diff --git a/pages/docs/sorting-parsing.md b/pages/docs/sorting-parsing.md
index 2d1e0da6649d2472aaaf11c6b58394f33a5b52b7..8af980aa8c5cdb2cd5433752826535bed9198260 100644
--- a/pages/docs/sorting-parsing.md
+++ b/pages/docs/sorting-parsing.md
@@ -2,34 +2,34 @@
 
 | Action                   | World                                                                          | Motion Grammar                                                       |
 |--------------------------|--------------------------------------------------------------------------------|----------------------------------------------------------------------|
-|                          | ![](diagrams/parsing/tidy/Context-World-000-initial.png)                       |                                                                      |
-| ObjectAtWrongPlace       | ![](diagrams/parsing/tidy/Context-World-001-parseObjectAtWrongPlace.png)       | ![](diagrams/parsing/tidy/)                                          |
-| RobotIsFree              | ![](diagrams/parsing/tidy/Context-World-002-parseRobotIsFree.png)              | ![](diagrams/parsing/tidy/AST-001-parseObjectAtWrongPlace.png)       |
-| RobotIsReallyReadyToPick | ![](diagrams/parsing/tidy/Context-World-003-parseRobotIsReallyReadyToPick.png) | ![](diagrams/parsing/tidy/AST-002-parseRobotIsFree.png)              |
-| PickUpObject             | ![](diagrams/parsing/tidy/Context-World-004-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-003-parseRobotIsReallyReadyToPick.png) |
-| Pick                     | ![](diagrams/parsing/tidy/Context-World-005-parsePick.png)                     | ![](diagrams/parsing/tidy/AST-004-parsePickUpObject.png)             |
-| PickUpObject             | ![](diagrams/parsing/tidy/Context-World-006-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-005-parsePick.png)                     |
-| RightPlace               | ![](diagrams/parsing/tidy/Context-World-007-parseRightPlace.png)               | ![](diagrams/parsing/tidy/AST-006-parsePickUpObject.png)             |
-| Drop                     | ![](diagrams/parsing/tidy/Context-World-008-parseDrop.png)                     | ![](diagrams/parsing/tidy/AST-007-parseRightPlace.png)               |
-| DropObjectAtRightPlace   | ![](diagrams/parsing/tidy/Context-World-009-parseDropObjectAtRightPlace.png)   | ![](diagrams/parsing/tidy/AST-008-parseDrop.png)                     |
-| MoveObjectToCorrectPlace | ![](diagrams/parsing/tidy/Context-World-010-parseMoveObjectToCorrectPlace.png) | ![](diagrams/parsing/tidy/AST-009-parseDropObjectAtRightPlace.png)   |
-| ObjectAtWrongPlace       | ![](diagrams/parsing/tidy/Context-World-011-parseObjectAtWrongPlace.png)       | ![](diagrams/parsing/tidy/AST-010-parseMoveObjectToCorrectPlace.png) |
-| RobotIsBusy              | ![](diagrams/parsing/tidy/Context-World-012-parseRobotIsBusy.png)              | ![](diagrams/parsing/tidy/AST-011-parseObjectAtWrongPlace.png)       |
-| Wait                     | ![](diagrams/parsing/tidy/Context-World-013-parseWait.png)                     | ![](diagrams/parsing/tidy/AST-012-parseRobotIsBusy.png)              |
-| RobotIsFree              | ![](diagrams/parsing/tidy/Context-World-014-parseRobotIsFree.png)              | ![](diagrams/parsing/tidy/AST-013-parseWait.png)                     |
-| RobotIsReallyReadyToPick | ![](diagrams/parsing/tidy/Context-World-015-parseRobotIsReallyReadyToPick.png) | ![](diagrams/parsing/tidy/AST-014-parseRobotIsFree.png)              |
-| PickUpObject             | ![](diagrams/parsing/tidy/Context-World-016-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-015-parseRobotIsReallyReadyToPick.png) |
-| RobotIsNotReadyToPick    | ![](diagrams/parsing/tidy/Context-World-017-parseRobotIsNotReadyToPick.png)    | ![](diagrams/parsing/tidy/AST-016-parsePickUpObject.png)             |
-| PickUpObject             | ![](diagrams/parsing/tidy/Context-World-018-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-017-parseRobotIsNotReadyToPick.png)    |
