rem coral);
 }

 :global(.react-flow__handle.valid) {
    background: #55dd99;
    border-color: green;
-    filter: drop-shadow(0 0 0.25rem green);
+    filter: drop-shadow(0 0 0.15rem green);
 }

 :global(.react-flow__handle) {
--- a/src/pages/VisProgPage/visualProgrammingUI/components/RuleBasedHandle.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/RuleBasedHandle.tsx
@@ -1,10 +1,12 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 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";

@@ -29,21 +31,16 @@ export function MultiConnectionHandle({
    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")}
+      className={"multiConnectionHandle" + (connections.length === 0 ? " unconnected" : " connected") + ` ${type}`}
      isValidConnection={(connection) => {
        const result = validate(connection as Connection);
-        setHandleState(result);
        return result.isSatisfied;
      }}
-      title={handleState.message}
    />
  );
 }
@@ -66,22 +63,18 @@ export function SingleConnectionHandle({
    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")}
+      className={"singleConnectionHandle" + (connections.length === 0 ? " unconnected" : " connected") + ` ${type}`}
      isConnectable={connections.length === 0}
      isValidConnection={(connection) => {
        const result = validate(connection as Connection);
-        setHandleState(result);
        return result.isSatisfied;
      }}
-      title={handleState.message}
    />
  );
 }
--- a/src/pages/VisProgPage/visualProgrammingUI/components/SaveLoadPanel.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/SaveLoadPanel.module.css
@@ -1,3 +1,8 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
 .save-load-panel {
  border-radius: 0 0 5pt 5pt;
  background-color: canvas;
--- a/src/pages/VisProgPage/visualProgrammingUI/components/SaveLoadPanel.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/SaveLoadPanel.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {type ChangeEvent, useRef, useState} from "react";
 import useFlowStore from "../VisProgStores";
 import visProgStyles from "../../VisProg.module.css";
@@ -29,6 +32,8 @@ export default function SaveLoadPanel() {
      const text = await file.text();
      const parsed = JSON.parse(text) as SavedProject;
      if (!parsed.nodes || !parsed.edges) throw new Error("Invalid file format");
+      const {nodes, unregisterWarningsForId} = useFlowStore.getState();
+      nodes.forEach((node) => {unregisterWarningsForId(node.id);});
      setNodes(parsed.nodes);
      setEdges(parsed.edges);
    } catch (e) {
--- a/src/pages/VisProgPage/visualProgrammingUI/components/WarningSidebar.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/WarningSidebar.module.css
@@ -0,0 +1,208 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
+.warnings-sidebar {
+    min-width: auto;
+    max-width: 340px;
+    margin-right: 0;
+    height: 100%;
+    background: canvas;
+    display: flex;
+    flex-direction: row;
+}
+
+.warnings-toggle-bar {
+    background-color: ButtonFace;
+    justify-items: center;
+    align-content: center;
+    width: 1rem;
+    cursor: pointer;
+}
+
+.warnings-toggle-bar.error:first-child:has(.arrow-right){
+    background-color: hsl(from red h s 75%);
+}
+.warnings-toggle-bar.warning:first-child:has(.arrow-right) {
+    background-color: hsl(from orange h s 75%);
+}
+.warnings-toggle-bar.info:first-child:has(.arrow-right) {
+    background-color: hsl(from steelblue h s 75%);
+}
+
+.warnings-toggle-bar:hover {
+    background-color: GrayText !important ;
+    .arrow-left {
+        border-right-color: ButtonFace;
+        transition: transform 0.15s ease-in-out;
+        transform: rotateY(180deg);
+    }
+    .arrow-right {
+        border-left-color: ButtonFace;
+        transition: transform 0.15s ease-in-out;
+        transform: rotateY(180deg);
+    }
+}
+
+
+.warnings-content {
+    width: 320px;
+    flex: 1;
+    flex-direction: column;
+    border-left: 2px solid CanvasText;
+}
+
+.warnings-header {
+    padding: 12px;
+    border-bottom: 2px solid CanvasText;
+}
+
+.severity-tabs {
+    display: flex;
+    gap: 4px;
+}
+
+.severity-tab {
+    flex: 1;
+    padding: 4px;
+    background: ButtonFace;
+    color: GrayText;
+    border: none;
+    cursor: pointer;
+}
+
+.count {
+    padding: 4px;
+    color: GrayText;
+    border: none;
+    cursor: pointer;
+}
+
+.severity-tab.active {
+    color: ButtonText;
+    border: 2px solid currentColor;
+    .count {
+        color: ButtonText;
+    }
+}
+
+.warning-group-header {
+    background: ButtonFace;
+    padding: 6px;
+    font-weight: bold;
+}
+
+.warnings-list {
+    flex: 1;
+    min-height: 0;
+    overflow-y: scroll;
+}
+
+.warnings-empty {
+    margin: auto;
+}
+
+.warning-item {
+    display: flex;
+    flex-direction: column;
+    margin: 5px;
+    gap: 2px;
+    padding: 0;
+    border-radius: 5px;
+    cursor: pointer;
+    color: GrayText;
+}
+
+.warning-item:hover {
+    background: ButtonFace;
+}
+
+.warning-item--error {
+    border: 2px solid red;
+    background-color: hsl(from red h s 96%);
+    .item-header{
+        background-color: red;
+        .type{
+            color: hsl(from red h s 96%);
+        }
+    }
+
+}
+
+.warning-item--error:hover {
+    background-color: hsl(from red h s 75%);
+}
+
+.warning-item--warning {
+    border: 2px solid orange;
+    background-color: hsl(from orange h s 96%);
+    .item-header{
+        background-color: orange;
+        .type{
+            color: hsl(from orange h s 96%);
+        }
+    }
+}
+
+.warning-item--warning:hover {
+    background-color: hsl(from orange h s 75%);
+}
+
+.warning-item--info {
+    border: 2px solid steelblue;
+    background-color: hsl(from steelblue h s 96%);
+    .item-header{
+        background-color: steelblue;
+        .type{
+            color: hsl(from steelblue h s 96%);
+        }
+    }
+}
+
+.warning-item--info:hover {
+    background-color: hsl(from steelblue h s 75%);
+}
+
+.warning-item .item-header {
+    padding: 8px 8px;
+    opacity: 1;
+    font-weight: bolder;
+}
+.warning-item .item-header .type{
+    padding: 2px 8px;
+    font-size: 0.9rem;
+}
+
+.warning-item .description {
+    padding: 5px 10px;
+    font-size: 0.8rem;
+}
+
+.auto-hide {
+    background-color: Canvas;
+    border-top: 2px solid CanvasText;
+    margin-top: auto;
+    width: 100%;
+    height: 2.5rem;
+    display: flex;
+    align-items: center;
+    padding: 0 12px;
+}
+
+/* arrows for toggleBar */
+.arrow-right {
+    width: 0;
+    height: 0;
+    border-top: 0.5rem solid transparent;
+    border-bottom: 0.5rem solid transparent;
+    border-left: 0.6rem solid GrayText;
+}
+
+.arrow-left {
+    width: 0;
+    height: 0;
+    border-top: 0.5rem solid transparent;
+    border-bottom: 0.5rem solid transparent;
+    border-right: 0.6rem solid GrayText;
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/components/WarningSidebar.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/WarningSidebar.tsx
@@ -0,0 +1,228 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import {useReactFlow, useStoreApi} from "@xyflow/react";
+import clsx from "clsx";
+import {useEffect, useState} from "react";
+import useFlowStore from "../VisProgStores.tsx";
+import {
+  warningSummary,
+  type WarningSeverity,
+  type EditorWarning, globalWarning
+} from "./EditorWarnings.tsx";
+import styles from "./WarningSidebar.module.css";
+
+/**
+ * the warning sidebar, shows all warnings
+ *
+ * @returns {React.JSX.Element}
+ * @constructor
+ */
+export function WarningsSidebar() {
+  const warnings = useFlowStore.getState().getWarnings();
+  const [hide, setHide] = useState(false);
+  const [severityFilter, setSeverityFilter] = useState<WarningSeverity | 'ALL'>('ALL');
+  const [autoHide, setAutoHide] = useState(false);
+
+  // let autohide change hide status only when autohide is toggled
+  // and allow for user to change the hide state even if autohide is enabled
+  const hasWarnings = warnings.length > 0;
+  useEffect(() => {
+    if (autoHide) {
+      setHide(!hasWarnings);
+    }
+  }, [autoHide, hasWarnings]);
+
+  const filtered = severityFilter === 'ALL'
+    ? warnings
+    : warnings.filter(w => w.severity === severityFilter);
+
+
+  const summary = warningSummary();
+  // Finds the first key where the count > 0
+  const getHighestSeverity = () => {
+    if (summary.error > 0) return styles.error;
+    if (summary.warning > 0) return styles.warning;
+    if (summary.info > 0) return styles.info;
+    return '';
+  };
+
+  return (
+    <aside className={`flex-row`} >
+      <div
+        className={`${styles.warningsToggleBar} ${getHighestSeverity()}`}
+        onClick={() => setHide(!hide)}
+        title={"toggle warnings"}
+      >
+        <div className={`${hide ? styles.arrowRight : styles.arrowLeft}`}></div>
+      </div>
+      <div 
+        id="warningSidebar" 
+        className={styles.warningsContent} 
+        style={hide ? {display: "none"} : {display: "flex"}}
+      >
+        <WarningsHeader
+          severityFilter={severityFilter}
+          onChange={setSeverityFilter}
+        />
+
+        <WarningsList warnings={filtered} />
+        <div className={styles.autoHide}>
+          <input
+            id="autoHideSwitch"
+            type={"checkbox"}
+            checked={autoHide}
+            onChange={(e) => setAutoHide(e.target.checked)}
+          /><label>Hide if there are no warnings</label>
+        </div>
+      </div>
+    </aside>
+
+  );
+}
+
+/**
+ * the header of the warning sidebar, contains severity filtering buttons
+ *
+ * @param {WarningSeverity | "ALL"} severityFilter
+ * @param {(severity: (WarningSeverity | "ALL")) => void} onChange
+ * @returns {React.JSX.Element}
+ * @constructor
+ */
+function WarningsHeader({
+  severityFilter,
+  onChange,
+}: {
+  severityFilter: WarningSeverity | 'ALL';
+  onChange: (severity: WarningSeverity | 'ALL') => void;
+}) {
+  const summary = warningSummary();
+
+  return (
+    <div className={styles.warningsHeader}>
+      <h3>Warnings</h3>
+      <div className={styles.severityTabs}>
+        {(['ALL', 'ERROR', 'WARNING', 'INFO'] as const).map(severity => (
+          <button
+            key={severity}
+            className={clsx(styles.severityTab, severityFilter === severity && styles.active)}
+            onClick={() => onChange(severity)}
+          >
+            {severity}
+            {severity !== 'ALL' && (
+              <span className={styles.count}>
+                {summary[severity.toLowerCase() as keyof typeof summary]}
+              </span>
+            )}
+          </button>
+        ))}
+      </div>
+    </div>
+  );
+}
+
+
+/**
+ *  the list of warnings in the warning sidebar
+ *
+ * @param {{warnings: EditorWarning[]}} props
+ * @returns {React.JSX.Element}
+ * @constructor
+ */
+function WarningsList(props: { warnings: EditorWarning[] }) {
+  const splitWarnings = {
+    global: props.warnings.filter(w => w.scope.id === globalWarning),
+    other: props.warnings.filter(w => w.scope.id !== globalWarning),
+  }
+  if (props.warnings.length === 0) {
+    return (
+      <div className={styles.warningsEmpty}>
+        No warnings!
+      </div>
+    )
+  }
+  return (
+    <div className={styles.warningsList}>
+        <div className={styles.warningGroupHeader}>global:</div>
+        <div className={styles.warningsGroup}>
+          {splitWarnings.global.map((warning) => (
+            <WarningListItem warning={warning} key={`${warning.scope.id}|${warning.type}` + (warning.scope.handleId
+              ? `:${warning.scope.handleId}`
+              : "")}
+            />
+          ))}
+          {splitWarnings.global.length === 0 && "No global warnings!"}
+        </div>
+        <div className={styles.warningGroupHeader}>other:</div>
+        <div className={styles.warningsGroup}>
+          {splitWarnings.other.map((warning) => (
+            <WarningListItem warning={warning} key={`${warning.scope.id}|${warning.type}` + (warning.scope.handleId
+              ? `:${warning.scope.handleId}`
+              : "")}
+            />
+          ))}
+          {splitWarnings.other.length === 0 && "No other warnings!"}
+        </div>
+    </div>
+  );
+}
+
+/**
+ * a single warning in the warning sidebar
+ *
+ * @param {{warning: EditorWarning, key: string}} props
+ * @returns {React.JSX.Element}
+ * @constructor
+ */
+function WarningListItem(props: { warning: EditorWarning, key: string}) {
+  const jumpToNode = useJumpToNode();
+
+  return (
+    <div
+      className={clsx(styles.warningItem, styles[`warning-item--${props.warning.severity.toLowerCase()}`],)}
+      onClick={() => jumpToNode(props.warning.scope.id)}
+    >
+      <div className={styles.itemHeader}>
+        <span className={styles.type}>{props.warning.type}</span>
+      </div>
+
+      <div className={styles.description}>
+        {props.warning.description}
+      </div>
+    </div>
+  );
+}
+
+/**
+ * moves the editor to the provided node
+ * @returns {(nodeId: string) => void}
+ */
+function useJumpToNode() {
+  const { getNode, setCenter, getViewport } = useReactFlow();
+  const { addSelectedNodes } = useStoreApi().getState();
+
+
+  return (nodeId: string) => {
+    // user can't jump to global warning, so prevent further logic from running if the warning is a globalWarning
+    if (nodeId === globalWarning) return;
+    const node = getNode(nodeId);
+    if (!node) return;
+
+    const nodeElement = document.querySelector(`.react-flow__node[data-id="${nodeId}"]`) as HTMLElement;
+    const { position } = node;
+    const viewport = getViewport();
+    const { width, height } = nodeElement.getBoundingClientRect();
+
+    //move to node
+    setCenter(
+      position!.x + ((width / viewport.zoom) / 2),
+      position!.y + ((height / viewport.zoom) / 2),
+      {duration: 300, interpolate: "smooth" }
+    ).then(() => {
+      addSelectedNodes([nodeId]);
+    });
+
+
+
+  };
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.default.ts
@@ -1,4 +1,7 @@
-import type { BasicBeliefNodeData } from "./BasicBeliefNode";
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import type { BasicBeliefNodeData } from "./BasicBeliefNode.tsx";


