diff --git a/pages/docs/acsos-parsing.md b/pages/docs/acsos-parsing.md
index e9dfe8fcb047e93ac57c352fad68d9ecac708d3e..5ac43fe1297051e4ee57597ec63509a84a9be7ad 100644
--- a/pages/docs/acsos-parsing.md
+++ b/pages/docs/acsos-parsing.md
@@ -1,247 +1,247 @@
-# Parsing the Robot Sorting World
+# Parsing the Robot Sorting World (ACSOS Demo Paper Version)
 
 | Action                     | Context Update  | Timestamp    | Parse Tree                                                                             |
 |----------------------------|-----------------|--------------|----------------------------------------------------------------------------------------|
-|                            |                 | 17.43.35.056 | ![](sorting/Context-RobotWorld-2022.07.18.17.43.35.056-RobotWorld.setTable()-DONE.svg) |
-|                            |                 | 17.43.35.270 | ![](sorting/AST-000-2022.07.18.17.43.35.270-initial.svg)                               |
-| EmptyTable                 |                 | 17.43.39.588 | ![](sorting/AST-001-2022.07.18.17.43.39.588-parseEmptyTable.svg)                       |
-| Wait                       |                 | 17.43.47.871 | ![](sorting/AST-002-2022.07.18.17.43.47.871-parseWait.svg)                             |
-| WaitForFullTable           |                 | 17.43.48.060 | ![](sorting/AST-003-2022.07.18.17.43.48.060-parseWaitForFullTable.svg)                 |
-| EmptyTable                 |                 | 17.43.48.272 | ![](sorting/AST-004-2022.07.18.17.43.48.272-parseEmptyTable.svg)                       |
-| Wait                       |                 | 17.43.56.518 | ![](sorting/AST-005-2022.07.18.17.43.56.518-parseWait.svg)                             |
-| WaitForFullTable           |                 | 17.43.56.718 | ![](sorting/AST-006-2022.07.18.17.43.56.718-parseWaitForFullTable.svg)                 |
-| EmptyTable                 |                 | 17.43.56.889 | ![](sorting/AST-007-2022.07.18.17.43.56.889-parseEmptyTable.svg)                       |
-|                            | object added    | 17.43.59.407 | ![](sorting/Context-RobotWorld-2022.07.18.17.43.59.407-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.44.05.105 | ![](sorting/AST-008-2022.07.18.17.44.05.105-parseWait.svg)                             |
-| WaitForFullTable           |                 | 17.44.05.370 | ![](sorting/AST-009-2022.07.18.17.44.05.370-parseWaitForFullTable.svg)                 |
-| ObjectAtWrongPlace         |                 | 17.44.05.769 | ![](sorting/AST-010-2022.07.18.17.44.05.769-parseObjectAtWrongPlace.svg)               |
-| RobotIsReadyToPickToken    |                 | 17.44.06.152 | ![](sorting/AST-011-2022.07.18.17.44.06.152-parseRobotIsReadyToPickToken.svg)          |
-| RobotIsReallyReadyToPick   |                 | 17.44.06.526 | ![](sorting/AST-012-2022.07.18.17.44.06.526-parseRobotIsReallyReadyToPick.svg)         |
-| RobotIsReadyToPick         |                 | 17.44.06.859 | ![](sorting/AST-013-2022.07.18.17.44.06.859-parseRobotIsReadyToPick.svg)               |
-| PickUpObject               |                 | 17.44.07.284 | ![](sorting/AST-014-2022.07.18.17.44.07.284-parsePickUpObject.svg)                     |
-|                            | object attached | 17.44.07.337 | ![](sorting/Context-RobotWorld-2022.07.18.17.44.07.337-RobotWorld.setTable()-DONE.svg) |
-| RobotIsNotReadyToDropToken |                 | 17.44.07.807 | ![](sorting/AST-015-2022.07.18.17.44.07.807-parseRobotIsNotReadyToDropToken.svg)       |
-| Wait                       |                 | 17.44.16.137 | ![](sorting/AST-016-2022.07.18.17.44.16.137-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.44.16.336 | ![](sorting/AST-017-2022.07.18.17.44.16.336-parseRobotIsNotReadyToDropToken.svg)       |
-|                            | object added    | 17.44.22.245 | ![](sorting/Context-RobotWorld-2022.07.18.17.44.22.245-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.44.24.593 | ![](sorting/AST-018-2022.07.18.17.44.24.593-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.44.24.996 | ![](sorting/AST-019-2022.07.18.17.44.24.996-parseRobotIsNotReadyToDropToken.svg)       |
-|                            | robot idle      | 17.44.25.162 | ![](sorting/Context-RobotWorld-2022.07.18.17.44.25.162-RobotWorld.setTable()-DONE.svg) |
-|                            | object added    | 17.44.30.153 | ![](sorting/Context-RobotWorld-2022.07.18.17.44.30.153-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.44.33.736 | ![](sorting/AST-020-2022.07.18.17.44.33.736-parseWait.svg)                             |
-| RobotIsReadyToDropToken    |                 | 17.44.34.344 | ![](sorting/AST-021-2022.07.18.17.44.34.344-parseRobotIsReadyToDropToken.svg)          |
-| RobotIsReallyReadyToDrop   |                 | 17.44.34.795 | ![](sorting/AST-022-2022.07.18.17.44.34.795-parseRobotIsReallyReadyToDrop.svg)         |
-| RobotIsReadyToDrop         |                 | 17.44.35.148 | ![](sorting/AST-023-2022.07.18.17.44.35.148-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.44.35.616 | ![](sorting/AST-024-2022.07.18.17.44.35.616-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.44.36.052 | ![](sorting/AST-025-2022.07.18.17.44.36.052-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.44.36.493 | ![](sorting/AST-026-2022.07.18.17.44.36.493-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.44.36.798 | ![](sorting/AST-027-2022.07.18.17.44.36.798-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.44.37.173 | ![](sorting/AST-028-2022.07.18.17.44.37.173-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.44.37.512 | ![](sorting/AST-029-2022.07.18.17.44.37.512-parseRobotIsReadyToDrop.svg)               |
-| RightPlace                 |                 | 17.44.37.872 | ![](sorting/AST-030-2022.07.18.17.44.37.872-parseRightPlace.svg)                       |
-| DropObjectAtRightPlace     |                 | 17.44.38.308 | ![](sorting/AST-031-2022.07.18.17.44.38.308-parseDropObjectAtRightPlace.svg)           |
-| MoveObjectToCorrectPlace   |                 | 17.44.38.799 | ![](sorting/AST-032-2022.07.18.17.44.38.799-parseMoveObjectToCorrectPlace.svg)         |
-| ObjectAtWrongPlace         |                 | 17.44.39.211 | ![](sorting/AST-033-2022.07.18.17.44.39.211-parseObjectAtWrongPlace.svg)               |
-| RobotIsNotReadyToPickToken |                 | 17.44.39.524 | ![](sorting/AST-034-2022.07.18.17.44.39.524-parseRobotIsNotReadyToPickToken.svg)       |
-| Wait                       |                 | 17.44.47.970 | ![](sorting/AST-035-2022.07.18.17.44.47.970-parseWait.svg)                             |
-| RobotIsNotReadyToPickToken |                 | 17.44.48.142 | ![](sorting/AST-036-2022.07.18.17.44.48.142-parseRobotIsNotReadyToPickToken.svg)       |
-|                            | object gone     | 17.44.54.865 | ![](sorting/Context-RobotWorld-2022.07.18.17.44.54.865-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.44.56.356 | ![](sorting/AST-037-2022.07.18.17.44.56.356-parseWait.svg)                             |
-| RobotIsReadyToPickToken    |                 | 17.44.56.572 | ![](sorting/AST-038-2022.07.18.17.44.56.572-parseRobotIsReadyToPickToken.svg)          |
-| RobotIsReallyReadyToPick   |                 | 17.44.56.825 | ![](sorting/AST-039-2022.07.18.17.44.56.825-parseRobotIsReallyReadyToPick.svg)         |
-| RobotIsReadyToPick         |                 | 17.44.57.094 | ![](sorting/AST-040-2022.07.18.17.44.57.094-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.44.57.328 | ![](sorting/AST-041-2022.07.18.17.44.57.328-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.44.57.607 | ![](sorting/AST-042-2022.07.18.17.44.57.607-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.44.57.896 | ![](sorting/AST-043-2022.07.18.17.44.57.896-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.44.58.169 | ![](sorting/AST-044-2022.07.18.17.44.58.169-parseRobotIsReadyToPick.svg)               |
-| PickUpObject               |                 | 17.44.58.456 | ![](sorting/AST-045-2022.07.18.17.44.58.456-parsePickUpObject.svg)                     |
-|                            | object attached | 17.44.58.520 | ![](sorting/Context-RobotWorld-2022.07.18.17.44.58.520-RobotWorld.setTable()-DONE.svg) |
-| RobotIsNotReadyToDropToken |                 | 17.44.58.783 | ![](sorting/AST-046-2022.07.18.17.44.58.783-parseRobotIsNotReadyToDropToken.svg)       |
-| Wait                       |                 | 17.45.07.121 | ![](sorting/AST-047-2022.07.18.17.45.07.121-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.45.07.305 | ![](sorting/AST-048-2022.07.18.17.45.07.305-parseRobotIsNotReadyToDropToken.svg)       |
-|                            | object added    | 17.45.13.036 | ![](sorting/Context-RobotWorld-2022.07.18.17.45.13.036-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.45.15.564 | ![](sorting/AST-049-2022.07.18.17.45.15.564-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.45.15.800 | ![](sorting/AST-050-2022.07.18.17.45.15.800-parseRobotIsNotReadyToDropToken.svg)       |
-|                            | robot is idle   | 17.45.19.256 | ![](sorting/Context-RobotWorld-2022.07.18.17.45.19.256-RobotWorld.setTable()-DONE.svg) |
-|                            | object added    | 17.45.21.852 | ![](sorting/Context-RobotWorld-2022.07.18.17.45.21.852-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.45.24.125 | ![](sorting/AST-051-2022.07.18.17.45.24.125-parseWait.svg)                             |
-| RobotIsReadyToDropToken    |                 | 17.45.24.328 | ![](sorting/AST-052-2022.07.18.17.45.24.328-parseRobotIsReadyToDropToken.svg)          |
-| RobotIsReallyReadyToDrop   |                 | 17.45.24.535 | ![](sorting/AST-053-2022.07.18.17.45.24.535-parseRobotIsReallyReadyToDrop.svg)         |
-| RobotIsReadyToDrop         |                 | 17.45.24.828 | ![](sorting/AST-054-2022.07.18.17.45.24.828-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.45.25.133 | ![](sorting/AST-055-2022.07.18.17.45.25.133-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.45.25.385 | ![](sorting/AST-056-2022.07.18.17.45.25.385-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.45.25.689 | ![](sorting/AST-057-2022.07.18.17.45.25.689-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.45.25.998 | ![](sorting/AST-058-2022.07.18.17.45.25.998-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.45.26.299 | ![](sorting/AST-059-2022.07.18.17.45.26.299-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.45.26.574 | ![](sorting/AST-060-2022.07.18.17.45.26.574-parseRobotIsReadyToDrop.svg)               |
-| RightPlace                 |                 | 17.45.26.864 | ![](sorting/AST-061-2022.07.18.17.45.26.864-parseRightPlace.svg)                       |
-| DropObjectAtRightPlace     |                 | 17.45.27.156 | ![](sorting/AST-062-2022.07.18.17.45.27.156-parseDropObjectAtRightPlace.svg)           |
-| MoveObjectToCorrectPlace   |                 | 17.45.27.617 | ![](sorting/AST-063-2022.07.18.17.45.27.617-parseMoveObjectToCorrectPlace.svg)         |
-| ObjectAtWrongPlace         |                 | 17.45.27.991 | ![](sorting/AST-064-2022.07.18.17.45.27.991-parseObjectAtWrongPlace.svg)               |
-| RobotIsNotReadyToPickToken |                 | 17.45.28.330 | ![](sorting/AST-065-2022.07.18.17.45.28.330-parseRobotIsNotReadyToPickToken.svg)       |
-| Wait                       |                 | 17.45.36.597 | ![](sorting/AST-066-2022.07.18.17.45.36.597-parseWait.svg)                             |
-| RobotIsNotReadyToPickToken |                 | 17.45.37.022 | ![](sorting/AST-067-2022.07.18.17.45.37.022-parseRobotIsNotReadyToPickToken.svg)       |
-|                            | object added    | 17.45.43.100 | ![](sorting/Context-RobotWorld-2022.07.18.17.45.43.100-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.45.45.385 | ![](sorting/AST-068-2022.07.18.17.45.45.385-parseWait.svg)                             |
-| RobotIsNotReadyToPickToken |                 | 17.45.45.808 | ![](sorting/AST-069-2022.07.18.17.45.45.808-parseRobotIsNotReadyToPickToken.svg)       |
-|                            | object gone     | 17.45.47.121 | ![](sorting/Context-RobotWorld-2022.07.18.17.45.47.121-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.45.54.253 | ![](sorting/AST-070-2022.07.18.17.45.54.253-parseWait.svg)                             |
-| RobotIsReadyToPickToken    |                 | 17.45.54.524 | ![](sorting/AST-071-2022.07.18.17.45.54.524-parseRobotIsReadyToPickToken.svg)          |