-| Pick                     | ![](diagrams/parsing/tidy/Context-World-019-parsePick.png)                     | ![](diagrams/parsing/tidy/AST-018-parsePickUpObject.png)             |
-| PickUpObject             | ![](diagrams/parsing/tidy/Context-World-020-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-019-parsePick.png)                     |
-| RightPlace               | ![](diagrams/parsing/tidy/Context-World-021-parseRightPlace.png)               | ![](diagrams/parsing/tidy/AST-020-parsePickUpObject.png)             |
-| Drop                     | ![](diagrams/parsing/tidy/Context-World-022-parseDrop.png)                     | ![](diagrams/parsing/tidy/AST-021-parseRightPlace.png)               |
-| DropObjectAtRightPlace   | ![](diagrams/parsing/tidy/Context-World-023-parseDropObjectAtRightPlace.png)   | ![](diagrams/parsing/tidy/AST-022-parseDrop.png)                     |
-| MoveObjectToCorrectPlace | ![](diagrams/parsing/tidy/Context-World-024-parseMoveObjectToCorrectPlace.png) | ![](diagrams/parsing/tidy/AST-023-parseDropObjectAtRightPlace.png)   |
-| NotEmptyTable            | ![](diagrams/parsing/tidy/Context-World-025-parseNotEmptyTable.png)            | ![](diagrams/parsing/tidy/AST-024-parseMoveObjectToCorrectPlace.png) |
-| Wait                     | ![](diagrams/parsing/tidy/Context-World-026-parseWait.png)                     | ![](diagrams/parsing/tidy/AST-025-parseNotEmptyTable.png)            |
-| WaitForEmptyTable        | ![](diagrams/parsing/tidy/Context-World-027-parseWaitForEmptyTable.png)        | ![](diagrams/parsing/tidy/AST-026-parseWait.png)                     |
-| EmptyTable               | ![](diagrams/parsing/tidy/Context-World-028-parseEmptyTable.png)               | ![](diagrams/parsing/tidy/AST-027-parseWaitForEmptyTable.png)        |
-| Tidy                     | ![](diagrams/parsing/tidy/Context-World-029-parseTidy.png)                     | ![](diagrams/parsing/tidy/AST-028-parseEmptyTable.png)               |
-|                          | ![](diagrams/parsing/tidy/Context-World-030-complete.png)                      | ![](diagrams/parsing/tidy/AST-029-parseTidy.png)                     |
+|                          | ![](diagrams/parsing/tidy/Context-World-000-initial.png)                       |                                                                      |                                                                     |
+| ObjectAtWrongPlace       | ![](diagrams/parsing/tidy/Context-World-001-parseObjectAtWrongPlace.png)       | ![](diagrams/parsing/tidy/AST-001-parseObjectAtWrongPlace.png)       |
+| RobotIsFree              | ![](diagrams/parsing/tidy/Context-World-002-parseRobotIsFree.png)              | ![](diagrams/parsing/tidy/AST-002-parseRobotIsFree.png)              |
+| RobotIsReallyReadyToPick | ![](diagrams/parsing/tidy/Context-World-003-parseRobotIsReallyReadyToPick.png) | ![](diagrams/parsing/tidy/AST-003-parseRobotIsReallyReadyToPick.png) |
+| PickUpObject             | ![](diagrams/parsing/tidy/Context-World-004-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-004-parsePickUpObject.png)             |
+| Pick                     | ![](diagrams/parsing/tidy/Context-World-005-parsePick.png)                     | ![](diagrams/parsing/tidy/AST-005-parsePick.png)                     |
+| PickUpObject             | ![](diagrams/parsing/tidy/Context-World-006-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-006-parsePickUpObject.png)             |
+| RightPlace               | ![](diagrams/parsing/tidy/Context-World-007-parseRightPlace.png)               | ![](diagrams/parsing/tidy/AST-007-parseRightPlace.png)               |
+| Drop                     | ![](diagrams/parsing/tidy/Context-World-008-parseDrop.png)                     | ![](diagrams/parsing/tidy/AST-008-parseDrop.png)                     |