 /**
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/BasicBeliefNode.tsx
@@ -1,15 +1,19 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {
  type NodeProps,
  Position,
  type Node,
 } from '@xyflow/react';
-import { Toolbar } from '../components/NodeComponents';
+import { Toolbar } from '../components/NodeComponents.tsx';
 import styles from '../../VisProg.module.css';
 import {MultiConnectionHandle} from "../components/RuleBasedHandle.tsx";
-import {allowOnlyConnectionsFromType} from "../HandleRules.ts";
-import useFlowStore from '../VisProgStores';
-import { TextField } from '../../../../components/TextField';
-import { MultilineTextField } from '../../../../components/MultilineTextField';
+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
@@ -31,7 +35,7 @@ export type BasicBeliefNodeData = {
 };

 // These are all the types a basic belief could be.
-type BasicBeliefType = Keyword | Semantic | DetectedObject | Emotion
+export type BasicBeliefType = Keyword | Semantic | DetectedObject | Emotion
 type Keyword = { type: "keyword", id: string, value: string, label: "Keyword said:"};
 type Semantic = { type: "semantic", id: string, value: string, description: string, label: "Detected with LLM:"};
 type DetectedObject = { type: "object", id: string, value: string, label: "Object found:"};
@@ -112,9 +116,7 @@ export default function BasicBeliefNode(props: NodeProps<BasicBeliefNode>) {
    updateNodeData(props.id, {...data, belief: {...data.belief, description: value}});
  }