-| RobotIsReallyReadyToPick   |                 | 17.45.54.815 | ![](sorting/AST-072-2022.07.18.17.45.54.815-parseRobotIsReallyReadyToPick.svg)         |
-| RobotIsReadyToPick         |                 | 17.45.55.141 | ![](sorting/AST-073-2022.07.18.17.45.55.141-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.45.55.508 | ![](sorting/AST-074-2022.07.18.17.45.55.508-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.45.55.795 | ![](sorting/AST-075-2022.07.18.17.45.55.795-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.45.56.159 | ![](sorting/AST-076-2022.07.18.17.45.56.159-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.45.56.569 | ![](sorting/AST-077-2022.07.18.17.45.56.569-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.45.56.870 | ![](sorting/AST-078-2022.07.18.17.45.56.870-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.45.57.191 | ![](sorting/AST-079-2022.07.18.17.45.57.191-parseRobotIsReadyToPick.svg)               |
-| PickUpObject               |                 | 17.45.57.480 | ![](sorting/AST-080-2022.07.18.17.45.57.480-parsePickUpObject.svg)                     |
-|                            | object attached | 17.45.57.532 | ![](sorting/Context-RobotWorld-2022.07.18.17.45.57.532-RobotWorld.setTable()-DONE.svg) |
-| RobotIsNotReadyToDropToken |                 | 17.45.57.813 | ![](sorting/AST-081-2022.07.18.17.45.57.813-parseRobotIsNotReadyToDropToken.svg)       |
-| Wait                       |                 | 17.46.06.099 | ![](sorting/AST-082-2022.07.18.17.46.06.099-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.46.06.350 | ![](sorting/AST-083-2022.07.18.17.46.06.350-parseRobotIsNotReadyToDropToken.svg)       |
-| Wait                       |                 | 17.46.14.753 | ![](sorting/AST-084-2022.07.18.17.46.14.753-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.46.15.104 | ![](sorting/AST-085-2022.07.18.17.46.15.104-parseRobotIsNotReadyToDropToken.svg)       |
-|                            | robot is idle   | 17.46.20.101 | ![](sorting/Context-RobotWorld-2022.07.18.17.46.20.101-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.46.23.512 | ![](sorting/AST-086-2022.07.18.17.46.23.512-parseWait.svg)                             |
-| RobotIsReadyToDropToken    |                 | 17.46.23.794 | ![](sorting/AST-087-2022.07.18.17.46.23.794-parseRobotIsReadyToDropToken.svg)          |
-| RobotIsReallyReadyToDrop   |                 | 17.46.24.101 | ![](sorting/AST-088-2022.07.18.17.46.24.101-parseRobotIsReallyReadyToDrop.svg)         |
-| RobotIsReadyToDrop         |                 | 17.46.24.486 | ![](sorting/AST-089-2022.07.18.17.46.24.486-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.46.24.794 | ![](sorting/AST-090-2022.07.18.17.46.24.794-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.46.25.117 | ![](sorting/AST-091-2022.07.18.17.46.25.117-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.46.25.461 | ![](sorting/AST-092-2022.07.18.17.46.25.461-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.46.25.965 | ![](sorting/AST-093-2022.07.18.17.46.25.965-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.46.26.445 | ![](sorting/AST-094-2022.07.18.17.46.26.445-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.46.26.875 | ![](sorting/AST-095-2022.07.18.17.46.26.875-parseRobotIsReadyToDrop.svg)               |
-| RightPlace                 |                 | 17.46.27.270 | ![](sorting/AST-096-2022.07.18.17.46.27.270-parseRightPlace.svg)                       |
-| DropObjectAtRightPlace     |                 | 17.46.27.571 | ![](sorting/AST-097-2022.07.18.17.46.27.571-parseDropObjectAtRightPlace.svg)           |
-| MoveObjectToCorrectPlace   |                 | 17.46.28.040 | ![](sorting/AST-098-2022.07.18.17.46.28.040-parseMoveObjectToCorrectPlace.svg)         |
-| ObjectAtWrongPlace         |                 | 17.46.28.378 | ![](sorting/AST-099-2022.07.18.17.46.28.378-parseObjectAtWrongPlace.svg)               |
-| RobotIsNotReadyToPickToken |                 | 17.46.28.783 | ![](sorting/AST-100-2022.07.18.17.46.28.783-parseRobotIsNotReadyToPickToken.svg)       |
-| Wait                       |                 | 17.46.37.214 | ![](sorting/AST-101-2022.07.18.17.46.37.214-parseWait.svg)                             |
-| RobotIsNotReadyToPickToken |                 | 17.46.37.839 | ![](sorting/AST-102-2022.07.18.17.46.37.839-parseRobotIsNotReadyToPickToken.svg)       |
-|                            | object added    | 17.46.40.928 | ![](sorting/Context-RobotWorld-2022.07.18.17.46.40.928-RobotWorld.setTable()-DONE.svg) |
-|                            | object gone     | 17.46.42.453 | ![](sorting/Context-RobotWorld-2022.07.18.17.46.42.453-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.46.46.415 | ![](sorting/AST-103-2022.07.18.17.46.46.415-parseWait.svg)                             |
-| RobotIsReadyToPickToken    |                 | 17.46.46.772 | ![](sorting/AST-104-2022.07.18.17.46.46.772-parseRobotIsReadyToPickToken.svg)          |
-| RobotIsReallyReadyToPick   |                 | 17.46.47.259 | ![](sorting/AST-105-2022.07.18.17.46.47.259-parseRobotIsReallyReadyToPick.svg)         |
-| RobotIsReadyToPick         |                 | 17.46.47.773 | ![](sorting/AST-106-2022.07.18.17.46.47.773-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.46.48.234 | ![](sorting/AST-107-2022.07.18.17.46.48.234-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.46.48.689 | ![](sorting/AST-108-2022.07.18.17.46.48.689-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.46.49.022 | ![](sorting/AST-109-2022.07.18.17.46.49.022-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.46.49.401 | ![](sorting/AST-110-2022.07.18.17.46.49.401-parseRobotIsReadyToPick.svg)               |
-| PickUpObject               |                 | 17.46.49.769 | ![](sorting/AST-111-2022.07.18.17.46.49.769-parsePickUpObject.svg)                     |
-|                            | object attached | 17.46.49.833 | ![](sorting/Context-RobotWorld-2022.07.18.17.46.49.833-RobotWorld.setTable()-DONE.svg) |
-| RobotIsNotReadyToDropToken |                 | 17.46.50.301 | ![](sorting/AST-112-2022.07.18.17.46.50.301-parseRobotIsNotReadyToDropToken.svg)       |
-| Wait                       |                 | 17.46.58.748 | ![](sorting/AST-113-2022.07.18.17.46.58.748-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.46.59.083 | ![](sorting/AST-114-2022.07.18.17.46.59.083-parseRobotIsNotReadyToDropToken.svg)       |
-| Wait                       |                 | 17.47.07.498 | ![](sorting/AST-115-2022.07.18.17.47.07.498-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.47.07.880 | ![](sorting/AST-116-2022.07.18.17.47.07.880-parseRobotIsNotReadyToDropToken.svg)       |
-|                            | robot idle      | 17.47.08.325 | ![](sorting/Context-RobotWorld-2022.07.18.17.47.08.325-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.47.16.397 | ![](sorting/AST-117-2022.07.18.17.47.16.397-parseWait.svg)                             |
-| RobotIsReadyToDropToken    |                 | 17.47.16.801 | ![](sorting/AST-118-2022.07.18.17.47.16.801-parseRobotIsReadyToDropToken.svg)          |
-| RobotIsReallyReadyToDrop   |                 | 17.47.17.359 | ![](sorting/AST-119-2022.07.18.17.47.17.359-parseRobotIsReallyReadyToDrop.svg)         |
-| RobotIsReadyToDrop         |                 | 17.47.17.845 | ![](sorting/AST-120-2022.07.18.17.47.17.845-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.47.18.346 | ![](sorting/AST-121-2022.07.18.17.47.18.346-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.47.18.751 | ![](sorting/AST-122-2022.07.18.17.47.18.751-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.47.19.190 | ![](sorting/AST-123-2022.07.18.17.47.19.190-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.47.19.584 | ![](sorting/AST-124-2022.07.18.17.47.19.584-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.47.20.046 | ![](sorting/AST-125-2022.07.18.17.47.20.046-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.47.20.492 | ![](sorting/AST-126-2022.07.18.17.47.20.492-parseRobotIsReadyToDrop.svg)               |
-| RightPlace                 |                 | 17.47.20.938 | ![](sorting/AST-127-2022.07.18.17.47.20.938-parseRightPlace.svg)                       |
-| DropObjectAtRightPlace     |                 | 17.47.21.359 | ![](sorting/AST-128-2022.07.18.17.47.21.359-parseDropObjectAtRightPlace.svg)           |
-| MoveObjectToCorrectPlace   |                 | 17.47.21.787 | ![](sorting/AST-129-2022.07.18.17.47.21.787-parseMoveObjectToCorrectPlace.svg)         |
-| ObjectAtWrongPlace         |                 | 17.47.22.194 | ![](sorting/AST-130-2022.07.18.17.47.22.194-parseObjectAtWrongPlace.svg)               |
-| RobotIsNotReadyToPickToken |                 | 17.47.22.574 | ![](sorting/AST-131-2022.07.18.17.47.22.574-parseRobotIsNotReadyToPickToken.svg)       |
-| Wait                       |                 | 17.47.31.018 | ![](sorting/AST-132-2022.07.18.17.47.31.018-parseWait.svg)                             |
-|                            | object gone     | 17.47.31.345 | ![](sorting/Context-RobotWorld-2022.07.18.17.47.31.345-RobotWorld.setTable()-DONE.svg) |
-| RobotIsReadyToPickToken    |                 | 17.47.31.661 | ![](sorting/AST-133-2022.07.18.17.47.31.661-parseRobotIsReadyToPickToken.svg)          |
-| RobotIsReallyReadyToPick   |                 | 17.47.32.242 | ![](sorting/AST-134-2022.07.18.17.47.32.242-parseRobotIsReallyReadyToPick.svg)         |
-| RobotIsReadyToPick         |                 | 17.47.32.687 | ![](sorting/AST-135-2022.07.18.17.47.32.687-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.47.33.236 | ![](sorting/AST-136-2022.07.18.17.47.33.236-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.47.33.791 | ![](sorting/AST-137-2022.07.18.17.47.33.791-parseRobotIsReadyToPick.svg)               |
-| PickUpObject               |                 | 17.47.34.349 | ![](sorting/AST-138-2022.07.18.17.47.34.349-parsePickUpObject.svg)                     |
-|                            | object attached | 17.47.34.407 | ![](sorting/Context-RobotWorld-2022.07.18.17.47.34.407-RobotWorld.setTable()-DONE.svg) |
-| RobotIsNotReadyToDropToken |                 | 17.47.35.136 | ![](sorting/AST-139-2022.07.18.17.47.35.136-parseRobotIsNotReadyToDropToken.svg)       |
-| Wait                       |                 | 17.47.44.054 | ![](sorting/AST-140-2022.07.18.17.47.44.054-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.47.44.477 | ![](sorting/AST-141-2022.07.18.17.47.44.477-parseRobotIsNotReadyToDropToken.svg)       |
-|                            | robot idle      | 17.47.52.294 | ![](sorting/Context-RobotWorld-2022.07.18.17.47.52.294-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.47.52.949 | ![](sorting/AST-142-2022.07.18.17.47.52.949-parseWait.svg)                             |
-| RobotIsReadyToDropToken    |                 | 17.47.53.482 | ![](sorting/AST-143-2022.07.18.17.47.53.482-parseRobotIsReadyToDropToken.svg)          |
-| RobotIsReallyReadyToDrop   |                 | 17.47.53.970 | ![](sorting/AST-144-2022.07.18.17.47.53.970-parseRobotIsReallyReadyToDrop.svg)         |
-| RobotIsReadyToDrop         |                 | 17.47.54.457 | ![](sorting/AST-145-2022.07.18.17.47.54.457-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.47.54.904 | ![](sorting/AST-146-2022.07.18.17.47.54.904-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.47.55.363 | ![](sorting/AST-147-2022.07.18.17.47.55.363-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.47.55.801 | ![](sorting/AST-148-2022.07.18.17.47.55.801-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.47.56.296 | ![](sorting/AST-149-2022.07.18.17.47.56.296-parseRobotIsReadyToDrop.svg)               |
-| RightPlace                 |                 | 17.47.56.817 | ![](sorting/AST-150-2022.07.18.17.47.56.817-parseRightPlace.svg)                       |
-| DropObjectAtRightPlace     |                 | 17.47.57.276 | ![](sorting/AST-151-2022.07.18.17.47.57.276-parseDropObjectAtRightPlace.svg)           |
-| MoveObjectToCorrectPlace   |                 | 17.47.57.822 | ![](sorting/AST-152-2022.07.18.17.47.57.822-parseMoveObjectToCorrectPlace.svg)         |
-| ObjectAtWrongPlace         |                 | 17.47.58.320 | ![](sorting/AST-153-2022.07.18.17.47.58.320-parseObjectAtWrongPlace.svg)               |