+| DropObjectAtRightPlace   | ![](diagrams/parsing/tidy/Context-World-009-parseDropObjectAtRightPlace.png)   | ![](diagrams/parsing/tidy/AST-009-parseDropObjectAtRightPlace.png)   |
+| MoveObjectToCorrectPlace | ![](diagrams/parsing/tidy/Context-World-010-parseMoveObjectToCorrectPlace.png) | ![](diagrams/parsing/tidy/AST-010-parseMoveObjectToCorrectPlace.png) |
+| ObjectAtWrongPlace       | ![](diagrams/parsing/tidy/Context-World-011-parseObjectAtWrongPlace.png)       | ![](diagrams/parsing/tidy/AST-011-parseObjectAtWrongPlace.png)       |
+| RobotIsBusy              | ![](diagrams/parsing/tidy/Context-World-012-parseRobotIsBusy.png)              | ![](diagrams/parsing/tidy/AST-012-parseRobotIsBusy.png)              |
+| Wait                     | ![](diagrams/parsing/tidy/Context-World-013-parseWait.png)                     | ![](diagrams/parsing/tidy/AST-013-parseWait.png)                     |
+| RobotIsFree              | ![](diagrams/parsing/tidy/Context-World-014-parseRobotIsFree.png)              | ![](diagrams/parsing/tidy/AST-014-parseRobotIsFree.png)              |
+| RobotIsReallyReadyToPick | ![](diagrams/parsing/tidy/Context-World-015-parseRobotIsReallyReadyToPick.png) | ![](diagrams/parsing/tidy/AST-015-parseRobotIsReallyReadyToPick.png) |
+| PickUpObject             | ![](diagrams/parsing/tidy/Context-World-016-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-016-parsePickUpObject.png)             |
+| RobotIsNotReadyToPick    | ![](diagrams/parsing/tidy/Context-World-017-parseRobotIsNotReadyToPick.png)    | ![](diagrams/parsing/tidy/AST-017-parseRobotIsNotReadyToPick.png)    |
+| PickUpObject             | ![](diagrams/parsing/tidy/Context-World-018-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-018-parsePickUpObject.png)             |
+| Pick                     | ![](diagrams/parsing/tidy/Context-World-019-parsePick.png)                     | ![](diagrams/parsing/tidy/AST-019-parsePick.png)                     |
+| PickUpObject             | ![](diagrams/parsing/tidy/Context-World-020-parsePickUpObject.png)             | ![](diagrams/parsing/tidy/AST-020-parsePickUpObject.png)             |
+| RightPlace               | ![](diagrams/parsing/tidy/Context-World-021-parseRightPlace.png)               | ![](diagrams/parsing/tidy/AST-021-parseRightPlace.png)               |
+| Drop                     | ![](diagrams/parsing/tidy/Context-World-022-parseDrop.png)                     | ![](diagrams/parsing/tidy/AST-022-parseDrop.png)                     |
+| DropObjectAtRightPlace   | ![](diagrams/parsing/tidy/Context-World-023-parseDropObjectAtRightPlace.png)   | ![](diagrams/parsing/tidy/AST-023-parseDropObjectAtRightPlace.png)   |
+| MoveObjectToCorrectPlace | ![](diagrams/parsing/tidy/Context-World-024-parseMoveObjectToCorrectPlace.png) | ![](diagrams/parsing/tidy/AST-024-parseMoveObjectToCorrectPlace.png) |
+| NotEmptyTable            | ![](diagrams/parsing/tidy/Context-World-025-parseNotEmptyTable.png)            | ![](diagrams/parsing/tidy/AST-025-parseNotEmptyTable.png)            |
+| Wait                     | ![](diagrams/parsing/tidy/Context-World-026-parseWait.png)                     | ![](diagrams/parsing/tidy/AST-026-parseWait.png)                     |
+| WaitForEmptyTable        | ![](diagrams/parsing/tidy/Context-World-027-parseWaitForEmptyTable.png)        | ![](diagrams/parsing/tidy/AST-027-parseWaitForEmptyTable.png)        |
+| EmptyTable               | ![](diagrams/parsing/tidy/Context-World-028-parseEmptyTable.png)               | ![](diagrams/parsing/tidy/AST-028-parseEmptyTable.png)               |
+| Tidy                     | ![](diagrams/parsing/tidy/Context-World-029-parseTidy.png)                     | ![](diagrams/parsing/tidy/AST-029-parseTidy.png)                     |
+|                          | ![](diagrams/parsing/tidy/Context-World-030-complete.png)                      | ![](diagrams/parsing/tidy/AST-039-complete.png)                      |