-  // Use this
-  const emotionOptions = ["Happy", "Angry", "Sad", "Cheerful"]
-
+  const emotionOptions = ["sad", "angry", "surprise", "fear", "happy", "disgust", "neutral"];

  let placeholder = ""
  let wrapping = ""
@@ -124,7 +126,7 @@ export default function BasicBeliefNode(props: NodeProps<BasicBeliefNode>) {
      wrapping = '"'
      break; 
    case ("semantic"):
-      placeholder = "description..."
+      placeholder = "short description..."
      wrapping = '"'
      break; 
    case ("object"):
@@ -184,13 +186,14 @@ export default function BasicBeliefNode(props: NodeProps<BasicBeliefNode>) {
            <MultilineTextField
                        value={data.belief.description}
                        setValue={setBeliefDescription}
-                        placeholder={"Describe the desciption of this LLM belief..."}
+                        placeholder={"Describe a detailed desciption of this LLM belief..."}
                      />
          </div>
          )}
        <MultiConnectionHandle type="source" position={Position.Right} id="source" rules={[
-          allowOnlyConnectionsFromType(["norm", "trigger"]),
-        ]}/>
+          noMatchingLeftRightBelief,
+          allowOnlyConnectionsFromHandle([{nodeType:"trigger",handleId:"TriggerBeliefs"}, {nodeType:"norm",handleId:"NormBeliefs"},{nodeType:"InferredBelief",handleId:"inferred_belief"}]),
+        ]}  title="Connect to any number of trigger and/or normNode(-s)"/>
      </div>
    </>
  );
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/BeliefGlobals.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/BeliefGlobals.ts
@@ -0,0 +1,66 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import {getOutgoers, type Node} from '@xyflow/react';
+import {type HandleRule, type RuleResult, ruleResult} from "../HandleRuleLogic.ts";
+import useFlowStore from "../VisProgStores.tsx";
+import {BasicBeliefReduce} from "./BasicBeliefNode.tsx";
+import {type InferredBeliefNodeData, InferredBeliefReduce} from "./InferredBeliefNode.tsx";
+
+export function BeliefGlobalReduce(beliefNode: Node, nodes: Node[]) {
+  switch (beliefNode.type) {
+    case 'basic_belief':
+      return BasicBeliefReduce(beliefNode, nodes);
+    case 'inferred_belief':
+      return InferredBeliefReduce(beliefNode, nodes);
+  }
+}
+
+export const noMatchingLeftRightBelief : HandleRule = (connection, _)=> {
+  const { nodes } = useFlowStore.getState();
+  const thisNode = nodes.find(node => node.id === connection.target && node.type === 'inferred_belief');
+  if (!thisNode) return ruleResult.satisfied;
+
+  const iBelief = (thisNode.data as InferredBeliefNodeData).inferredBelief;
+  return (iBelief.left === connection.source || iBelief.right === connection.source)
+    ? ruleResult.notSatisfied("Connecting one belief to both input handles of an inferred belief node is not allowed")
+    : ruleResult.satisfied;
+}
+/**
+ * makes it impossible to connect Inferred belief nodes
+ * if the connection would create a cyclical connection between inferred beliefs
+ */
+export const noBeliefCycles: HandleRule = (connection, _): RuleResult => {
+  const {nodes, edges} = useFlowStore.getState();
+  const defaultErrorMessage = "Cyclical connection exists between inferred beliefs";
+
+  /**
+   * recursively checks for cyclical connections between InferredBelief nodes
+   *
+   * to check for a cycle provide the source of an attempted connection as the targetNode for the cycle check,
+   * the currentNodeId should be initialised with the id of the targetNode of the attempted connection.
+   *
+   * @param {string} targetNodeId - the id of the node we are looking for as the endpoint of a cyclical connection
+   * @param {string} currentNodeId - the id of the node we are checking for outgoing connections to the provided target node
+   * @returns {RuleResult}
+   */
+  function checkForCycle(targetNodeId: string, currentNodeId: string): RuleResult {
+    const outgoingBeliefs = getOutgoers({id: currentNodeId}, nodes, edges)
+      .filter(node => node.type === 'inferred_belief');
+
+    if (outgoingBeliefs.length === 0) return ruleResult.satisfied;
+    if (outgoingBeliefs.some(node => node.id === targetNodeId)) return ruleResult
+      .notSatisfied(defaultErrorMessage);
+
+    const next = outgoingBeliefs.map(node => checkForCycle(targetNodeId, node.id))
+      .find(result => !result.isSatisfied);
+
+    return next
+      ? next
+      : ruleResult.satisfied;
+  }
+
+  return connection.source === connection.target
+    ? ruleResult.notSatisfied(defaultErrorMessage)
+    : checkForCycle(connection.source, connection.target);
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/EndNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/EndNode.default.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import type { EndNodeData } from "./EndNode";

 /**
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/EndNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/EndNode.tsx
@@ -1,12 +1,18 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {
  type NodeProps,
  Position,
-  type Node,
+  type Node, useNodeConnections
 } from '@xyflow/react';
+import {useEffect} from "react";
+import type {EditorWarning} from "../components/EditorWarnings.tsx";
 import { Toolbar } from '../components/NodeComponents';
 import styles from '../../VisProg.module.css';
 import {SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
 import {allowOnlyConnectionsFromType} from "../HandleRules.ts";
+import useFlowStore from "../VisProgStores.tsx";



@@ -27,6 +33,27 @@ export type EndNode = Node<EndNodeData>
 * @returns React.JSX.Element
 */
 export default function EndNode(props: NodeProps<EndNode>) {
+  const {registerWarning, unregisterWarning} = useFlowStore.getState();
+  const connections = useNodeConnections({
+    id: props.id,
+    handleId: 'target'
+  })
+
+  useEffect(() => {
+    const noConnectionWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'target'
+      },
+      type: 'MISSING_INPUT',
+      severity: "ERROR",
+      description: "the endNode does not have an incoming connection from a phaseNode"
+    }
+
+    if (connections.length === 0) { registerWarning(noConnectionWarning); }
+    else { unregisterWarning(props.id, `${noConnectionWarning.type}:target`); }
+  }, [connections.length, props.id, registerWarning, unregisterWarning]);
+
  return (
    <>
      <Toolbar nodeId={props.id} allowDelete={false}/>
@@ -36,7 +63,7 @@ export default function EndNode(props: NodeProps<EndNode>) {
        </div>
        <SingleConnectionHandle type="target" position={Position.Left} id="target" rules={[
          allowOnlyConnectionsFromType(["phase"])
-        ]}/>
+        ]} title="Connect to a phaseNode"/>
      </div>
    </>
  );
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.default.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import type { GoalNodeData } from "./GoalNode";

 /**
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx
@@ -1,17 +1,24 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {
  type NodeProps,
  Position,
-  type Node,
+  type Node
 } from '@xyflow/react';
+import {useEffect} from "react";
+import type {EditorWarning} from "../components/EditorWarnings.tsx";
 import { Toolbar } from '../components/NodeComponents';
 import styles from '../../VisProg.module.css';
 import { TextField } from '../../../../components/TextField';
 import {MultiConnectionHandle} from "../components/RuleBasedHandle.tsx";
-import {allowOnlyConnectionsFromHandle} from "../HandleRules.ts";
+import {allowOnlyConnectionsFromHandle, allowOnlyConnectionsFromType} from "../HandleRules.ts";
 import useFlowStore from '../VisProgStores';
-import { DoesPlanIterate, PlanReduce, type Plan } from '../components/Plan';
-import PlanEditorDialog from '../components/PlanEditor';
+import {DoesPlanIterate, HasCheckingSubGoal, PlanReduce, type Plan } from '../components/PlanEditor/Plan.tsx';
+import PlanEditorDialog from '../components/PlanEditor/PlanEditor.tsx';
 import { MultilineTextField } from '../../../../components/MultilineTextField';
+import { defaultPlan } from '../components/PlanEditor/Plan.default.ts';
+import { deleteGoalInPlanByID, insertGoalInPlan } from '../components/PlanEditor/PlanEditingFunctions.tsx';

 /**
 * The default data dot a phase node
@@ -42,11 +49,13 @@ export type GoalNode = Node<GoalNodeData>
 * @returns React.JSX.Element
 */
 export default function GoalNode({id, data}: NodeProps<GoalNode>) {
-  const {updateNodeData} = useFlowStore();
+  const {updateNodeData, registerWarning, unregisterWarning} = useFlowStore();
+  const _nodes = useFlowStore().nodes;

  const text_input_id = `goal_${id}_text_input`;
  const checkbox_id = `goal_${id}_checkbox`;
-  const planIterate = DoesPlanIterate(data.plan);
+  const planIterate = DoesPlanIterate(_nodes, data.plan);
+  const hasCheckSubGoal = data.plan !== undefined && HasCheckingSubGoal(data.plan, _nodes)

  const setDescription = (value: string) => {
    updateNodeData(id, {...data, description: value});
@@ -60,6 +69,24 @@ export default function GoalNode({id, data}: NodeProps<GoalNode>) {
    updateNodeData(id, {...data, can_fail: value});
  }

+
+  useEffect(() => {
+    const noPlanWarning : EditorWarning = {
+      scope: {
+        id: id,
+        handleId: undefined
+      },
+      type: 'PLAN_IS_UNDEFINED',
+      severity: 'ERROR',
+      description: "This goalNode is missing a plan, please make sure to create a plan by using the create plan button"
+    };
+
+    if (!data.plan){
+      registerWarning(noPlanWarning);
+      return;
+    }
+    unregisterWarning(id, noPlanWarning.type);
+  },[data.plan, id, registerWarning, unregisterWarning])
  return <>
    <Toolbar nodeId={id} allowDelete={true}/>
    <div className={`${styles.defaultNode} ${styles.nodeGoal} flex-col gap-sm`}>
@@ -73,7 +100,7 @@ export default function GoalNode({id, data}: NodeProps<GoalNode>) {
        />
      </div>
      