-| RobotIsNotReadyToPickToken |                 | 17.47.58.833 | ![](sorting/AST-154-2022.07.18.17.47.58.833-parseRobotIsNotReadyToPickToken.svg)       |
-| Wait                       |                 | 17.48.07.320 | ![](sorting/AST-155-2022.07.18.17.48.07.320-parseWait.svg)                             |
-| RobotIsNotReadyToPickToken |                 | 17.48.07.777 | ![](sorting/AST-156-2022.07.18.17.48.07.777-parseRobotIsNotReadyToPickToken.svg)       |
-|                            | object gone     | 17.48.09.459 | ![](sorting/Context-RobotWorld-2022.07.18.17.48.09.459-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.48.16.287 | ![](sorting/AST-157-2022.07.18.17.48.16.287-parseWait.svg)                             |
-| RobotIsReadyToPickToken    |                 | 17.48.16.787 | ![](sorting/AST-158-2022.07.18.17.48.16.787-parseRobotIsReadyToPickToken.svg)          |
-| RobotIsReallyReadyToPick   |                 | 17.48.17.286 | ![](sorting/AST-159-2022.07.18.17.48.17.286-parseRobotIsReallyReadyToPick.svg)         |
-| RobotIsReadyToPick         |                 | 17.48.17.803 | ![](sorting/AST-160-2022.07.18.17.48.17.803-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.48.18.309 | ![](sorting/AST-161-2022.07.18.17.48.18.309-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.48.18.793 | ![](sorting/AST-162-2022.07.18.17.48.18.793-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.48.19.284 | ![](sorting/AST-163-2022.07.18.17.48.19.284-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.48.19.763 | ![](sorting/AST-164-2022.07.18.17.48.19.763-parseRobotIsReadyToPick.svg)               |
-| PickUpObject               |                 | 17.48.20.323 | ![](sorting/AST-165-2022.07.18.17.48.20.323-parsePickUpObject.svg)                     |
-|                            | object attached | 17.48.20.392 | ![](sorting/Context-RobotWorld-2022.07.18.17.48.20.392-RobotWorld.setTable()-DONE.svg) |
-| RobotIsNotReadyToDropToken |                 | 17.48.20.954 | ![](sorting/AST-166-2022.07.18.17.48.20.954-parseRobotIsNotReadyToDropToken.svg)       |
-| Wait                       |                 | 17.48.29.505 | ![](sorting/AST-167-2022.07.18.17.48.29.505-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.48.29.956 | ![](sorting/AST-168-2022.07.18.17.48.29.956-parseRobotIsNotReadyToDropToken.svg)       |
-|                            | robot idle      | 17.48.35.692 | ![](sorting/Context-RobotWorld-2022.07.18.17.48.35.692-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.48.38.432 | ![](sorting/AST-169-2022.07.18.17.48.38.432-parseWait.svg)                             |
-| RobotIsReadyToDropToken    |                 | 17.48.38.984 | ![](sorting/AST-170-2022.07.18.17.48.38.984-parseRobotIsReadyToDropToken.svg)          |
-| RobotIsReallyReadyToDrop   |                 | 17.48.39.487 | ![](sorting/AST-171-2022.07.18.17.48.39.487-parseRobotIsReallyReadyToDrop.svg)         |
-| RobotIsReadyToDrop         |                 | 17.48.39.995 | ![](sorting/AST-172-2022.07.18.17.48.39.995-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.48.40.646 | ![](sorting/AST-173-2022.07.18.17.48.40.646-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.48.41.455 | ![](sorting/AST-174-2022.07.18.17.48.41.455-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.48.42.167 | ![](sorting/AST-175-2022.07.18.17.48.42.167-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.48.43.036 | ![](sorting/AST-176-2022.07.18.17.48.43.036-parseRobotIsReadyToDrop.svg)               |
-| RightPlace                 |                 | 17.48.43.694 | ![](sorting/AST-177-2022.07.18.17.48.43.694-parseRightPlace.svg)                       |
-| DropObjectAtRightPlace     |                 | 17.48.44.270 | ![](sorting/AST-178-2022.07.18.17.48.44.270-parseDropObjectAtRightPlace.svg)           |
-| MoveObjectToCorrectPlace   |                 | 17.48.45.067 | ![](sorting/AST-179-2022.07.18.17.48.45.067-parseMoveObjectToCorrectPlace.svg)         |
-| ObjectAtWrongPlace         |                 | 17.48.45.805 | ![](sorting/AST-180-2022.07.18.17.48.45.805-parseObjectAtWrongPlace.svg)               |
-| RobotIsNotReadyToPickToken |                 | 17.48.46.580 | ![](sorting/AST-181-2022.07.18.17.48.46.580-parseRobotIsNotReadyToPickToken.svg)       |
-|                            | object gone     | 17.48.55.068 | ![](sorting/Context-RobotWorld-2022.07.18.17.48.55.068-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.48.55.311 | ![](sorting/AST-182-2022.07.18.17.48.55.311-parseWait.svg)                             |
-| RobotIsReadyToPickToken    |                 | 17.48.55.877 | ![](sorting/AST-183-2022.07.18.17.48.55.877-parseRobotIsReadyToPickToken.svg)          |
-| RobotIsReallyReadyToPick   |                 | 17.48.56.584 | ![](sorting/AST-184-2022.07.18.17.48.56.584-parseRobotIsReallyReadyToPick.svg)         |
-| RobotIsReadyToPick         |                 | 17.48.57.159 | ![](sorting/AST-185-2022.07.18.17.48.57.159-parseRobotIsReadyToPick.svg)               |
-| RobotIsNotReadyToPick      |                 | 17.48.57.767 | ![](sorting/AST-186-2022.07.18.17.48.57.767-parseRobotIsNotReadyToPick.svg)            |
-| RobotIsReadyToPick         |                 | 17.48.58.318 | ![](sorting/AST-187-2022.07.18.17.48.58.318-parseRobotIsReadyToPick.svg)               |
-| PickUpObject               |                 | 17.48.58.854 | ![](sorting/AST-188-2022.07.18.17.48.58.854-parsePickUpObject.svg)                     |
-|                            | object attached | 17.48.58.861 | ![](sorting/Context-RobotWorld-2022.07.18.17.48.58.861-RobotWorld.setTable()-DONE.svg) |
-| RobotIsNotReadyToDropToken |                 | 17.48.59.568 | ![](sorting/AST-189-2022.07.18.17.48.59.568-parseRobotIsNotReadyToDropToken.svg)       |
-| Wait                       |                 | 17.49.08.199 | ![](sorting/AST-190-2022.07.18.17.49.08.199-parseWait.svg)                             |
-| RobotIsNotReadyToDropToken |                 | 17.49.08.763 | ![](sorting/AST-191-2022.07.18.17.49.08.763-parseRobotIsNotReadyToDropToken.svg)       |
-|                            | robot idle      | 17.49.12.098 | ![](sorting/Context-RobotWorld-2022.07.18.17.49.12.098-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.49.17.390 | ![](sorting/AST-192-2022.07.18.17.49.17.390-parseWait.svg)                             |
-| RobotIsReadyToDropToken    |                 | 17.49.17.940 | ![](sorting/AST-193-2022.07.18.17.49.17.940-parseRobotIsReadyToDropToken.svg)          |
-| RobotIsReallyReadyToDrop   |                 | 17.49.18.601 | ![](sorting/AST-194-2022.07.18.17.49.18.601-parseRobotIsReallyReadyToDrop.svg)         |
-| RobotIsReadyToDrop         |                 | 17.49.19.185 | ![](sorting/AST-195-2022.07.18.17.49.19.185-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.49.19.787 | ![](sorting/AST-196-2022.07.18.17.49.19.787-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.49.20.367 | ![](sorting/AST-197-2022.07.18.17.49.20.367-parseRobotIsReadyToDrop.svg)               |
-| RobotIsNotReadyToDrop      |                 | 17.49.20.988 | ![](sorting/AST-198-2022.07.18.17.49.20.988-parseRobotIsNotReadyToDrop.svg)            |
-| RobotIsReadyToDrop         |                 | 17.49.21.715 | ![](sorting/AST-199-2022.07.18.17.49.21.715-parseRobotIsReadyToDrop.svg)               |
-| RightPlace                 |                 | 17.49.22.301 | ![](sorting/AST-200-2022.07.18.17.49.22.301-parseRightPlace.svg)                       |
-| DropObjectAtRightPlace     |                 | 17.49.22.924 | ![](sorting/AST-201-2022.07.18.17.49.22.924-parseDropObjectAtRightPlace.svg)           |
-| MoveObjectToCorrectPlace   |                 | 17.49.23.638 | ![](sorting/AST-202-2022.07.18.17.49.23.638-parseMoveObjectToCorrectPlace.svg)         |
-| NotEmptyTable              |                 | 17.49.24.549 | ![](sorting/AST-203-2022.07.18.17.49.24.549-parseNotEmptyTable.svg)                    |
-| Wait                       |                 | 17.49.33.854 | ![](sorting/AST-204-2022.07.18.17.49.33.854-parseWait.svg)                             |
-| WaitForEmptyTable          |                 | 17.49.34.525 | ![](sorting/AST-205-2022.07.18.17.49.34.525-parseWaitForEmptyTable.svg)                |
-| NotEmptyTable              |                 | 17.49.35.242 | ![](sorting/AST-206-2022.07.18.17.49.35.242-parseNotEmptyTable.svg)                    |
-|                            | object gone     | 17.49.37.572 | ![](sorting/Context-RobotWorld-2022.07.18.17.49.37.572-RobotWorld.setTable()-DONE.svg) |
-| Wait                       |                 | 17.49.43.910 | ![](sorting/AST-207-2022.07.18.17.49.43.910-parseWait.svg)                             |
-| WaitForEmptyTable          |                 | 17.49.44.712 | ![](sorting/AST-208-2022.07.18.17.49.44.712-parseWaitForEmptyTable.svg)                |
-| EmptyTable                 |                 | 17.49.45.507 | ![](sorting/AST-209-2022.07.18.17.49.45.507-parseEmptyTable.svg)                       |
-| Tidy                       |                 | 17.49.46.201 | ![](sorting/AST-210-2022.07.18.17.49.46.201-parseTidy.svg)                             |
-|                            | robot busy      | 17.49.46.244 | ![](sorting/Context-RobotWorld-2022.07.18.17.49.46.244-RobotWorld.setTable()-DONE.svg) |
-|                            |                 | 17.49.46.867 | ![](sorting/AST-211-2022.07.18.17.49.46.867-complete.svg)                              |
-|                            | robot idle      | 17.49.56.229 | ![](sorting/Context-RobotWorld-2022.07.18.17.49.56.229-RobotWorld.setTable()-DONE.svg) |
+|                            |                 | 17.43.35.056 | ![](acsos/Context-RobotWorld-2022.07.18.17.43.35.056-RobotWorld.setTable()-DONE.svg) |
+|                            |                 | 17.43.35.270 | ![](acsos/AST-000-2022.07.18.17.43.35.270-initial.svg)                               |
+| EmptyTable                 |                 | 17.43.39.588 | ![](acsos/AST-001-2022.07.18.17.43.39.588-parseEmptyTable.svg)                       |
+| Wait                       |                 | 17.43.47.871 | ![](acsos/AST-002-2022.07.18.17.43.47.871-parseWait.svg)                             |
+| WaitForFullTable           |                 | 17.43.48.060 | ![](acsos/AST-003-2022.07.18.17.43.48.060-parseWaitForFullTable.svg)                 |
+| EmptyTable                 |                 | 17.43.48.272 | ![](acsos/AST-004-2022.07.18.17.43.48.272-parseEmptyTable.svg)                       |
+| Wait                       |                 | 17.43.56.518 | ![](acsos/AST-005-2022.07.18.17.43.56.518-parseWait.svg)                             |
+| WaitForFullTable           |                 | 17.43.56.718 | ![](acsos/AST-006-2022.07.18.17.43.56.718-parseWaitForFullTable.svg)                 |
+| EmptyTable                 |                 | 17.43.56.889 | ![](acsos/AST-007-2022.07.18.17.43.56.889-parseEmptyTable.svg)                       |
+|                            | object added    | 17.43.59.407 | ![](acsos/Context-RobotWorld-2022.07.18.17.43.59.407-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.44.05.105 | ![](acsos/AST-008-2022.07.18.17.44.05.105-parseWait.svg)                             |
+| WaitForFullTable           |                 | 17.44.05.370 | ![](acsos/AST-009-2022.07.18.17.44.05.370-parseWaitForFullTable.svg)                 |
+| ObjectAtWrongPlace         |                 | 17.44.05.769 | ![](acsos/AST-010-2022.07.18.17.44.05.769-parseObjectAtWrongPlace.svg)               |
+| RobotIsReadyToPickToken    |                 | 17.44.06.152 | ![](acsos/AST-011-2022.07.18.17.44.06.152-parseRobotIsReadyToPickToken.svg)          |
+| RobotIsReallyReadyToPick   |                 | 17.44.06.526 | ![](acsos/AST-012-2022.07.18.17.44.06.526-parseRobotIsReallyReadyToPick.svg)         |
+| RobotIsReadyToPick         |                 | 17.44.06.859 | ![](acsos/AST-013-2022.07.18.17.44.06.859-parseRobotIsReadyToPick.svg)               |
+| PickUpObject               |                 | 17.44.07.284 | ![](acsos/AST-014-2022.07.18.17.44.07.284-parsePickUpObject.svg)                     |
+|                            | object attached | 17.44.07.337 | ![](acsos/Context-RobotWorld-2022.07.18.17.44.07.337-RobotWorld.setTable()-DONE.svg) |
+| RobotIsNotReadyToDropToken |                 | 17.44.07.807 | ![](acsos/AST-015-2022.07.18.17.44.07.807-parseRobotIsNotReadyToDropToken.svg)       |