-      {data.can_fail && (<div>
+      {(data.can_fail || hasCheckSubGoal) && (<div>
        <label htmlFor={text_input_id}>Description/ Condition of goal:</label>
        <div className={"flex-wrap"}>
          <MultilineTextField
@@ -93,8 +120,8 @@ export default function GoalNode({id, data}: NodeProps<GoalNode>) {
        <input
          id={checkbox_id}
          type={"checkbox"}
-          disabled={!planIterate}
-          checked={!planIterate || data.can_fail}
+          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>
@@ -114,7 +141,13 @@ export default function GoalNode({id, data}: NodeProps<GoalNode>) {
      </div>
      <MultiConnectionHandle type="source" position={Position.Right} id="GoalSource" rules={[
        allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"data"}]),
-      ]}/>
+      ]} title="Connect to any number of phase and/or goalNode(-s)"/>
+
+      <MultiConnectionHandle type="target" position={Position.Bottom} id="GoalTarget" rules={[
+        allowOnlyConnectionsFromType(["goal"])]
+      } title="Connect to any number of goalNode(-s)"/>
+
+
    </div>
  </>;
 }
@@ -131,8 +164,8 @@ export function GoalReduce(node: Node, _nodes: Node[]) {
      id: node.id,
      name: data.name,
      description: data.description,
-      can_fail: data.can_fail,  
-      plan: data.plan ? PlanReduce(data.plan) : "",
+      can_fail: data.can_fail || (data.plan && HasCheckingSubGoal(data.plan, _nodes)),  
+      plan: data.plan ? PlanReduce(_nodes, data.plan) : "",
    }
 }

@@ -147,7 +180,22 @@ export const GoalTooltip = `
 * @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)
+  }
 }

 /**
@@ -165,7 +213,9 @@ 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)
 }

 /**
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.default.ts
@@ -0,0 +1,19 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import type { InferredBeliefNodeData } from "./InferredBeliefNode.tsx";
+
+
+/**
+ * Default data for this node
+ */
+export const InferredBeliefNodeDefaults: InferredBeliefNodeData = {
+  label: "AND/OR",
+  droppable: true,
+  inferredBelief: {
+    left: undefined,
+    operator: true,
+    right: undefined
+  },
+  hasReduce: true,
+};
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.module.css
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.module.css
@@ -0,0 +1,85 @@
+/*
+This program has been developed by students from the bachelor Computer Science at Utrecht
+University within the Software Project course.
+© Copyright Utrecht University (Department of Information and Computing Sciences)
+*/
+.operator-switch {
+    display: inline-flex;
+    align-items: center;
+    gap: 0.5em;
+    cursor: pointer;
+    font-family: sans-serif;
+    /* Change this font-size to scale the whole component */
+    font-size: 12px;
+}
+
+/* hide the default checkbox */
+.operator-switch input {
+    display: none;
+}
+
+/* The Track */
+.switch-visual {
+    position: relative;
+    /* height is now 3x the font size */
+    height: 3em;
+    aspect-ratio: 1 / 2;
+    background-color: ButtonFace;
+    border-radius: 2em;
+    transition: 0.2s;
+}
+
+/* The Knob */
+.switch-visual::after {
+    content: "";
+    position: absolute;
+    top: 0.1em;
+    left: 0.1em;
+    width: 1em;
+    height: 1em;
+    background: Canvas;
+    border: 0.175em solid mediumpurple;
+    border-radius: 50%;
+    transition: transform 0.2s ease-in-out, border-color 0.2s;
+}
+
+/* Labels */
+.switch-labels {
+    display: flex;
+    flex-direction: column;
+    justify-content: space-between;
+    height: 3em; /* Matches the track height */
+    font-weight: 800;
+    color: Canvas;
+    line-height: 1.4;
+    padding: 0.2em 0;
+}
+
+.operator-switch input:checked + .switch-visual::after {
+    /* Moves the slider down */
+    transform: translateY(1.4em);
+}
+
+/*change the colours to highlight the selected operator*/
+.operator-switch input:checked ~ .switch-labels{
+    :first-child {
+        transition: ease-in-out color 0.2s;
+        color: ButtonFace;
+    }
+    :last-child {
+        transition: ease-in-out color 0.2s;
+        color: mediumpurple;
+    }
+}
+
+.operator-switch input:not(:checked) ~ .switch-labels{
+    :first-child {
+        transition: ease-in-out color 0.2s;
+        color: mediumpurple;
+    }
+    :last-child {
+        transition: ease-in-out color 0.2s;
+        color: ButtonFace;
+    }
+
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/InferredBeliefNode.tsx
@@ -0,0 +1,203 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+import {getConnectedEdges, type Node, type NodeProps, Position, useNodeConnections} from '@xyflow/react';
+import {useEffect, useState} from "react";
+import styles from '../../VisProg.module.css';
+import type {EditorWarning} from "../components/EditorWarnings.tsx";
+import {Toolbar} from '../components/NodeComponents.tsx';
+import {MultiConnectionHandle, SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {allowOnlyConnectionsFromType} from "../HandleRules.ts";
+import useFlowStore from "../VisProgStores.tsx";
+import {BeliefGlobalReduce, noBeliefCycles, noMatchingLeftRightBelief} from "./BeliefGlobals.ts";
+import switchStyles from './InferredBeliefNode.module.css';
+
+
+/**
+ * The default data structure for an InferredBelief node
+ */
+export type InferredBeliefNodeData = {
+  label: string;
+  droppable: boolean;
+  inferredBelief: InferredBelief;
+  hasReduce: boolean;
+};
+
+/**
+ * stores a boolean to represent the operator
+ * and a left and right BeliefNode (can be both an inferred and a basic belief)
+ * in the form of their corresponding id's
+ */
+export type InferredBelief = {
+  left: string | undefined,
+  operator: boolean,
+  right: string | undefined,
+}
+
+export type InferredBeliefNode = Node<InferredBeliefNodeData>;
+
+/**
+ * This function is called whenever a connection is made with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the received connection
+ */
+export function InferredBeliefConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  const data = _thisNode.data as InferredBeliefNodeData;
+
+  if ((useFlowStore.getState().nodes.find((node) => node.id === _sourceNodeId
+    && ['basic_belief', 'inferred_belief'].includes(node.type!)))
+  ) {
+    const connectedEdges = getConnectedEdges([_thisNode], useFlowStore.getState().edges);
+    switch(connectedEdges.find(edge => edge.source === _sourceNodeId)?.targetHandle){
+      case 'beliefLeft': data.inferredBelief.left = _sourceNodeId; break;
+      case 'beliefRight': data.inferredBelief.right = _sourceNodeId; break;
+    }
+  }
+}
+
+/**
+ * This function is called whenever a connection is made with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the created connection
+ */
+export function InferredBeliefConnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the target
+ * @param _thisNode the node of this node type which function is called
+ * @param _sourceNodeId the source of the disconnected connection
+ */
+export function InferredBeliefDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
+  const data = _thisNode.data as InferredBeliefNodeData;
+
+  if (_sourceNodeId === data.inferredBelief.left) data.inferredBelief.left = undefined;
+  if (_sourceNodeId === data.inferredBelief.right) data.inferredBelief.right = undefined;
+}
+
+/**
+ * This function is called whenever a connection is disconnected with this node type as the source
+ * @param _thisNode the node of this node type which function is called
+ * @param _targetNodeId the target of the diconnected connection
+ */
+export function InferredBeliefDisconnectionSource(_thisNode: Node, _targetNodeId: string) {
+  // no additional connection logic exists yet
+}
+
+export const InferredBeliefTooltip = `
+  Combines two beliefs into a single belief using logical inference, 
+  the node can be toggled between using "AND" and "OR" mode for inference`;
+/**
+ * Defines how an InferredBelief node should be rendered
+ * @param {NodeProps<InferredBeliefNode>} props - Node properties provided by React Flow, including `id` and `data`.
+ * @returns The rendered InferredBeliefNode React element. (React.JSX.Element)
+ */
+export default function InferredBeliefNode(props: NodeProps<InferredBeliefNode>) {
+  const data = props.data;
+  const { updateNodeData, registerWarning, unregisterWarning } = useFlowStore();
+  // start of as an AND operator, true: "AND", false: "OR"
+  const [enforceAllBeliefs, setEnforceAllBeliefs] = useState(true);
+
+  // used to toggle operator
+  function onToggle() {
+    const newOperator = !enforceAllBeliefs; // compute the new value
+    setEnforceAllBeliefs(newOperator);
+
+    updateNodeData(props.id, {
+      ...data,
+      inferredBelief: {
+        ...data.inferredBelief,
+        operator: enforceAllBeliefs,
+      }
+    });
+  }
+
+  const beliefConnections = useNodeConnections({
+    id: props.id,
+    handleType: "target",
+  })
+
+  useEffect(() => {
+    const noBeliefsWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: undefined
+      },
+      type: 'MISSING_INPUT',
+      severity: 'ERROR',
+      description: `This AND/OR node is missing one or more beliefs, 
+      please make sure to use both inputs of an AND/OR node`
+    };
+
+    if (beliefConnections.length < 2){
+      registerWarning(noBeliefsWarning);
+      return;
+    }
+    unregisterWarning(props.id, noBeliefsWarning.type);
+  },[beliefConnections.length, props.id, registerWarning, unregisterWarning])
+  return (
+    <>
+      <Toolbar nodeId={props.id} allowDelete={true}/>
+      <div className={`${styles.defaultNode} ${styles.nodeInferredBelief}`}>
+        {/* The checkbox used to toggle the operator between 'AND' and 'OR' */}
+        <label className={switchStyles.operatorSwitch}>
+          <input
+            type="checkbox"
+            checked={data.inferredBelief.operator}
+            onChange={onToggle}
+          />
+          <div className={switchStyles.switchVisual}></div>
+          <div className={switchStyles.switchLabels}>
+            <span title={"Belief is fulfilled if either of the supplied beliefs is true"}>OR</span>
+            <span title={"Belief is fulfilled if all of the supplied beliefs are true"}>AND</span>
+          </div>
+        </label>
+
+
+        {/* outgoing connections */}
+        <MultiConnectionHandle type="source" position={Position.Right} id="source" rules={[
+          allowOnlyConnectionsFromType(["norm", "trigger"]),
+          noBeliefCycles,
+          noMatchingLeftRightBelief
+        ]}/>
+
+        {/* incoming connections */}
+        <SingleConnectionHandle type="target" position={Position.Left} style={{top: '30%'}} id="beliefLeft" rules={[
+          allowOnlyConnectionsFromType(["basic_belief", "inferred_belief"]),
+          noBeliefCycles,
+          noMatchingLeftRightBelief
+        ]}/>
+        <SingleConnectionHandle type="target" position={Position.Left} style={{top: '70%'}} id="beliefRight" rules={[
+          allowOnlyConnectionsFromType(["basic_belief", "inferred_belief"]),
+          noBeliefCycles,
+          noMatchingLeftRightBelief
+        ]}/>
+      </div>
+    </>
+  );
+};
+
+/**
+ * Reduces each BasicBelief, including its children down into its core data.
+ * @param {Node} node - The BasicBelief node to reduce.
+ * @param {Node[]} nodes - The list of all nodes in the current flow graph.
+ * @returns A simplified object containing the node label and its list of BasicBeliefs.
+ */
+export function InferredBeliefReduce(node: Node, nodes: Node[]) {
+  const data = node.data as InferredBeliefNodeData;
+  const leftBelief = nodes.find((node) => node.id === data.inferredBelief.left);
+  const rightBelief = nodes.find((node) => node.id === data.inferredBelief.right);
+
+  if (!leftBelief) { throw new Error("No Left belief found")}
+  if (!rightBelief) { throw new Error("No Right Belief found")}
+
+  const result: Record<string, unknown> = {
+    id: node.id,
+    left: BeliefGlobalReduce(leftBelief, nodes),
+    operator: data.inferredBelief.operator ? "AND" : "OR",
+    right: BeliefGlobalReduce(rightBelief, nodes),
+  };
+
+  return result
+}
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.default.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import type { NormNodeData } from "./NormNode";

 /**
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {
  type NodeProps,
  Position,
@@ -9,7 +12,7 @@ import { TextField } from '../../../../components/TextField';
 import {MultiConnectionHandle, SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
 import {allowOnlyConnectionsFromHandle, allowOnlyConnectionsFromType} from "../HandleRules.ts";
 import useFlowStore from '../VisProgStores';
-import { BasicBeliefReduce } from './BasicBeliefNode';
+import {BeliefGlobalReduce} from "./BeliefGlobals.ts";

 /**
 * The default data dot a phase node
@@ -79,10 +82,10 @@ export default function NormNode(props: NodeProps<NormNode>) {

      <MultiConnectionHandle type="source" position={Position.Right} id="norms" rules={[
        allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"data"}])
-      ]}/>
-      <SingleConnectionHandle type="target" position={Position.Bottom} id="beliefs" rules={[
-        allowOnlyConnectionsFromType(["basic_belief"])
-      ]}/>
+      ]} title="Connect to any number of phaseNode(-s)"/>
+      <SingleConnectionHandle type="target" position={Position.Bottom} id="NormBeliefs" rules={[
+        allowOnlyConnectionsFromType(["basic_belief", "inferred_belief"])
+      ]} title="Connect to a beliefNode or a set of beliefs combined using the AND/OR node"/>
    </div>
  </>;
 };
@@ -105,11 +108,10 @@ export function NormReduce(node: Node, nodes: Node[]) {
  };

  if (data.condition) {
-    const reducer = BasicBeliefReduce; // TODO: also add inferred.
    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"] = reducer(conditionNode, nodes)
+    result["condition"] = BeliefGlobalReduce(conditionNode, nodes)
  }
  return result
 }
@@ -126,7 +128,7 @@ export const NormTooltip = `
 export function NormConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
  const data = _thisNode.data as NormNodeData;
  // If we got a belief connected, this is the condition for the norm.
-  if ((useFlowStore.getState().nodes.find((node) => node.id === _sourceNodeId && node.type === 'basic_belief' /* TODO: Add the option for an inferred belief */))) {
+  if ((useFlowStore.getState().nodes.find((node) => node.id === _sourceNodeId && ['basic_belief', 'inferred_belief'].includes(node.type!)))) {
      data.condition = _sourceNodeId;
    }
 }
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.default.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import type { PhaseNodeData } from "./PhaseNode";

 /**
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx
@@ -1,8 +1,13 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {
  type NodeProps,
  Position,
-  type Node
+  type Node, useNodeConnections
 } from '@xyflow/react';
+import {useEffect, useRef} from "react";
+import {type EditorWarning} from "../components/EditorWarnings.tsx";
 import { Toolbar } from '../components/NodeComponents';
 import styles from '../../VisProg.module.css';
 import {SingleConnectionHandle, MultiConnectionHandle} from "../components/RuleBasedHandle.tsx";
@@ -37,10 +42,107 @@ export type PhaseNode = Node<PhaseNodeData>
 */
 export default function PhaseNode(props: NodeProps<PhaseNode>) {
  const data = props.data;
-  const {updateNodeData} = useFlowStore();
+  const {updateNodeData, registerWarning, unregisterWarning} = useFlowStore();
  const updateLabel = (value: string) => updateNodeData(props.id, {...data, label: value});
  const label_input_id = `phase_${props.id}_label_input`;