+| Wait                       |                 | 17.44.16.137 | ![](acsos/AST-016-2022.07.18.17.44.16.137-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.44.16.336 | ![](acsos/AST-017-2022.07.18.17.44.16.336-parseRobotIsNotReadyToDropToken.svg)       |
+|                            | object added    | 17.44.22.245 | ![](acsos/Context-RobotWorld-2022.07.18.17.44.22.245-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.44.24.593 | ![](acsos/AST-018-2022.07.18.17.44.24.593-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.44.24.996 | ![](acsos/AST-019-2022.07.18.17.44.24.996-parseRobotIsNotReadyToDropToken.svg)       |
+|                            | robot idle      | 17.44.25.162 | ![](acsos/Context-RobotWorld-2022.07.18.17.44.25.162-RobotWorld.setTable()-DONE.svg) |
+|                            | object added    | 17.44.30.153 | ![](acsos/Context-RobotWorld-2022.07.18.17.44.30.153-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.44.33.736 | ![](acsos/AST-020-2022.07.18.17.44.33.736-parseWait.svg)                             |
+| RobotIsReadyToDropToken    |                 | 17.44.34.344 | ![](acsos/AST-021-2022.07.18.17.44.34.344-parseRobotIsReadyToDropToken.svg)          |
+| RobotIsReallyReadyToDrop   |                 | 17.44.34.795 | ![](acsos/AST-022-2022.07.18.17.44.34.795-parseRobotIsReallyReadyToDrop.svg)         |
+| RobotIsReadyToDrop         |                 | 17.44.35.148 | ![](acsos/AST-023-2022.07.18.17.44.35.148-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.44.35.616 | ![](acsos/AST-024-2022.07.18.17.44.35.616-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.44.36.052 | ![](acsos/AST-025-2022.07.18.17.44.36.052-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.44.36.493 | ![](acsos/AST-026-2022.07.18.17.44.36.493-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.44.36.798 | ![](acsos/AST-027-2022.07.18.17.44.36.798-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.44.37.173 | ![](acsos/AST-028-2022.07.18.17.44.37.173-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.44.37.512 | ![](acsos/AST-029-2022.07.18.17.44.37.512-parseRobotIsReadyToDrop.svg)               |
+| RightPlace                 |                 | 17.44.37.872 | ![](acsos/AST-030-2022.07.18.17.44.37.872-parseRightPlace.svg)                       |
+| DropObjectAtRightPlace     |                 | 17.44.38.308 | ![](acsos/AST-031-2022.07.18.17.44.38.308-parseDropObjectAtRightPlace.svg)           |
+| MoveObjectToCorrectPlace   |                 | 17.44.38.799 | ![](acsos/AST-032-2022.07.18.17.44.38.799-parseMoveObjectToCorrectPlace.svg)         |
+| ObjectAtWrongPlace         |                 | 17.44.39.211 | ![](acsos/AST-033-2022.07.18.17.44.39.211-parseObjectAtWrongPlace.svg)               |
+| RobotIsNotReadyToPickToken |                 | 17.44.39.524 | ![](acsos/AST-034-2022.07.18.17.44.39.524-parseRobotIsNotReadyToPickToken.svg)       |
+| Wait                       |                 | 17.44.47.970 | ![](acsos/AST-035-2022.07.18.17.44.47.970-parseWait.svg)                             |
+| RobotIsNotReadyToPickToken |                 | 17.44.48.142 | ![](acsos/AST-036-2022.07.18.17.44.48.142-parseRobotIsNotReadyToPickToken.svg)       |
+|                            | object gone     | 17.44.54.865 | ![](acsos/Context-RobotWorld-2022.07.18.17.44.54.865-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.44.56.356 | ![](acsos/AST-037-2022.07.18.17.44.56.356-parseWait.svg)                             |
+| RobotIsReadyToPickToken    |                 | 17.44.56.572 | ![](acsos/AST-038-2022.07.18.17.44.56.572-parseRobotIsReadyToPickToken.svg)          |
+| RobotIsReallyReadyToPick   |                 | 17.44.56.825 | ![](acsos/AST-039-2022.07.18.17.44.56.825-parseRobotIsReallyReadyToPick.svg)         |
+| RobotIsReadyToPick         |                 | 17.44.57.094 | ![](acsos/AST-040-2022.07.18.17.44.57.094-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.44.57.328 | ![](acsos/AST-041-2022.07.18.17.44.57.328-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.44.57.607 | ![](acsos/AST-042-2022.07.18.17.44.57.607-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.44.57.896 | ![](acsos/AST-043-2022.07.18.17.44.57.896-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.44.58.169 | ![](acsos/AST-044-2022.07.18.17.44.58.169-parseRobotIsReadyToPick.svg)               |
+| PickUpObject               |                 | 17.44.58.456 | ![](acsos/AST-045-2022.07.18.17.44.58.456-parsePickUpObject.svg)                     |
+|                            | object attached | 17.44.58.520 | ![](acsos/Context-RobotWorld-2022.07.18.17.44.58.520-RobotWorld.setTable()-DONE.svg) |
+| RobotIsNotReadyToDropToken |                 | 17.44.58.783 | ![](acsos/AST-046-2022.07.18.17.44.58.783-parseRobotIsNotReadyToDropToken.svg)       |
+| Wait                       |                 | 17.45.07.121 | ![](acsos/AST-047-2022.07.18.17.45.07.121-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.45.07.305 | ![](acsos/AST-048-2022.07.18.17.45.07.305-parseRobotIsNotReadyToDropToken.svg)       |
+|                            | object added    | 17.45.13.036 | ![](acsos/Context-RobotWorld-2022.07.18.17.45.13.036-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.45.15.564 | ![](acsos/AST-049-2022.07.18.17.45.15.564-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.45.15.800 | ![](acsos/AST-050-2022.07.18.17.45.15.800-parseRobotIsNotReadyToDropToken.svg)       |
+|                            | robot is idle   | 17.45.19.256 | ![](acsos/Context-RobotWorld-2022.07.18.17.45.19.256-RobotWorld.setTable()-DONE.svg) |
+|                            | object added    | 17.45.21.852 | ![](acsos/Context-RobotWorld-2022.07.18.17.45.21.852-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.45.24.125 | ![](acsos/AST-051-2022.07.18.17.45.24.125-parseWait.svg)                             |
+| RobotIsReadyToDropToken    |                 | 17.45.24.328 | ![](acsos/AST-052-2022.07.18.17.45.24.328-parseRobotIsReadyToDropToken.svg)          |
+| RobotIsReallyReadyToDrop   |                 | 17.45.24.535 | ![](acsos/AST-053-2022.07.18.17.45.24.535-parseRobotIsReallyReadyToDrop.svg)         |
+| RobotIsReadyToDrop         |                 | 17.45.24.828 | ![](acsos/AST-054-2022.07.18.17.45.24.828-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.45.25.133 | ![](acsos/AST-055-2022.07.18.17.45.25.133-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.45.25.385 | ![](acsos/AST-056-2022.07.18.17.45.25.385-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.45.25.689 | ![](acsos/AST-057-2022.07.18.17.45.25.689-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.45.25.998 | ![](acsos/AST-058-2022.07.18.17.45.25.998-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.45.26.299 | ![](acsos/AST-059-2022.07.18.17.45.26.299-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.45.26.574 | ![](acsos/AST-060-2022.07.18.17.45.26.574-parseRobotIsReadyToDrop.svg)               |
+| RightPlace                 |                 | 17.45.26.864 | ![](acsos/AST-061-2022.07.18.17.45.26.864-parseRightPlace.svg)                       |
+| DropObjectAtRightPlace     |                 | 17.45.27.156 | ![](acsos/AST-062-2022.07.18.17.45.27.156-parseDropObjectAtRightPlace.svg)           |
+| MoveObjectToCorrectPlace   |                 | 17.45.27.617 | ![](acsos/AST-063-2022.07.18.17.45.27.617-parseMoveObjectToCorrectPlace.svg)         |
+| ObjectAtWrongPlace         |                 | 17.45.27.991 | ![](acsos/AST-064-2022.07.18.17.45.27.991-parseObjectAtWrongPlace.svg)               |
+| RobotIsNotReadyToPickToken |                 | 17.45.28.330 | ![](acsos/AST-065-2022.07.18.17.45.28.330-parseRobotIsNotReadyToPickToken.svg)       |
+| Wait                       |                 | 17.45.36.597 | ![](acsos/AST-066-2022.07.18.17.45.36.597-parseWait.svg)                             |
+| RobotIsNotReadyToPickToken |                 | 17.45.37.022 | ![](acsos/AST-067-2022.07.18.17.45.37.022-parseRobotIsNotReadyToPickToken.svg)       |
+|                            | object added    | 17.45.43.100 | ![](acsos/Context-RobotWorld-2022.07.18.17.45.43.100-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.45.45.385 | ![](acsos/AST-068-2022.07.18.17.45.45.385-parseWait.svg)                             |
+| RobotIsNotReadyToPickToken |                 | 17.45.45.808 | ![](acsos/AST-069-2022.07.18.17.45.45.808-parseRobotIsNotReadyToPickToken.svg)       |
+|                            | object gone     | 17.45.47.121 | ![](acsos/Context-RobotWorld-2022.07.18.17.45.47.121-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.45.54.253 | ![](acsos/AST-070-2022.07.18.17.45.54.253-parseWait.svg)                             |
+| RobotIsReadyToPickToken    |                 | 17.45.54.524 | ![](acsos/AST-071-2022.07.18.17.45.54.524-parseRobotIsReadyToPickToken.svg)          |
+| RobotIsReallyReadyToPick   |                 | 17.45.54.815 | ![](acsos/AST-072-2022.07.18.17.45.54.815-parseRobotIsReallyReadyToPick.svg)         |
+| RobotIsReadyToPick         |                 | 17.45.55.141 | ![](acsos/AST-073-2022.07.18.17.45.55.141-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.45.55.508 | ![](acsos/AST-074-2022.07.18.17.45.55.508-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.45.55.795 | ![](acsos/AST-075-2022.07.18.17.45.55.795-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.45.56.159 | ![](acsos/AST-076-2022.07.18.17.45.56.159-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.45.56.569 | ![](acsos/AST-077-2022.07.18.17.45.56.569-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.45.56.870 | ![](acsos/AST-078-2022.07.18.17.45.56.870-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.45.57.191 | ![](acsos/AST-079-2022.07.18.17.45.57.191-parseRobotIsReadyToPick.svg)               |
+| PickUpObject               |                 | 17.45.57.480 | ![](acsos/AST-080-2022.07.18.17.45.57.480-parsePickUpObject.svg)                     |
+|                            | object attached | 17.45.57.532 | ![](acsos/Context-RobotWorld-2022.07.18.17.45.57.532-RobotWorld.setTable()-DONE.svg) |
+| RobotIsNotReadyToDropToken |                 | 17.45.57.813 | ![](acsos/AST-081-2022.07.18.17.45.57.813-parseRobotIsNotReadyToDropToken.svg)       |
+| Wait                       |                 | 17.46.06.099 | ![](acsos/AST-082-2022.07.18.17.46.06.099-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.46.06.350 | ![](acsos/AST-083-2022.07.18.17.46.06.350-parseRobotIsNotReadyToDropToken.svg)       |
+| Wait                       |                 | 17.46.14.753 | ![](acsos/AST-084-2022.07.18.17.46.14.753-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.46.15.104 | ![](acsos/AST-085-2022.07.18.17.46.15.104-parseRobotIsNotReadyToDropToken.svg)       |
+|                            | robot is idle   | 17.46.20.101 | ![](acsos/Context-RobotWorld-2022.07.18.17.46.20.101-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.46.23.512 | ![](acsos/AST-086-2022.07.18.17.46.23.512-parseWait.svg)                             |
+| RobotIsReadyToDropToken    |                 | 17.46.23.794 | ![](acsos/AST-087-2022.07.18.17.46.23.794-parseRobotIsReadyToDropToken.svg)          |
+| RobotIsReallyReadyToDrop   |                 | 17.46.24.101 | ![](acsos/AST-088-2022.07.18.17.46.24.101-parseRobotIsReallyReadyToDrop.svg)         |
+| RobotIsReadyToDrop         |                 | 17.46.24.486 | ![](acsos/AST-089-2022.07.18.17.46.24.486-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.46.24.794 | ![](acsos/AST-090-2022.07.18.17.46.24.794-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.46.25.117 | ![](acsos/AST-091-2022.07.18.17.46.25.117-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.46.25.461 | ![](acsos/AST-092-2022.07.18.17.46.25.461-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.46.25.965 | ![](acsos/AST-093-2022.07.18.17.46.25.965-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.46.26.445 | ![](acsos/AST-094-2022.07.18.17.46.26.445-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.46.26.875 | ![](acsos/AST-095-2022.07.18.17.46.26.875-parseRobotIsReadyToDrop.svg)               |
+| RightPlace                 |                 | 17.46.27.270 | ![](acsos/AST-096-2022.07.18.17.46.27.270-parseRightPlace.svg)                       |
+| DropObjectAtRightPlace     |                 | 17.46.27.571 | ![](acsos/AST-097-2022.07.18.17.46.27.571-parseDropObjectAtRightPlace.svg)           |