+  const connections = useNodeConnections({
+    id: props.id,
+    handleType: "target",
+    handleId: 'data'
+  })
+  
+  const phaseOutCons = useNodeConnections({
+    id: props.id,
+    handleType: "source",
+    handleId: 'source',
+  })
+
+  const phaseInCons = useNodeConnections({
+    id: props.id,
+    handleType: "target",
+    handleId: 'target',
+  })
+
+
+
+  useEffect(() => {
+    const noConnectionWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'data'
+      },
+      type: 'MISSING_INPUT',
+      severity: "WARNING",
+      description: "the phaseNode has no incoming goals, norms, and/or triggers"
+    }
+
+    if (connections.length === 0) { registerWarning(noConnectionWarning); return; }
+    unregisterWarning(props.id, `${noConnectionWarning.type}:data`);
+  }, [connections.length, props.id, registerWarning, unregisterWarning]);
+
+  useEffect(() => {
+    const notConnectedInfo : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: undefined,
+      },
+      type: 'NOT_CONNECTED_TO_PROGRAM',
+      severity: "INFO",
+      description: "The PhaseNode is not connected to other nodes"
+    };
+    const noIncomingPhaseWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'target'
+      },
+      type: 'MISSING_INPUT',
+      severity: "WARNING",
+      description: "the phaseNode has no incoming connection from a phase or the startNode"
+    }
+    const noOutgoingPhaseWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'source'
+      },
+      type: 'MISSING_OUTPUT',
+      severity: "WARNING",
+      description: "the phaseNode has no outgoing connection to a phase or the endNode"
+    }
+
+    // register relevant warning and unregister others
+    if (phaseInCons.length === 0 && phaseOutCons.length === 0) {
+      registerWarning(notConnectedInfo);
+      unregisterWarning(props.id, `${noOutgoingPhaseWarning.type}:${noOutgoingPhaseWarning.scope.handleId}`);
+      unregisterWarning(props.id, `${noIncomingPhaseWarning.type}:${noIncomingPhaseWarning.scope.handleId}`);
+      return;
+    }
+    if (phaseOutCons.length === 0) {
+      registerWarning(noOutgoingPhaseWarning);
+      unregisterWarning(props.id, `${noIncomingPhaseWarning.type}:${noIncomingPhaseWarning.scope.handleId}`);
+      unregisterWarning(notConnectedInfo.scope.id, notConnectedInfo.type);
+      return;
+    }
+    if (phaseInCons.length === 0) {
+      registerWarning(noIncomingPhaseWarning);
+      unregisterWarning(props.id, `${noOutgoingPhaseWarning.type}:${noOutgoingPhaseWarning.scope.handleId}`);
+      unregisterWarning(notConnectedInfo.scope.id, notConnectedInfo.type);
+      return;
+    }
+    // unregister all warnings if none should be present
+    unregisterWarning(notConnectedInfo.scope.id, notConnectedInfo.type);
+    unregisterWarning(props.id, `${noOutgoingPhaseWarning.type}:${noOutgoingPhaseWarning.scope.handleId}`);
+    unregisterWarning(props.id, `${noIncomingPhaseWarning.type}:${noIncomingPhaseWarning.scope.handleId}`);
+  }, [phaseInCons.length, phaseOutCons.length, props.id, registerWarning, unregisterWarning]);
+  const ref = useRef<HTMLDivElement>(null);
+
+  useEffect(() => {
+    if (ref.current) {
+      const { width, height } = ref.current.getBoundingClientRect();
+
+      console.log('Node width:', width, 'height:', height);
+    }
+  }, []);
  return (
    <>
      <Toolbar nodeId={props.id} allowDelete={true}/>
@@ -57,14 +159,14 @@ export default function PhaseNode(props: NodeProps<PhaseNode>) {
        <SingleConnectionHandle type="target" position={Position.Left} id="target" rules={[
          noSelfConnections,
          allowOnlyConnectionsFromType(["phase", "start"]),
-        ]}/>
+        ]} title="Connect to a phase or the startNode"/>
        <MultiConnectionHandle type="target" position={Position.Bottom} id="data" rules={[
          allowOnlyConnectionsFromType(["norm", "goal", "trigger"])
-        ]}/>
+        ]} title="Connect to any number of norm, goal, and TriggerNode(-s)"/>
        <SingleConnectionHandle type="source" position={Position.Right} id="source" rules={[
          noSelfConnections,
          allowOnlyConnectionsFromType(["phase", "end"]),
-        ]}/>
+        ]} title="Connect to a phase or the endNode"/>
      </div>
    </>
  );
@@ -108,7 +210,10 @@ 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))
+            }
        }
    });

--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/StartNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/StartNode.default.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import type { StartNodeData } from "./StartNode";

 /**
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/StartNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/StartNode.tsx
@@ -1,12 +1,18 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {
  type NodeProps,
  Position,
-  type Node,
+  type Node, useNodeConnections
 } from '@xyflow/react';
+import {useEffect} from "react";
 import { Toolbar } from '../components/NodeComponents';
 import styles from '../../VisProg.module.css';
 import {SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
+import {type EditorWarning} from "../components/EditorWarnings.tsx";
 import {allowOnlyConnectionsFromHandle} from "../HandleRules.ts";
+import useFlowStore from "../VisProgStores.tsx";


 export type StartNodeData = {
@@ -25,6 +31,27 @@ export type StartNode = Node<StartNodeData>
 * @returns React.JSX.Element
 */
 export default function StartNode(props: NodeProps<StartNode>) {
+  const {registerWarning, unregisterWarning} = useFlowStore.getState();
+  const connections = useNodeConnections({
+    id: props.id,
+    handleId: 'source'
+  })
+
+  useEffect(() => {
+    const noConnectionWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'source'
+      },
+      type: 'MISSING_OUTPUT',
+      severity: "ERROR",
+      description: "the startNode does not have an outgoing connection to a phaseNode"
+    }
+
+    if (connections.length === 0) { registerWarning(noConnectionWarning); }
+    else { unregisterWarning(props.id, `${noConnectionWarning.type}:source`); }
+  }, [connections.length, props.id, registerWarning, unregisterWarning]);
+
  return (
    <>
      <Toolbar nodeId={props.id} allowDelete={false}/>
@@ -34,7 +61,7 @@ export default function StartNode(props: NodeProps<StartNode>) {
        </div>
        <SingleConnectionHandle type="source" position={Position.Right} id="source" rules={[
          allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"target"}])
-        ]}/>
+        ]} title="Connect to a phaseNode"/>
      </div>
    </>
  );
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.default.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import type { TriggerNodeData } from "./TriggerNode";

 /**
@@ -5,6 +8,7 @@ import type { TriggerNodeData } from "./TriggerNode";
 */
 export const TriggerNodeDefaults: TriggerNodeData = {
  label: "Trigger Node",
+  name: "",
  droppable: true,
  hasReduce: true,
 };
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.tsx
@@ -1,18 +1,25 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {
  type NodeProps,
  Position,
-  type Connection,
-  type Edge,
-  type Node,
+  type Node, useNodeConnections
 } from '@xyflow/react';
+import {useEffect} from "react";
+import type {EditorWarning} from "../components/EditorWarnings.tsx";
 import { Toolbar } from '../components/NodeComponents';
 import styles from '../../VisProg.module.css';
 import {MultiConnectionHandle, SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
 import {allowOnlyConnectionsFromHandle, allowOnlyConnectionsFromType} from "../HandleRules.ts";
 import useFlowStore from '../VisProgStores';
-import { PlanReduce, type Plan } from '../components/Plan';
-import PlanEditorDialog from '../components/PlanEditor';  
-import { BasicBeliefReduce } from './BasicBeliefNode';
+import {PlanReduce, type Plan } from '../components/PlanEditor/Plan.tsx';
+import PlanEditorDialog from '../components/PlanEditor/PlanEditor.tsx';
+import {BeliefGlobalReduce} from "./BeliefGlobals.ts";
+import type { GoalNode } from './GoalNode.tsx';
+import { defaultPlan } from '../components/PlanEditor/Plan.default.ts';
+import { deleteGoalInPlanByID, insertGoalInPlan } from '../components/PlanEditor/PlanEditingFunctions.tsx';
+import { TextField } from '../../../../components/TextField.tsx';

 /**
 * The default data structure for a Trigger node
@@ -26,6 +33,7 @@ import { BasicBeliefReduce } from './BasicBeliefNode';
 */
 export type TriggerNodeData = {
  label: string;
+  name: string;
  droppable: boolean;
  condition?: string; // id of the belief
  plan?: Plan;
@@ -35,18 +43,6 @@ export type TriggerNodeData = {

 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`.
@@ -54,21 +50,113 @@ export function TriggerNodeCanConnect(connection: Connection | Edge): boolean {
 */
 export default function TriggerNode(props: NodeProps<TriggerNode>) {
  const data = props.data;
-  const {updateNodeData} = useFlowStore();
-  
+  const {updateNodeData, registerWarning, unregisterWarning} = useFlowStore();
+
+  const setName= (value: string) => {
+    updateNodeData(props.id, {...data, name: value})
+  }
+
+  const beliefInput = useNodeConnections({
+    id: props.id,
+    handleType: "target",
+    handleId: "TriggerBeliefs"
+  })
+
+  const outputCons = useNodeConnections({
+    id: props.id,
+    handleType: "source",
+    handleId: "TriggerSource"
+  })
+
+  useEffect(() => {
+    const noPhaseConnectionWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'TriggerSource'
+      },
+      type: 'MISSING_OUTPUT',
+      severity: 'INFO',
+      description: "This triggerNode is missing a condition/belief, please make sure to connect a belief node to "
+    };
+
+    if (outputCons.length === 0){
+      registerWarning(noPhaseConnectionWarning);
+      return;
+    }
+    unregisterWarning(props.id, `${noPhaseConnectionWarning.type}:${noPhaseConnectionWarning.scope.handleId}`);
+  },[outputCons.length, props.id, registerWarning, unregisterWarning])
+
+  useEffect(() => {
+    const noBeliefWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: 'TriggerBeliefs'
+      },
+      type: 'MISSING_INPUT',
+      severity: 'ERROR',
+      description: "This triggerNode is missing a condition/belief, please make sure to connect a belief node to "
+    };
+
+    if (beliefInput.length === 0 && outputCons.length !== 0){
+      registerWarning(noBeliefWarning);
+      return;
+    }
+    unregisterWarning(props.id, `${noBeliefWarning.type}:${noBeliefWarning.scope.handleId}`);
+  },[beliefInput.length, outputCons.length, props.id, registerWarning, unregisterWarning])
+
+  useEffect(() => {
+    const noPlanWarning : EditorWarning = {
+      scope: {
+        id: props.id,
+        handleId: undefined
+      },
+      type: 'PLAN_IS_UNDEFINED',
+      severity: 'ERROR',
+      description: "This triggerNode is missing a plan, please make sure to create a plan by using the create plan button"
+    };
+
+    if (!data.plan && outputCons.length !== 0){
+      registerWarning(noPlanWarning);
+      return;
+    }
+    unregisterWarning(props.id, noPlanWarning.type);
+  },[data.plan, outputCons.length, props.id, registerWarning, unregisterWarning])
  return <>
+
    <Toolbar nodeId={props.id} allowDelete={true}/>
    <div className={`${styles.defaultNode} ${styles.nodeTrigger} flex-col gap-sm`}>
+      <TextField
+                value={props.data.name}
+                setValue={(val) => setName(val)}
+                placeholder={"Name of this trigger..."}
+      />
      <div className={"flex-row gap-md"}>Triggers when the condition is met.</div>
      <div className={"flex-row gap-md"}>Condition/ Belief is currently {data.condition ? "" : "not"} set. {data.condition ? "🟢" : "🔴"}</div>
      <div className={"flex-row gap-md"}>Plan{data.plan ? (": " + data.plan.name) : ""} is currently {data.plan ? "" : "not"} set. {data.plan ? "🟢" : "🔴"}</div>
      <MultiConnectionHandle type="source" position={Position.Right} id="TriggerSource" rules={[
        allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"data"}]),
-      ]}/>
-      <SingleConnectionHandle type="target" position={Position.Bottom} id="beliefs" rules={[
-              allowOnlyConnectionsFromType(["basic_belief"])
-      ]}/>
+      ]} title="Connect to any number of phaseNodes"/>
+      <SingleConnectionHandle
+        type="target"
+        position={Position.Bottom}
+        id="TriggerBeliefs"
+        style={{ left: '40%' }}
+        rules={[
+          allowOnlyConnectionsFromType(['basic_belief','inferred_belief']),
+        ]}
+        title="Connect to a beliefNode or a set of beliefs combined using the AND/OR node"
+      />
      
+      <MultiConnectionHandle
+        type="target"
+        position={Position.Bottom}
+        id="GoalTarget"
+        style={{ left: '60%' }}
+        rules={[
+          allowOnlyConnectionsFromType(['goal']),
+        ]}
+        title="Connect to any number of goalNodes"
+      />

      <PlanEditorDialog
          plan={data.plan}
@@ -86,17 +174,18 @@ 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 as TriggerNodeData;
  const conditionNode = data.condition ? nodes.find((n)=>n.id===data.condition) : undefined
-  const conditionData = conditionNode ? BasicBeliefReduce(conditionNode, nodes) : ""
+  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(data.plan), // Make sure we have a plan when reducing, or default to ""
+    plan: !data.plan ? "" : PlanReduce(nodes, data.plan), // Make sure we have a plan when reducing, or default to ""
  }
  
 }
@@ -115,9 +204,25 @@ 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.
-  if ((useFlowStore.getState().nodes.find((node) => node.id === _sourceNodeId && node.type === 'basic_belief' /* TODO: Add the option for an inferred belief */))) {
+  const nodes = useFlowStore.getState().nodes;
+  const otherNode = nodes.find((x) => x.id === _sourceNodeId)
+  if (!otherNode) return;
+
+  if (['basic_belief', 'inferred_belief'].includes(otherNode.type!)) {
      data.condition = _sourceNodeId;
+  }
+
+  else if (otherNode.type === 'goal') {
+      // First, let's see if we have a plan currently. If not, let's create a default plan with this goal inside.:)
+    if (!data.plan) {
+      data.plan = insertGoalInPlan({...structuredClone(defaultPlan), id: crypto.randomUUID()} as Plan, otherNode as GoalNode)
    }
+
+    // Else, lets just insert this goal into our current plan.
+    else {
+      data.plan = insertGoalInPlan(structuredClone(data.plan), otherNode as GoalNode)
+    }
+  }
 }

 /**
@@ -139,6 +244,8 @@ export function TriggerDisconnectionTarget(_thisNode: Node, _sourceNodeId: strin
  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)
 }

 /**
--- a/src/utils/SaveLoad.ts
+++ b/src/utils/SaveLoad.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {type Edge, type Node } from "@xyflow/react";

 export type SavedProject = {
--- a/src/utils/capitalize.ts
+++ b/src/utils/capitalize.ts
@@ -0,0 +1,3 @@
+export default function (s: string) {
+    return s.charAt(0).toUpperCase() + s.slice(1);
+}
--- a/src/utils/cellStore.ts
+++ b/src/utils/cellStore.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {useSyncExternalStore} from "react";

 type Unsub = () => void;
--- a/src/utils/delayedResolve.ts
+++ b/src/utils/delayedResolve.ts
@@ -0,0 +1,7 @@
+export default async function <T>(promise: Promise<T>, minDelayMs: number): Promise<T> {
+  const [result] = await Promise.all([
+    promise,
+    new Promise(resolve => setTimeout(resolve, minDelayMs))
+  ]);
+  return result;
+}
--- a/src/utils/duplicateIndices.ts
+++ b/src/utils/duplicateIndices.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 /**
 * Find the indices of all elements that occur more than once.
 *
--- a/src/utils/formatDuration.ts
+++ b/src/utils/formatDuration.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 /**
 * Format a time duration like `HH:MM:SS.mmm`.
 *
--- a/src/utils/orderPhaseNodes.ts
+++ b/src/utils/orderPhaseNodes.ts
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import type {PhaseNode} from "../pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx";

 /**
--- a/src/utils/priorityFiltering.ts
+++ b/src/utils/priorityFiltering.ts
@@ -1,10 +1,13 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 export type PriorityFilterPredicate<T> = {
  priority: number;
  predicate: (element: T) => boolean | null; // The predicate and its priority are ignored if it returns null.
 }

 /**
- * Applies a list of priority predicates to an element. For all predicates that don't return null, if the ones with the highest level return true, then this function returns true.
+ * Applies a list of priority predicates to an element. For all predicates that don't return null, if the ones with the highest level return true, then this function returns true. Or conversely, if the one with the highest level returns false, then this function returns false.
 * @param element The element to apply the predicates to.
 * @param predicates The list of predicates to apply.
 */
--- a/src/utils/programStore.ts
+++ b/src/utils/programStore.ts
@@ -1,8 +1,13 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 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
 */
@@ -15,8 +20,10 @@ export type ProgramState = {
  // 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:
 }
@@ -43,6 +50,10 @@ const useProgramStore = create<ProgramState>((set, get) => ({
   * 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
   */
@@ -65,6 +76,50 @@ const useProgramStore = create<ProgramState>((set, get) => ({
    }
    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
   */
--- a/test/components.test.tsx
+++ b/test/components.test.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import userEvent from '@testing-library/user-event';
 import { render, screen} from '@testing-library/react';
 import Counter from '../src/components/components';
--- a/test/components/Logging/Filters.test.tsx
+++ b/test/components/Logging/Filters.test.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {render, screen, waitFor, fireEvent} from "@testing-library/react";
 import userEvent from "@testing-library/user-event";
 import * as React from "react";
--- a/test/components/Logging/Logging.test.tsx
+++ b/test/components/Logging/Logging.test.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import {render, screen, fireEvent, act, waitFor} from "@testing-library/react";
 import userEvent from "@testing-library/user-event";
 import "@testing-library/jest-dom";
@@ -11,8 +14,6 @@ const loggingStoreRef: { current: null | { setState: (state: Partial<LoggingSett
 type LoggingSettingsState = {
  showRelativeTime: boolean;
  setShowRelativeTime: (show: boolean) => void;
-  scrollToBottom: boolean;
-  setScrollToBottom: (scroll: boolean) => void;
 };

 jest.mock("zustand", () => {
@@ -59,8 +60,8 @@ type LoggingComponent = typeof import("../../../src/components/Logging/Logging.t
 let Logging: LoggingComponent;

 beforeAll(async () => {
-  if (!Element.prototype.scrollIntoView) {
-    Object.defineProperty(Element.prototype, "scrollIntoView", {
+  if (!Element.prototype.scrollTo) {
+    Object.defineProperty(Element.prototype, "scrollTo", {
      configurable: true,
      writable: true,
      value: function () {},
@@ -84,7 +85,6 @@ afterEach(() => {
 function resetLoggingStore() {
  loggingStoreRef.current?.setState({
    showRelativeTime: false,
-    scrollToBottom: true,
  });
 }