+| MoveObjectToCorrectPlace   |                 | 17.46.28.040 | ![](acsos/AST-098-2022.07.18.17.46.28.040-parseMoveObjectToCorrectPlace.svg)         |
+| ObjectAtWrongPlace         |                 | 17.46.28.378 | ![](acsos/AST-099-2022.07.18.17.46.28.378-parseObjectAtWrongPlace.svg)               |
+| RobotIsNotReadyToPickToken |                 | 17.46.28.783 | ![](acsos/AST-100-2022.07.18.17.46.28.783-parseRobotIsNotReadyToPickToken.svg)       |
+| Wait                       |                 | 17.46.37.214 | ![](acsos/AST-101-2022.07.18.17.46.37.214-parseWait.svg)                             |
+| RobotIsNotReadyToPickToken |                 | 17.46.37.839 | ![](acsos/AST-102-2022.07.18.17.46.37.839-parseRobotIsNotReadyToPickToken.svg)       |
+|                            | object added    | 17.46.40.928 | ![](acsos/Context-RobotWorld-2022.07.18.17.46.40.928-RobotWorld.setTable()-DONE.svg) |
+|                            | object gone     | 17.46.42.453 | ![](acsos/Context-RobotWorld-2022.07.18.17.46.42.453-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.46.46.415 | ![](acsos/AST-103-2022.07.18.17.46.46.415-parseWait.svg)                             |
+| RobotIsReadyToPickToken    |                 | 17.46.46.772 | ![](acsos/AST-104-2022.07.18.17.46.46.772-parseRobotIsReadyToPickToken.svg)          |
+| RobotIsReallyReadyToPick   |                 | 17.46.47.259 | ![](acsos/AST-105-2022.07.18.17.46.47.259-parseRobotIsReallyReadyToPick.svg)         |
+| RobotIsReadyToPick         |                 | 17.46.47.773 | ![](acsos/AST-106-2022.07.18.17.46.47.773-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.46.48.234 | ![](acsos/AST-107-2022.07.18.17.46.48.234-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.46.48.689 | ![](acsos/AST-108-2022.07.18.17.46.48.689-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.46.49.022 | ![](acsos/AST-109-2022.07.18.17.46.49.022-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.46.49.401 | ![](acsos/AST-110-2022.07.18.17.46.49.401-parseRobotIsReadyToPick.svg)               |
+| PickUpObject               |                 | 17.46.49.769 | ![](acsos/AST-111-2022.07.18.17.46.49.769-parsePickUpObject.svg)                     |
+|                            | object attached | 17.46.49.833 | ![](acsos/Context-RobotWorld-2022.07.18.17.46.49.833-RobotWorld.setTable()-DONE.svg) |
+| RobotIsNotReadyToDropToken |                 | 17.46.50.301 | ![](acsos/AST-112-2022.07.18.17.46.50.301-parseRobotIsNotReadyToDropToken.svg)       |
+| Wait                       |                 | 17.46.58.748 | ![](acsos/AST-113-2022.07.18.17.46.58.748-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.46.59.083 | ![](acsos/AST-114-2022.07.18.17.46.59.083-parseRobotIsNotReadyToDropToken.svg)       |
+| Wait                       |                 | 17.47.07.498 | ![](acsos/AST-115-2022.07.18.17.47.07.498-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.47.07.880 | ![](acsos/AST-116-2022.07.18.17.47.07.880-parseRobotIsNotReadyToDropToken.svg)       |
+|                            | robot idle      | 17.47.08.325 | ![](acsos/Context-RobotWorld-2022.07.18.17.47.08.325-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.47.16.397 | ![](acsos/AST-117-2022.07.18.17.47.16.397-parseWait.svg)                             |
+| RobotIsReadyToDropToken    |                 | 17.47.16.801 | ![](acsos/AST-118-2022.07.18.17.47.16.801-parseRobotIsReadyToDropToken.svg)          |
+| RobotIsReallyReadyToDrop   |                 | 17.47.17.359 | ![](acsos/AST-119-2022.07.18.17.47.17.359-parseRobotIsReallyReadyToDrop.svg)         |
+| RobotIsReadyToDrop         |                 | 17.47.17.845 | ![](acsos/AST-120-2022.07.18.17.47.17.845-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.47.18.346 | ![](acsos/AST-121-2022.07.18.17.47.18.346-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.47.18.751 | ![](acsos/AST-122-2022.07.18.17.47.18.751-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.47.19.190 | ![](acsos/AST-123-2022.07.18.17.47.19.190-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.47.19.584 | ![](acsos/AST-124-2022.07.18.17.47.19.584-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.47.20.046 | ![](acsos/AST-125-2022.07.18.17.47.20.046-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.47.20.492 | ![](acsos/AST-126-2022.07.18.17.47.20.492-parseRobotIsReadyToDrop.svg)               |
+| RightPlace                 |                 | 17.47.20.938 | ![](acsos/AST-127-2022.07.18.17.47.20.938-parseRightPlace.svg)                       |
+| DropObjectAtRightPlace     |                 | 17.47.21.359 | ![](acsos/AST-128-2022.07.18.17.47.21.359-parseDropObjectAtRightPlace.svg)           |
+| MoveObjectToCorrectPlace   |                 | 17.47.21.787 | ![](acsos/AST-129-2022.07.18.17.47.21.787-parseMoveObjectToCorrectPlace.svg)         |
+| ObjectAtWrongPlace         |                 | 17.47.22.194 | ![](acsos/AST-130-2022.07.18.17.47.22.194-parseObjectAtWrongPlace.svg)               |
+| RobotIsNotReadyToPickToken |                 | 17.47.22.574 | ![](acsos/AST-131-2022.07.18.17.47.22.574-parseRobotIsNotReadyToPickToken.svg)       |
+| Wait                       |                 | 17.47.31.018 | ![](acsos/AST-132-2022.07.18.17.47.31.018-parseWait.svg)                             |
+|                            | object gone     | 17.47.31.345 | ![](acsos/Context-RobotWorld-2022.07.18.17.47.31.345-RobotWorld.setTable()-DONE.svg) |
+| RobotIsReadyToPickToken    |                 | 17.47.31.661 | ![](acsos/AST-133-2022.07.18.17.47.31.661-parseRobotIsReadyToPickToken.svg)          |
+| RobotIsReallyReadyToPick   |                 | 17.47.32.242 | ![](acsos/AST-134-2022.07.18.17.47.32.242-parseRobotIsReallyReadyToPick.svg)         |
+| RobotIsReadyToPick         |                 | 17.47.32.687 | ![](acsos/AST-135-2022.07.18.17.47.32.687-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.47.33.236 | ![](acsos/AST-136-2022.07.18.17.47.33.236-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.47.33.791 | ![](acsos/AST-137-2022.07.18.17.47.33.791-parseRobotIsReadyToPick.svg)               |
+| PickUpObject               |                 | 17.47.34.349 | ![](acsos/AST-138-2022.07.18.17.47.34.349-parsePickUpObject.svg)                     |
+|                            | object attached | 17.47.34.407 | ![](acsos/Context-RobotWorld-2022.07.18.17.47.34.407-RobotWorld.setTable()-DONE.svg) |
+| RobotIsNotReadyToDropToken |                 | 17.47.35.136 | ![](acsos/AST-139-2022.07.18.17.47.35.136-parseRobotIsNotReadyToDropToken.svg)       |
+| Wait                       |                 | 17.47.44.054 | ![](acsos/AST-140-2022.07.18.17.47.44.054-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.47.44.477 | ![](acsos/AST-141-2022.07.18.17.47.44.477-parseRobotIsNotReadyToDropToken.svg)       |
+|                            | robot idle      | 17.47.52.294 | ![](acsos/Context-RobotWorld-2022.07.18.17.47.52.294-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.47.52.949 | ![](acsos/AST-142-2022.07.18.17.47.52.949-parseWait.svg)                             |
+| RobotIsReadyToDropToken    |                 | 17.47.53.482 | ![](acsos/AST-143-2022.07.18.17.47.53.482-parseRobotIsReadyToDropToken.svg)          |
+| RobotIsReallyReadyToDrop   |                 | 17.47.53.970 | ![](acsos/AST-144-2022.07.18.17.47.53.970-parseRobotIsReallyReadyToDrop.svg)         |
+| RobotIsReadyToDrop         |                 | 17.47.54.457 | ![](acsos/AST-145-2022.07.18.17.47.54.457-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.47.54.904 | ![](acsos/AST-146-2022.07.18.17.47.54.904-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.47.55.363 | ![](acsos/AST-147-2022.07.18.17.47.55.363-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.47.55.801 | ![](acsos/AST-148-2022.07.18.17.47.55.801-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.47.56.296 | ![](acsos/AST-149-2022.07.18.17.47.56.296-parseRobotIsReadyToDrop.svg)               |
+| RightPlace                 |                 | 17.47.56.817 | ![](acsos/AST-150-2022.07.18.17.47.56.817-parseRightPlace.svg)                       |
+| DropObjectAtRightPlace     |                 | 17.47.57.276 | ![](acsos/AST-151-2022.07.18.17.47.57.276-parseDropObjectAtRightPlace.svg)           |
+| MoveObjectToCorrectPlace   |                 | 17.47.57.822 | ![](acsos/AST-152-2022.07.18.17.47.57.822-parseMoveObjectToCorrectPlace.svg)         |
+| ObjectAtWrongPlace         |                 | 17.47.58.320 | ![](acsos/AST-153-2022.07.18.17.47.58.320-parseObjectAtWrongPlace.svg)               |
+| RobotIsNotReadyToPickToken |                 | 17.47.58.833 | ![](acsos/AST-154-2022.07.18.17.47.58.833-parseRobotIsNotReadyToPickToken.svg)       |
+| Wait                       |                 | 17.48.07.320 | ![](acsos/AST-155-2022.07.18.17.48.07.320-parseWait.svg)                             |
+| RobotIsNotReadyToPickToken |                 | 17.48.07.777 | ![](acsos/AST-156-2022.07.18.17.48.07.777-parseRobotIsNotReadyToPickToken.svg)       |
+|                            | object gone     | 17.48.09.459 | ![](acsos/Context-RobotWorld-2022.07.18.17.48.09.459-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.48.16.287 | ![](acsos/AST-157-2022.07.18.17.48.16.287-parseWait.svg)                             |
+| RobotIsReadyToPickToken    |                 | 17.48.16.787 | ![](acsos/AST-158-2022.07.18.17.48.16.787-parseRobotIsReadyToPickToken.svg)          |
+| RobotIsReallyReadyToPick   |                 | 17.48.17.286 | ![](acsos/AST-159-2022.07.18.17.48.17.286-parseRobotIsReallyReadyToPick.svg)         |
+| RobotIsReadyToPick         |                 | 17.48.17.803 | ![](acsos/AST-160-2022.07.18.17.48.17.803-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.48.18.309 | ![](acsos/AST-161-2022.07.18.17.48.18.309-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.48.18.793 | ![](acsos/AST-162-2022.07.18.17.48.18.793-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.48.19.284 | ![](acsos/AST-163-2022.07.18.17.48.19.284-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.48.19.763 | ![](acsos/AST-164-2022.07.18.17.48.19.763-parseRobotIsReadyToPick.svg)               |
+| PickUpObject               |                 | 17.48.20.323 | ![](acsos/AST-165-2022.07.18.17.48.20.323-parsePickUpObject.svg)                     |
+|                            | object attached | 17.48.20.392 | ![](acsos/Context-RobotWorld-2022.07.18.17.48.20.392-RobotWorld.setTable()-DONE.svg) |
+| RobotIsNotReadyToDropToken |                 | 17.48.20.954 | ![](acsos/AST-166-2022.07.18.17.48.20.954-parseRobotIsNotReadyToDropToken.svg)       |
+| Wait                       |                 | 17.48.29.505 | ![](acsos/AST-167-2022.07.18.17.48.29.505-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.48.29.956 | ![](acsos/AST-168-2022.07.18.17.48.29.956-parseRobotIsNotReadyToDropToken.svg)       |
+|                            | robot idle      | 17.48.35.692 | ![](acsos/Context-RobotWorld-2022.07.18.17.48.35.692-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.48.38.432 | ![](acsos/AST-169-2022.07.18.17.48.38.432-parseWait.svg)                             |
+| RobotIsReadyToDropToken    |                 | 17.48.38.984 | ![](acsos/AST-170-2022.07.18.17.48.38.984-parseRobotIsReadyToDropToken.svg)          |
+| RobotIsReallyReadyToDrop   |                 | 17.48.39.487 | ![](acsos/AST-171-2022.07.18.17.48.39.487-parseRobotIsReallyReadyToDrop.svg)         |
+| RobotIsReadyToDrop         |                 | 17.48.39.995 | ![](acsos/AST-172-2022.07.18.17.48.39.995-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.48.40.646 | ![](acsos/AST-173-2022.07.18.17.48.40.646-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.48.41.455 | ![](acsos/AST-174-2022.07.18.17.48.41.455-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.48.42.167 | ![](acsos/AST-175-2022.07.18.17.48.42.167-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.48.43.036 | ![](acsos/AST-176-2022.07.18.17.48.43.036-parseRobotIsReadyToDrop.svg)               |
+| RightPlace                 |                 | 17.48.43.694 | ![](acsos/AST-177-2022.07.18.17.48.43.694-parseRightPlace.svg)                       |
+| DropObjectAtRightPlace     |                 | 17.48.44.270 | ![](acsos/AST-178-2022.07.18.17.48.44.270-parseDropObjectAtRightPlace.svg)           |
+| MoveObjectToCorrectPlace   |                 | 17.48.45.067 | ![](acsos/AST-179-2022.07.18.17.48.45.067-parseMoveObjectToCorrectPlace.svg)         |