@@ -151,7 +151,7 @@ describe("Logging component", () => {
    ];
    mockUseLogs.mockReturnValue({filteredLogs: logs, distinctNames: new Set()});

-    const scrollSpy = jest.spyOn(Element.prototype, "scrollIntoView").mockImplementation(() => {});
+    const scrollSpy = jest.spyOn(Element.prototype, "scrollTo").mockImplementation(() => {});
    const user = userEvent.setup();
    const view = render(<Logging/>);

@@ -175,7 +175,7 @@ describe("Logging component", () => {
    const logCell = makeCell({message: "Initial", firstRelativeCreated: 42});
    mockUseLogs.mockReturnValue({filteredLogs: [logCell], distinctNames: new Set()});

-    const scrollSpy = jest.spyOn(Element.prototype, "scrollIntoView").mockImplementation(() => {});
+    const scrollSpy = jest.spyOn(Element.prototype, "scrollTo").mockImplementation(() => {});
    render(<Logging/>);

    await waitFor(() => {
@@ -209,7 +209,7 @@ describe("Logging component", () => {

    const initialMap = firstProps.filterPredicates;
    expect(initialMap).toBeInstanceOf(Map);
-    expect(initialMap.size).toBe(0);
+    expect(initialMap.size).toBe(1);  // Initially, only filter out experiment logs
    expect(mockUseLogs).toHaveBeenCalledWith(initialMap);

    const updatedPredicate: LogFilterPredicate = {
--- a/test/components/Logging/useLogs.test.tsx
+++ b/test/components/Logging/useLogs.test.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { render, screen, act } from "@testing-library/react";
 import "@testing-library/jest-dom";
 import {type LogRecord, useLogs} from "../../../src/components/Logging/useLogs.ts";
--- a/test/eslint.config.js.ts
+++ b/test/eslint.config.js.ts
@@ -0,0 +1,3 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
--- a/test/pages/connectedRobots/ConnectedRobots.test.tsx
+++ b/test/pages/connectedRobots/ConnectedRobots.test.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { render, screen, act, cleanup, waitFor } from '@testing-library/react';
 import ConnectedRobots from '../../../src/pages/ConnectedRobots/ConnectedRobots';

--- a/test/pages/monitoringPage/MonitoringPage.test.tsx
+++ b/test/pages/monitoringPage/MonitoringPage.test.tsx
@@ -0,0 +1,302 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+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(),
+  runProgram: 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.runProgram).toHaveBeenCalled();
+    });
+    
+    test('Reset Experiment handles errors gracefully', async () => {
+        const consoleSpy = jest.spyOn(console, 'error').mockImplementation(() => {});
+        (VisProg.runProgram 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('✔️');
+    });
+  });
+});
+
--- a/test/pages/monitoringPage/MonitoringPageAPI.test.ts
+++ b/test/pages/monitoringPage/MonitoringPageAPI.test.ts
@@ -0,0 +1,223 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+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));
+    });
+  });
+});
--- a/test/pages/monitoringPage/MonitoringPageComponents.test.tsx
+++ b/test/pages/monitoringPage/MonitoringPageComponents.test.tsx
@@ -0,0 +1,229 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
+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();
+    });
+  });
+});
--- a/test/pages/robot/Robot.test.tsx
+++ b/test/pages/robot/Robot.test.tsx
@@ -1,3 +1,6 @@
+// This program has been developed by students from the bachelor Computer Science at Utrecht
+// University within the Software Project course.
+// © Copyright Utrecht University (Department of Information and Computing Sciences)
 import { render, screen, act, cleanup, fireEvent } from '@testing-library/react';
 import Robot from '../../../src/pages/Robot/Robot';

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Björn Otgaar	26894cc2d2	Merge branch 'dev' into chore/clean-visprog-code	2026-01-28 12:27:27 +01:00
Björn Otgaar	dcf4f01e68	chore: replace plan editor functionality into own folder with own files.	2026-01-28 12:26:57 +01:00
Gerla, J. (Justin)	c84088dd9d	Merge branch 'chore/editing-css-strings' into 'dev' chore: updated css comments See merge request ics/sp/2025/n25b/pepperplus-ui!51	2026-01-28 11:19:16 +00:00
JGerla	dfe793e04a	chore: updated css comments	2026-01-28 12:07:33 +01:00
Björn Otgaar	1876138fe2	Merge branch 'dev' into chore/clean-visprog-code	2026-01-28 11:36:21 +01:00
Björn Otgaar	5930e24bf4	chore: intitial commit, starting seperating concerns for plan editor.	2026-01-28 11:35:34 +01:00
Gerla, J. (Justin)	9e06bf079b	Merge branch 'chore/adding-uu-strings' into 'dev' chore: added copyright strings and removed template page See merge request ics/sp/2025/n25b/pepperplus-ui!50	2026-01-28 10:34:36 +00:00
Gerla, J. (Justin)	eb5a6cddd7	chore: added copyright strings and removed template page	2026-01-28 10:34:36 +00:00
Björn Otgaar	60f7bad5d1	Merge branch 'feat/experiment-logs' into 'dev' Add experiment logs to the monitoring page See merge request ics/sp/2025/n25b/pepperplus-ui!48	2026-01-28 10:15:59 +00:00
Twirre	835de03a29	Add experiment logs to the monitoring page	2026-01-28 10:15:58 +00:00
Pim Hutting	78901ee25b	Merge branch 'temp_screenshot_manual' into 'dev' feat: The Big One UI See merge request ics/sp/2025/n25b/pepperplus-ui!47	2026-01-28 08:27:30 +00:00
Gerla, J. (Justin)	82785dc8cb	feat: The Big One UI	2026-01-28 08:27:30 +00:00
Twirre	f9e0eb95f8	Merge branch 'feat/add-inferred-belief-node' into 'dev' feat: added an inferred belief node to the editor See merge request ics/sp/2025/n25b/pepperplus-ui!42	2026-01-23 12:57:35 +00:00
Gerla, J. (Justin)	47c5e94b8f	feat: added an inferred belief node to the editor	2026-01-23 12:57:34 +00:00
Pim Hutting	b17d1e7618	Merge branch 'fix/correct-capitalization' into 'dev' chore: fix the capitalization of 3 characters to make sure they match. :) See merge request ics/sp/2025/n25b/pepperplus-ui!46	2026-01-23 10:42:36 +00:00
Björn Otgaar	ec211ccbc3	chore: fix the capitalization of 3 characters to make sure they match. :)	2026-01-23 11:25:30 +01:00
Gerla, J. (Justin)	6f4471ce6f	Merge branch 'demo' into 'dev' feat: merged demo into dev See merge request ics/sp/2025/n25b/pepperplus-ui!43	2026-01-20 11:10:58 +00:00
Pim Hutting	8c28dd6c1c	Merge branch 'feat/recursive-goal-making' into 'demo' Adding goal nodes automatically adds them to the plan, and correctly reduces them See merge request ics/sp/2025/n25b/pepperplus-ui!40	2026-01-19 14:00:04 +00:00
Björn Otgaar	e1257bdf48	Merge branch 'demo' into feat/recursive-goal-making	2026-01-13 12:33:27 +01:00
Björn Otgaar	8ffc919e7e	fix: added a missing test, corrected the imports, added behavior for disconnected goals as last step ref: N25B-434	2026-01-10 11:26:26 +01:00
Björn Otgaar	a5a345b9a9	test: add tests for goal and triggers	2026-01-08 14:38:37 +01:00
Björn Otgaar	96afba2a1d	chore: add name field to trigger nodes	2026-01-08 14:09:44 +01:00
Björn Otgaar	c7ed3c8ef2	feat: added correct showing of goals with the description and can_fail ref: N25B-434	2026-01-08 12:31:46 +01:00
Björn Otgaar	e6f29a0f6b	chore: fix the eslint issues	2026-01-08 11:33:10 +01:00
Björn Otgaar	a4428c0d67	feat: automatic addition of goals to a current goal node, adding it to the plan, making sure the data stays correct. Also for the trigger nodes. :) ref: N25B-434	2026-01-07 17:55:54 +01:00
Björn Otgaar	e805c882fe	Merge branch 'refactor/nodes-match-functionality' into feat/recursive-goal-making	2026-01-07 15:51:14 +01:00
Björn Otgaar	ad8111d6c2	chore: initial branch commit	2026-01-07 15:44:56 +01:00