+| ObjectAtWrongPlace         |                 | 17.48.45.805 | ![](acsos/AST-180-2022.07.18.17.48.45.805-parseObjectAtWrongPlace.svg)               |
+| RobotIsNotReadyToPickToken |                 | 17.48.46.580 | ![](acsos/AST-181-2022.07.18.17.48.46.580-parseRobotIsNotReadyToPickToken.svg)       |
+|                            | object gone     | 17.48.55.068 | ![](acsos/Context-RobotWorld-2022.07.18.17.48.55.068-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.48.55.311 | ![](acsos/AST-182-2022.07.18.17.48.55.311-parseWait.svg)                             |
+| RobotIsReadyToPickToken    |                 | 17.48.55.877 | ![](acsos/AST-183-2022.07.18.17.48.55.877-parseRobotIsReadyToPickToken.svg)          |
+| RobotIsReallyReadyToPick   |                 | 17.48.56.584 | ![](acsos/AST-184-2022.07.18.17.48.56.584-parseRobotIsReallyReadyToPick.svg)         |
+| RobotIsReadyToPick         |                 | 17.48.57.159 | ![](acsos/AST-185-2022.07.18.17.48.57.159-parseRobotIsReadyToPick.svg)               |
+| RobotIsNotReadyToPick      |                 | 17.48.57.767 | ![](acsos/AST-186-2022.07.18.17.48.57.767-parseRobotIsNotReadyToPick.svg)            |
+| RobotIsReadyToPick         |                 | 17.48.58.318 | ![](acsos/AST-187-2022.07.18.17.48.58.318-parseRobotIsReadyToPick.svg)               |
+| PickUpObject               |                 | 17.48.58.854 | ![](acsos/AST-188-2022.07.18.17.48.58.854-parsePickUpObject.svg)                     |
+|                            | object attached | 17.48.58.861 | ![](acsos/Context-RobotWorld-2022.07.18.17.48.58.861-RobotWorld.setTable()-DONE.svg) |
+| RobotIsNotReadyToDropToken |                 | 17.48.59.568 | ![](acsos/AST-189-2022.07.18.17.48.59.568-parseRobotIsNotReadyToDropToken.svg)       |
+| Wait                       |                 | 17.49.08.199 | ![](acsos/AST-190-2022.07.18.17.49.08.199-parseWait.svg)                             |
+| RobotIsNotReadyToDropToken |                 | 17.49.08.763 | ![](acsos/AST-191-2022.07.18.17.49.08.763-parseRobotIsNotReadyToDropToken.svg)       |
+|                            | robot idle      | 17.49.12.098 | ![](acsos/Context-RobotWorld-2022.07.18.17.49.12.098-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.49.17.390 | ![](acsos/AST-192-2022.07.18.17.49.17.390-parseWait.svg)                             |
+| RobotIsReadyToDropToken    |                 | 17.49.17.940 | ![](acsos/AST-193-2022.07.18.17.49.17.940-parseRobotIsReadyToDropToken.svg)          |
+| RobotIsReallyReadyToDrop   |                 | 17.49.18.601 | ![](acsos/AST-194-2022.07.18.17.49.18.601-parseRobotIsReallyReadyToDrop.svg)         |
+| RobotIsReadyToDrop         |                 | 17.49.19.185 | ![](acsos/AST-195-2022.07.18.17.49.19.185-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.49.19.787 | ![](acsos/AST-196-2022.07.18.17.49.19.787-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.49.20.367 | ![](acsos/AST-197-2022.07.18.17.49.20.367-parseRobotIsReadyToDrop.svg)               |
+| RobotIsNotReadyToDrop      |                 | 17.49.20.988 | ![](acsos/AST-198-2022.07.18.17.49.20.988-parseRobotIsNotReadyToDrop.svg)            |
+| RobotIsReadyToDrop         |                 | 17.49.21.715 | ![](acsos/AST-199-2022.07.18.17.49.21.715-parseRobotIsReadyToDrop.svg)               |
+| RightPlace                 |                 | 17.49.22.301 | ![](acsos/AST-200-2022.07.18.17.49.22.301-parseRightPlace.svg)                       |
+| DropObjectAtRightPlace     |                 | 17.49.22.924 | ![](acsos/AST-201-2022.07.18.17.49.22.924-parseDropObjectAtRightPlace.svg)           |
+| MoveObjectToCorrectPlace   |                 | 17.49.23.638 | ![](acsos/AST-202-2022.07.18.17.49.23.638-parseMoveObjectToCorrectPlace.svg)         |
+| NotEmptyTable              |                 | 17.49.24.549 | ![](acsos/AST-203-2022.07.18.17.49.24.549-parseNotEmptyTable.svg)                    |
+| Wait                       |                 | 17.49.33.854 | ![](acsos/AST-204-2022.07.18.17.49.33.854-parseWait.svg)                             |
+| WaitForEmptyTable          |                 | 17.49.34.525 | ![](acsos/AST-205-2022.07.18.17.49.34.525-parseWaitForEmptyTable.svg)                |
+| NotEmptyTable              |                 | 17.49.35.242 | ![](acsos/AST-206-2022.07.18.17.49.35.242-parseNotEmptyTable.svg)                    |
+|                            | object gone     | 17.49.37.572 | ![](acsos/Context-RobotWorld-2022.07.18.17.49.37.572-RobotWorld.setTable()-DONE.svg) |
+| Wait                       |                 | 17.49.43.910 | ![](acsos/AST-207-2022.07.18.17.49.43.910-parseWait.svg)                             |
+| WaitForEmptyTable          |                 | 17.49.44.712 | ![](acsos/AST-208-2022.07.18.17.49.44.712-parseWaitForEmptyTable.svg)                |
+| EmptyTable                 |                 | 17.49.45.507 | ![](acsos/AST-209-2022.07.18.17.49.45.507-parseEmptyTable.svg)                       |
+| Tidy                       |                 | 17.49.46.201 | ![](acsos/AST-210-2022.07.18.17.49.46.201-parseTidy.svg)                             |
+|                            | robot busy      | 17.49.46.244 | ![](acsos/Context-RobotWorld-2022.07.18.17.49.46.244-RobotWorld.setTable()-DONE.svg) |
+|                            |                 | 17.49.46.867 | ![](acsos/AST-211-2022.07.18.17.49.46.867-complete.svg)                              |
+|                            | robot idle      | 17.49.56.229 | ![](acsos/Context-RobotWorld-2022.07.18.17.49.56.229-RobotWorld.setTable()-DONE.svg) |
diff --git a/pages/docs/acsos.md b/pages/docs/acsos.md
index 323ce071f53bab12beb8964a50f5a02ed397996f..350d1ba1d2b06921a7105153aad79ca66d89099b 100644
--- a/pages/docs/acsos.md
+++ b/pages/docs/acsos.md
@@ -1,9 +1,5 @@
 # The Robot Sorting Grammar
 
-## Grammar
-
-![](diagrams/grammar/cleaning.png)
-
 ## Publication
 
 A version of this use case was published as a demo at [ACSOS 2022](https://2022.acsos.org/).
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diff --git a/pages/docs/cleaning-parsing.md b/pages/docs/cleaning-parsing.md
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index 0000000000000000000000000000000000000000..a5d61432e647cc941664e7687b5d02e7caaf5ecb
--- /dev/null
+++ b/pages/docs/cleaning-parsing.md
@@ -0,0 +1,41 @@
+
+| Action                     | Context Update  | Timestamp    | Parse Tree                                                                             |
+|----------------------------|-----------------|--------------|----------------------------------------------------------------------------------------|
+| - | initial | 2023.08.30.17.22.35.713 | ![](sorting/) |
+| - | Robot.addSelection() | 2023.08.30.17.22.35.930 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.35.930-Robot.addSelection()-AFTER.svg) |
+| - | Robot.addSelection() | 2023.08.30.17.22.36.135 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.36.135-Robot.addSelection()-AFTER.svg) |
+| - | Robot.addSelection() | 2023.08.30.17.22.36.299 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.36.299-Robot.addSelection()-AFTER.svg) |
+| - | Robot.addSelection() | 2023.08.30.17.22.36.472 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.36.472-Robot.addSelection()-AFTER.svg) |
+| - | Robot.addSelection() | 2023.08.30.17.22.36.694 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.36.694-Robot.addSelection()-AFTER.svg) |
+| - | Robot.addSelection() | 2023.08.30.17.22.36.916 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.36.916-Robot.addSelection()-AFTER.svg) |
+| initial | - | 2023.08.30.17.22.37.084 | ![](sorting/AST-000-2023.08.30.17.22.37.084-initial.svg) |
+| parseNotEmptyTable | - | 2023.08.30.17.22.37.118 | ![](sorting/AST-001-2023.08.30.17.22.37.118-parseNotEmptyTable.svg) |
+| parseMisplacedObject | - | 2023.08.30.17.22.37.222 | ![](sorting/AST-002-2023.08.30.17.22.37.222-parseMisplacedObject.svg) |
+| parsePickUpObject | - | 2023.08.30.17.22.37.354 | ![](sorting/AST-003-2023.08.30.17.22.37.354-parsePickUpObject.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.37.370 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.37.370-Robot.setIsIdle()-AFTER.svg) |
+| - | Robot.setAttachedItem() | 2023.08.30.17.22.40.610 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.40.610-Robot.setAttachedItem()-AFTER.svg) |
+| - | MovableObject.setPose() | 2023.08.30.17.22.40.843 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.40.843-MovableObject.setPose()-AFTER.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.44.046 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.44.046-Robot.setIsIdle()-AFTER.svg) |
+| parseRobotIsReadyToDropToken | - | 2023.08.30.17.22.44.077 | ![](sorting/AST-004-2023.08.30.17.22.44.077-parseRobotIsReadyToDropToken.svg) |
+| parseDropObjectAtRightPlace | - | 2023.08.30.17.22.44.299 | ![](sorting/AST-005-2023.08.30.17.22.44.299-parseDropObjectAtRightPlace.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.44.393 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.44.393-Robot.setIsIdle()-AFTER.svg) |
+| - | Robot.setAttachedItem() | 2023.08.30.17.22.47.502 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.47.502-Robot.setAttachedItem()-AFTER.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.50.697 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.50.697-Robot.setIsIdle()-AFTER.svg) |
+| parseRobotIsReadyToPickToken | - | 2023.08.30.17.22.50.740 | ![](sorting/AST-006-2023.08.30.17.22.50.740-parseRobotIsReadyToPickToken.svg) |
+| parseMoveObjectToCorrectPlace | - | 2023.08.30.17.22.50.845 | ![](sorting/AST-007-2023.08.30.17.22.50.845-parseMoveObjectToCorrectPlace.svg) |
+| parseMisplacedObject | - | 2023.08.30.17.22.51.015 | ![](sorting/AST-008-2023.08.30.17.22.51.015-parseMisplacedObject.svg) |
+| parsePickUpObject | - | 2023.08.30.17.22.51.183 | ![](sorting/AST-009-2023.08.30.17.22.51.183-parsePickUpObject.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.51.188 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.51.188-Robot.setIsIdle()-AFTER.svg) |
+| - | Robot.setAttachedItem() | 2023.08.30.17.22.54.469 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.54.469-Robot.setAttachedItem()-AFTER.svg) |
+| - | MovableObject.setPose() | 2023.08.30.17.22.54.605 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.54.605-MovableObject.setPose()-AFTER.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.57.777 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.57.777-Robot.setIsIdle()-AFTER.svg) |
+| parseRobotIsReadyToDropToken | - | 2023.08.30.17.22.57.844 | ![](sorting/AST-010-2023.08.30.17.22.57.844-parseRobotIsReadyToDropToken.svg) |
+| parseDropObjectAtRightPlace | - | 2023.08.30.17.22.57.973 | ![](sorting/AST-011-2023.08.30.17.22.57.973-parseDropObjectAtRightPlace.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.57.974 | ![](sorting/Context-RobotWorld-2023.08.30.17.22.57.974-Robot.setIsIdle()-AFTER.svg) |
+| - | Robot.setAttachedItem() | 2023.08.30.17.23.01.134 | ![](sorting/Context-RobotWorld-2023.08.30.17.23.01.134-Robot.setAttachedItem()-AFTER.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.23.04.221 | ![](sorting/Context-RobotWorld-2023.08.30.17.23.04.221-Robot.setIsIdle()-AFTER.svg) |
+| parseRobotIsReadyToPickToken | - | 2023.08.30.17.23.04.245 | ![](sorting/AST-012-2023.08.30.17.23.04.245-parseRobotIsReadyToPickToken.svg) |
+| parseMoveObjectToCorrectPlace | - | 2023.08.30.17.23.04.375 | ![](sorting/AST-013-2023.08.30.17.23.04.375-parseMoveObjectToCorrectPlace.svg) |
+| parseEmptyTable | - | 2023.08.30.17.23.04.482 | ![](sorting/AST-014-2023.08.30.17.23.04.482-parseEmptyTable.svg) |
+| parseTidy | - | 2023.08.30.17.23.04.592 | ![](sorting/AST-015-2023.08.30.17.23.04.592-parseTidy.svg) |
+| complete | - | 2023.08.30.17.23.04.699 | ![](sorting/AST-016-2023.08.30.17.23.04.699-complete.svg) |
diff --git a/pages/docs/cleaning.md b/pages/docs/cleaning.md
new file mode 100644
index 0000000000000000000000000000000000000000..ac01dcef9fc35b4e7067511acbfa8018ff8785ff
--- /dev/null
+++ b/pages/docs/cleaning.md
@@ -0,0 +1,15 @@
+# The Robot Sorting Grammar
+
+This is the most recent version of the motion grammar execution.
+Compared to the version published as an ACSOS demo, there are some changes here:
+
+- If no token can be parsed, the grammar waits for a parsable token.
+- An input `Selection` programs a decision tree that determines where an object should be put.
+
+## Grammar
+
+![](diagrams/grammar/cleaning.png)
+
+## Video
+
+![type:video](https://www.youtube.com/embed/hsK4gnoM8hg)
diff --git a/pages/docs/cleaning/AST-000-2023.08.30.17.22.37.084-initial.svg b/pages/docs/cleaning/AST-000-2023.08.30.17.22.37.084-initial.svg
new file mode 100644
index 0000000000000000000000000000000000000000..06f239c51b8de40dc5e2489091a7c8682962a0d9
--- /dev/null
+++ b/pages/docs/cleaning/AST-000-2023.08.30.17.22.37.084-initial.svg
@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentStyleType="text/css" height="94px" preserveAspectRatio="none" style="width:69px;height:94px;background:#FFFFFF;" version="1.1" viewBox="0 0 69 94" width="69px" zoomAndPan="magnify"><defs/><g><rect fill="#FFFFFF" height="26.2969" style="stroke:#00000000;stroke-width:1.0;" width="51" x="5" y="5"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacing" textLength="41" x="10" y="22.9951">initial</text><g id="elem_node0"><rect height="36.2969" style="stroke:#00000000;stroke-width:0.5;fill:none;" width="38" x="12" y="44.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="24" x="19" y="59.292">null</text><line style="stroke:#00000000;stroke-width:0.5;" x1="13" x2="49" y1="64.5938" y2="64.5938"/></g><!--MD5=[6d44e72e0e8cebd90776a43e9e5b0224]
+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title initial
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "null" as node0<<null>>
+
+@enduml
+
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+JVM: OpenJDK 64-Bit Server VM
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diff --git a/pages/docs/cleaning/AST-001-2023.08.30.17.22.37.118-parseNotEmptyTable.svg b/pages/docs/cleaning/AST-001-2023.08.30.17.22.37.118-parseNotEmptyTable.svg
new file mode 100644
index 0000000000000000000000000000000000000000..d6121fee9ff0d1e7a42f5bd1b30b6be2ed6727a8
--- /dev/null
+++ b/pages/docs/cleaning/AST-001-2023.08.30.17.22.37.118-parseNotEmptyTable.svg
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseNotEmptyTable
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "<:boom:> Tidy" as node0  #9594f7 {
+}
+object "¬EmptyTable" as node1  #ddbefa {
+}
+object "null" as node2<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : EmptyTable
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+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-002-2023.08.30.17.22.37.222-parseMisplacedObject.svg b/pages/docs/cleaning/AST-002-2023.08.30.17.22.37.222-parseMisplacedObject.svg
new file mode 100644
index 0000000000000000000000000000000000000000..219cf09ae0aa2053b46e5751251d117f6d1a2f4e
--- /dev/null
+++ b/pages/docs/cleaning/AST-002-2023.08.30.17.22.37.222-parseMisplacedObject.svg
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseMisplacedObject
+skinparam Shadowing false
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+object "<:boom:> Tidy" as node0  #9594f7 {
+}
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+object "AvailableObject && RightPlace" as node3  #ddbefa {
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\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-003-2023.08.30.17.22.37.354-parsePickUpObject.svg b/pages/docs/cleaning/AST-003-2023.08.30.17.22.37.354-parsePickUpObject.svg
new file mode 100644
index 0000000000000000000000000000000000000000..d6aa597333187e1f953f769a5b28ad31eeea7a59
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parsePickUpObject
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "<:boom:> Tidy" as node0  #9594f7 {
+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #d4d4fc {
+}
+object "null" as node7<<null>>
+object "null" as node8<<null>>
+object "null" as node9<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node9 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node8 : RobotIsReadyToPickToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-004-2023.08.30.17.22.44.077-parseRobotIsReadyToDropToken.svg b/pages/docs/cleaning/AST-004-2023.08.30.17.22.44.077-parseRobotIsReadyToDropToken.svg
new file mode 100644
index 0000000000000000000000000000000000000000..0172bd63d95cda090ebfdae37b0c88efc7a3823b
--- /dev/null
+++ b/pages/docs/cleaning/AST-004-2023.08.30.17.22.44.077-parseRobotIsReadyToDropToken.svg
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseRobotIsReadyToDropToken
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "<:boom:> Tidy" as node0  #9594f7 {
+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #ddbefa {
+}
+object "null" as node9<<null>>
+object "null" as node10<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-005-2023.08.30.17.22.44.299-parseDropObjectAtRightPlace.svg b/pages/docs/cleaning/AST-005-2023.08.30.17.22.44.299-parseDropObjectAtRightPlace.svg
new file mode 100644
index 0000000000000000000000000000000000000000..7b0dda0a8ff1cbaa8bb7497c45d4bb5e5be5397b
--- /dev/null
+++ b/pages/docs/cleaning/AST-005-2023.08.30.17.22.44.299-parseDropObjectAtRightPlace.svg
@@ -0,0 +1,63 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseDropObjectAtRightPlace
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "<:boom:> Tidy" as node0  #9594f7 {
+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #d4d4fc {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "null" as node9<<null>>
+object "null" as node10<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-006-2023.08.30.17.22.50.740-parseRobotIsReadyToPickToken.svg b/pages/docs/cleaning/AST-006-2023.08.30.17.22.50.740-parseRobotIsReadyToPickToken.svg
new file mode 100644
index 0000000000000000000000000000000000000000..198535c9c622ac41aa3de114ea1df79e06b48d41
--- /dev/null
+++ b/pages/docs/cleaning/AST-006-2023.08.30.17.22.50.740-parseRobotIsReadyToPickToken.svg
@@ -0,0 +1,64 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseRobotIsReadyToPickToken
+skinparam Shadowing false
+skinparam backgroundColor white
+
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+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node9  #ddbefa {
+}
+object "null" as node10<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-007-2023.08.30.17.22.50.845-parseMoveObjectToCorrectPlace.svg b/pages/docs/cleaning/AST-007-2023.08.30.17.22.50.845-parseMoveObjectToCorrectPlace.svg
new file mode 100644
index 0000000000000000000000000000000000000000..97faec643b3b89285bd0e645afef2dba1f30d326
--- /dev/null
+++ b/pages/docs/cleaning/AST-007-2023.08.30.17.22.50.845-parseMoveObjectToCorrectPlace.svg
@@ -0,0 +1,64 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseMoveObjectToCorrectPlace
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "<:boom:> Tidy" as node0  #9594f7 {
+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #d4d4fc {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node9  #c17dff {
+}
+object "null" as node10<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-008-2023.08.30.17.22.51.015-parseMisplacedObject.svg b/pages/docs/cleaning/AST-008-2023.08.30.17.22.51.015-parseMisplacedObject.svg
new file mode 100644
index 0000000000000000000000000000000000000000..3a24016a1cf842b7a031f834e0f0564eae847df7
--- /dev/null
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+reverse link node10 to node15--><g id="link_node10_node15"><path codeLine="57" d="M1276.54,204.6869 C1294.06,211.2169 1311.58,219.5969 1326.5,230.2969 C1348.44,246.0269 1365.84,272.4869 1375.66,289.7869 " fill="none" id="node10-backto-node15" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1264.13,200.3669,1268.4756,206.1215,1275.459,204.3234,1271.1133,198.5688,1264.13,200.3669" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="152" x="1345.5" y="243.3638">DropObjectAtRightPlace</text></g><!--MD5=[7a815126c8026687a4c0d04106ee6b34]
+reverse link node10 to node16--><g id="link_node10_node16"><path codeLine="58" d="M1299.62,199.7869 C1391.39,213.0869 1505.31,229.6769 1506.5,230.2969 C1533.02,244.1269 1555.11,271.6269 1567.56,289.6169 " fill="none" id="node10-backto-node16" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1286.54,197.8969,1291.9013,202.7194,1298.4149,199.6253,1293.0536,194.8028,1286.54,197.8969" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="164" x="1531.5" y="243.3638">RobotIsReadyToPickToken</text></g><!--MD5=[af5cf9083d2f5027a075c10c7c341556]
+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseMisplacedObject
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "<:boom:> Tidy" as node0  #9594f7 {
+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node9  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node10  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node11  #ddbefa {
+  Object = boxRed
+  Place = binRed
+}
+object "null" as node14<<null>>
+object "null" as node15<<null>>
+object "null" as node16<<null>>
+object "null" as node17<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : MoveObjectToCorrectPlace[1]
+node0 *- - node17 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+node10 *- - node11 : MisplacedObject
+node10 *- - node14 : PickUpObject
+node10 *- - node15 : DropObjectAtRightPlace
+node10 *- - node16 : RobotIsReadyToPickToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-009-2023.08.30.17.22.51.183-parsePickUpObject.svg b/pages/docs/cleaning/AST-009-2023.08.30.17.22.51.183-parsePickUpObject.svg
new file mode 100644
index 0000000000000000000000000000000000000000..f7f604cde7fc42e4815bee742e3beca8196f6db6
--- /dev/null
+++ b/pages/docs/cleaning/AST-009-2023.08.30.17.22.51.183-parsePickUpObject.svg
@@ -0,0 +1,84 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parsePickUpObject
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "<:boom:> Tidy" as node0  #9594f7 {
+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node9  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node10  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node11  #c17dff {
+  Object = boxRed
+  Place = binRed
+}
+object "<:boom:> PickUpObject" as node14  #d4d4fc {
+}
+object "null" as node15<<null>>
+object "null" as node16<<null>>
+object "null" as node17<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : MoveObjectToCorrectPlace[1]
+node0 *- - node17 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+node10 *- - node11 : MisplacedObject
+node10 *- - node14 : PickUpObject
+node10 *- - node15 : DropObjectAtRightPlace
+node10 *- - node16 : RobotIsReadyToPickToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-010-2023.08.30.17.22.57.844-parseRobotIsReadyToDropToken.svg b/pages/docs/cleaning/AST-010-2023.08.30.17.22.57.844-parseRobotIsReadyToDropToken.svg
new file mode 100644
index 0000000000000000000000000000000000000000..8d8bc7b61a51f438e44658fef92f97d28fe01755
--- /dev/null
+++ b/pages/docs/cleaning/AST-010-2023.08.30.17.22.57.844-parseRobotIsReadyToDropToken.svg
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseRobotIsReadyToDropToken
+skinparam Shadowing false
+skinparam backgroundColor white
+
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+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node9  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node10  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node11  #c17dff {
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+  Place = binRed
+}
+object "<:boom:> PickUpObject" as node14  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node15  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node16  #ddbefa {
+}
+object "null" as node17<<null>>
+object "null" as node18<<null>>
+
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+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : MoveObjectToCorrectPlace[1]
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+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
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+node10 *- - node14 : PickUpObject
+node10 *- - node15 : DropObjectAtRightPlace
+node10 *- - node17 : RobotIsReadyToPickToken
+node15 *- - node16 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-011-2023.08.30.17.22.57.973-parseDropObjectAtRightPlace.svg b/pages/docs/cleaning/AST-011-2023.08.30.17.22.57.973-parseDropObjectAtRightPlace.svg
new file mode 100644
index 0000000000000000000000000000000000000000..f019ef0a05adf227c0c41663b6712da8e83b13ae
--- /dev/null
+++ b/pages/docs/cleaning/AST-011-2023.08.30.17.22.57.973-parseDropObjectAtRightPlace.svg
@@ -0,0 +1,89 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseDropObjectAtRightPlace
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "<:boom:> Tidy" as node0  #9594f7 {
+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node9  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node10  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node11  #c17dff {
+  Object = boxRed
+  Place = binRed
+}
+object "<:boom:> PickUpObject" as node14  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node15  #d4d4fc {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node16  #c17dff {
+}
+object "null" as node17<<null>>
+object "null" as node18<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : MoveObjectToCorrectPlace[1]
+node0 *- - node18 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+node10 *- - node11 : MisplacedObject
+node10 *- - node14 : PickUpObject
+node10 *- - node15 : DropObjectAtRightPlace
+node10 *- - node17 : RobotIsReadyToPickToken
+node15 *- - node16 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-012-2023.08.30.17.23.04.245-parseRobotIsReadyToPickToken.svg b/pages/docs/cleaning/AST-012-2023.08.30.17.23.04.245-parseRobotIsReadyToPickToken.svg
new file mode 100644
index 0000000000000000000000000000000000000000..844dbd028723120d470ccf323611374cac2fd649
--- /dev/null
+++ b/pages/docs/cleaning/AST-012-2023.08.30.17.23.04.245-parseRobotIsReadyToPickToken.svg
@@ -0,0 +1,90 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseRobotIsReadyToPickToken
+skinparam Shadowing false
+skinparam backgroundColor white
+
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+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node9  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node10  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node11  #c17dff {
+  Object = boxRed
+  Place = binRed
+}
+object "<:boom:> PickUpObject" as node14  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node15  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node16  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node17  #ddbefa {
+}
+object "null" as node18<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : MoveObjectToCorrectPlace[1]
+node0 *- - node18 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+node10 *- - node11 : MisplacedObject
+node10 *- - node14 : PickUpObject
+node10 *- - node15 : DropObjectAtRightPlace
+node10 *- - node17 : RobotIsReadyToPickToken
+node15 *- - node16 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-013-2023.08.30.17.23.04.375-parseMoveObjectToCorrectPlace.svg b/pages/docs/cleaning/AST-013-2023.08.30.17.23.04.375-parseMoveObjectToCorrectPlace.svg
new file mode 100644
index 0000000000000000000000000000000000000000..8811abf61011f9778e74ba2d5155c9c9b48f5d7b
--- /dev/null
+++ b/pages/docs/cleaning/AST-013-2023.08.30.17.23.04.375-parseMoveObjectToCorrectPlace.svg
@@ -0,0 +1,90 @@
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+reverse link node15 to node16--><g id="link_node15_node16"><path codeLine="64" d="M1527.5,342.7169 C1527.5,366.2069 1527.5,396.4969 1527.5,415.1469 " fill="none" id="node15-backto-node16" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1527.5,329.4669,1523.5,335.4669,1527.5,341.4669,1531.5,335.4669,1527.5,329.4669" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="170" x="1528.5" y="381.3638">RobotIsReadyToDropToken</text></g><!--MD5=[875ba154937ad15bd546eee3f066340c]
+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseMoveObjectToCorrectPlace
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "<:boom:> Tidy" as node0  #9594f7 {
+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node9  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node10  #d4d4fc {
+}
+object "AvailableObject && RightPlace" as node11  #c17dff {
+  Object = boxRed
+  Place = binRed
+}
+object "<:boom:> PickUpObject" as node14  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node15  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node16  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node17  #c17dff {
+}
+object "null" as node18<<null>>
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : MoveObjectToCorrectPlace[1]
+node0 *- - node18 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+node10 *- - node11 : MisplacedObject
+node10 *- - node14 : PickUpObject
+node10 *- - node15 : DropObjectAtRightPlace
+node10 *- - node17 : RobotIsReadyToPickToken
+node15 *- - node16 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-014-2023.08.30.17.23.04.482-parseEmptyTable.svg b/pages/docs/cleaning/AST-014-2023.08.30.17.23.04.482-parseEmptyTable.svg
new file mode 100644
index 0000000000000000000000000000000000000000..725133669034b24c78a31675bc1a06e881749959
--- /dev/null
+++ b/pages/docs/cleaning/AST-014-2023.08.30.17.23.04.482-parseEmptyTable.svg
@@ -0,0 +1,91 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title parseEmptyTable
+skinparam Shadowing false
+skinparam backgroundColor white
+
+object "<:boom:> Tidy" as node0  #9594f7 {
+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
+  Object = boxGreen
+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node9  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node10  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node11  #c17dff {
+  Object = boxRed
+  Place = binRed
+}
+object "<:boom:> PickUpObject" as node14  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node15  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node16  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node17  #c17dff {
+}
+object "EmptyTable" as node18  #ddbefa {
+}
+
+node0 *- - node1 : NotEmptyTable
+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : MoveObjectToCorrectPlace[1]
+node0 *- - node18 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+node10 *- - node11 : MisplacedObject
+node10 *- - node14 : PickUpObject
+node10 *- - node15 : DropObjectAtRightPlace
+node10 *- - node17 : RobotIsReadyToPickToken
+node15 *- - node16 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-015-2023.08.30.17.23.04.592-parseTidy.svg b/pages/docs/cleaning/AST-015-2023.08.30.17.23.04.592-parseTidy.svg
new file mode 100644
index 0000000000000000000000000000000000000000..be4b24ee5556e73a352870df1a520b25657f4762
--- /dev/null
+++ b/pages/docs/cleaning/AST-015-2023.08.30.17.23.04.592-parseTidy.svg
@@ -0,0 +1,91 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
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+}
+hide <<NTA>> stereotype
+
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+skinparam backgroundColor white
+
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+}
+object "¬EmptyTable" as node1  #c17dff {
+}
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+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
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+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
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+}
+object "MoveObjectToCorrectPlace" as node10  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node11  #c17dff {
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+}
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+}
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+}
+object "RobotIsIdle && RobotHasItemAttached" as node16  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node17  #c17dff {
+}
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+}
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+node15 *- - node16 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/AST-016-2023.08.30.17.23.04.699-complete.svg b/pages/docs/cleaning/AST-016-2023.08.30.17.23.04.699-complete.svg
new file mode 100644
index 0000000000000000000000000000000000000000..1be17ce0fcec8681cadcc37292a140e066ffce24
--- /dev/null
+++ b/pages/docs/cleaning/AST-016-2023.08.30.17.23.04.699-complete.svg
@@ -0,0 +1,91 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
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+}
+hide <<NTA>> stereotype
+
+scale 1.0
+title complete
+skinparam Shadowing false
+skinparam backgroundColor white
+
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+}
+object "¬EmptyTable" as node1  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node2  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node3  #c17dff {
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+  Place = binGreen
+}
+object "<:boom:> PickUpObject" as node6  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node7  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node8  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node9  #c17dff {
+}
+object "MoveObjectToCorrectPlace" as node10  #9594f7 {
+}
+object "AvailableObject && RightPlace" as node11  #c17dff {
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+}
+object "<:boom:> PickUpObject" as node14  #9594f7 {
+}
+object "<:boom:> DropObjectAtRightPlace" as node15  #9594f7 {
+}
+object "RobotIsIdle && RobotHasItemAttached" as node16  #c17dff {
+}
+object "RobotIsIdle && ¬RobotHasItemAttached" as node17  #c17dff {
+}
+object "EmptyTable" as node18  #c17dff {
+}
+
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+node0 *- - node2 : MoveObjectToCorrectPlace[0]
+node0 *- - node10 : MoveObjectToCorrectPlace[1]
+node0 *- - node18 : EmptyTable
+node2 *- - node3 : MisplacedObject
+node2 *- - node6 : PickUpObject
+node2 *- - node7 : DropObjectAtRightPlace
+node2 *- - node9 : RobotIsReadyToPickToken
+node7 *- - node8 : RobotIsReadyToDropToken
+node10 *- - node11 : MisplacedObject
+node10 *- - node14 : PickUpObject
+node10 *- - node15 : DropObjectAtRightPlace
+node10 *- - node17 : RobotIsReadyToPickToken
+node15 *- - node16 : RobotIsReadyToDropToken
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.35.713-initial.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.35.713-initial.svg
new file mode 100644
index 0000000000000000000000000000000000000000..d55e248e5740670b0a4d9a672ff52b36c1b89418
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.35.713-initial.svg
@@ -0,0 +1,96 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+}
+object "Pose" as node3  #cccccc {
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+  Z = 0.0
+}
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+  Color = green
+}
+object "Pose" as node9  #cccccc {
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+  Z = 0.0
+}
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+  Color = red
+}
+object "Pose" as node13  #cccccc {
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+  Z = 0.0
+}
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+}
+object "Pose" as node17  #cccccc {
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+}
+object "Robot" as node19  #cccccc {
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+}
+object "null" as node21<<null>>
+object "DecisionTree" as node22 <<NTA>> #cccccc {
+}
+
+node0 *- - node1 : Table
+node0 *-[#blue]- node22 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node19 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node19 - -> node21 : AttachedItem
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.35.930-Robot.addSelection()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.35.930-Robot.addSelection()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..72c59cc333fa216b814aadaff664d7d0f3879c0d
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.35.930-Robot.addSelection()-AFTER.svg
@@ -0,0 +1,101 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
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+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+}
+object "Pose" as node3  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
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+}
+object "Pose" as node9  #cccccc {
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+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
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+  Color = red
+}
+object "Pose" as node13  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
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+  Color = green
+}
+object "Pose" as node17  #cccccc {
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+  Y = 0.0
+  Z = 0.0
+}
+object "Robot" as node19  #cccccc {
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+}
+object "null" as node21<<null>>
+object "Selection" as node22  #47ba4c {
+  Object = boxRed
+}
+object "DecisionTree" as node23 <<NTA>> #cccccc {
+}
+
+node0 *- - node1 : Table
+node0 *- - node22 : Selection[0]
+node0 *-[#blue]- node23 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node19 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node19 - -> node21 : AttachedItem
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.135-Robot.addSelection()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.135-Robot.addSelection()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..3487623a6894c07c03f1cac6ea298b68a687a293
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.135-Robot.addSelection()-AFTER.svg
@@ -0,0 +1,106 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+  Color = red
+}
+object "Pose" as node3  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
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+  Color = green
+}
+object "Pose" as node9  #cccccc {
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+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
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+  Color = red
+}
+object "Pose" as node13  #cccccc {
+  X = -5.0
+  Y = -10.0
+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
+  Name = boxGreen
+  Color = green
+}
+object "Pose" as node17  #cccccc {
+  X = -5.0
+  Y = 0.0
+  Z = 0.0
+}
+object "Robot" as node19  #cccccc {
+  IsIdle = true
+}
+object "null" as node21<<null>>
+object "Selection" as node22  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node23  #47ba4c {
+  Object = boxGreen
+}
+object "DecisionTree" as node24 <<NTA>> #cccccc {
+}
+
+node0 *- - node1 : Table
+node0 *- - node22 : Selection[0]
+node0 *- - node23 : Selection[1]
+node0 *-[#blue]- node24 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node19 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node19 - -> node21 : AttachedItem
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.299-Robot.addSelection()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.299-Robot.addSelection()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..9cec2ac7434d3f67e055bb9d01a2a6d17829c28a
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.299-Robot.addSelection()-AFTER.svg
@@ -0,0 +1,126 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
+  Name = binRed
+  Color = red
+}
+object "Pose" as node3  #cccccc {
+  X = -10.0
+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
+  Name = binGreen
+  Color = green
+}
+object "Pose" as node9  #cccccc {
+  X = -10.0
+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
+  Name = boxRed
+  Color = red
+}
+object "Pose" as node13  #cccccc {
+  X = -5.0
+  Y = -10.0
+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
+  Name = boxGreen
+  Color = green
+}
+object "Pose" as node17  #cccccc {
+  X = -5.0
+  Y = 0.0
+  Z = 0.0
+}
+object "Robot" as node19  #cccccc {
+  IsIdle = true
+}
+object "null" as node21<<null>>
+object "Selection" as node22  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node23  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node24  #47ba4c {
+  Object = binGreen
+}
+object "DecisionTree" as node25 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node26 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node27 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node28 <<NTA>> #cccccc {
+  Target = binGreen
+}
+
+node0 *- - node1 : Table
+node0 *- - node22 : Selection[0]
+node0 *- - node23 : Selection[1]
+node0 *- - node24 : Selection[2]
+node0 *-[#blue]- node25 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node19 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node19 - -> node21 : AttachedItem
+node25 *- - node26 : Node[0]
+node26 *- - node27 : Node[0]
+node27 *- - node28 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.472-Robot.addSelection()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.472-Robot.addSelection()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..6d0991ca4e24bfd24a9f0fda32c845b78fa28a34
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.472-Robot.addSelection()-AFTER.svg
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+  Color = red
+}
+object "Pose" as node3  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
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+  Color = green
+}
+object "Pose" as node9  #cccccc {
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+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
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+  Color = red
+}
+object "Pose" as node13  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
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+  Color = green
+}
+object "Pose" as node17  #cccccc {
+  X = -5.0
+  Y = 0.0
+  Z = 0.0
+}
+object "Robot" as node19  #cccccc {
+  IsIdle = true
+}
+object "null" as node21<<null>>
+object "Selection" as node22  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node23  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node24  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node25  #47ba4c {
+  Object = binRed
+}
+object "DecisionTree" as node26 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node27 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node28 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node29 <<NTA>> #cccccc {
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+}
+
+node0 *- - node1 : Table
+node0 *- - node22 : Selection[0]
+node0 *- - node23 : Selection[1]
+node0 *- - node24 : Selection[2]
+node0 *- - node25 : Selection[3]
+node0 *-[#blue]- node26 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node19 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node19 - -> node21 : AttachedItem
+node26 *- - node27 : Node[0]
+node27 *- - node28 : Node[0]
+node28 *- - node29 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.694-Robot.addSelection()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.694-Robot.addSelection()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..d12d4bffa75b7d8dcd5c5b09e8850ef616c75935
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.694-Robot.addSelection()-AFTER.svg
@@ -0,0 +1,146 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
+  Name = binRed
+  Color = red
+}
+object "Pose" as node3  #cccccc {
+  X = -10.0
+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
+  Name = binGreen
+  Color = green
+}
+object "Pose" as node9  #cccccc {
+  X = -10.0
+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
+  Name = boxRed
+  Color = red
+}
+object "Pose" as node13  #cccccc {
+  X = -5.0
+  Y = -10.0
+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
+  Name = boxGreen
+  Color = green
+}
+object "Pose" as node17  #cccccc {
+  X = -5.0
+  Y = 0.0
+  Z = 0.0
+}
+object "Robot" as node19  #cccccc {
+  IsIdle = true
+}
+object "null" as node21<<null>>
+object "Selection" as node22  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node23  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node24  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node25  #cccccc {
+  Object = binRed
+}
+object "Selection" as node26  #47ba4c {
+  Object = boxRed
+}
+object "DecisionTree" as node27 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node28 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node29 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node30 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node31 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node32 <<NTA>> #cccccc {
+  Target = binRed
+}
+
+node0 *- - node1 : Table
+node0 *- - node22 : Selection[0]
+node0 *- - node23 : Selection[1]
+node0 *- - node24 : Selection[2]
+node0 *- - node25 : Selection[3]
+node0 *- - node26 : Selection[4]
+node0 *-[#blue]- node27 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node19 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node19 - -> node21 : AttachedItem
+node27 *- - node28 : Node[0]
+node28 *- - node29 : Node[0]
+node28 *- - node31 : Node[1]
+node29 *- - node30 : Node[0]
+node31 *- - node32 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.916-Robot.addSelection()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.916-Robot.addSelection()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..86fe2e66bcbfe1ae3e03c52be0399cf4852c7770
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.36.916-Robot.addSelection()-AFTER.svg
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
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+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+}
+object "Pose" as node3  #cccccc {
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+}
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+}
+object "Pose" as node9  #cccccc {
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+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
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+}
+object "Pose" as node13  #cccccc {
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+  Z = 0.0
+}
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+}
+object "Pose" as node17  #cccccc {
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+}
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+}
+object "null" as node21<<null>>
+object "Selection" as node22  #cccccc {
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+}
+object "Selection" as node23  #cccccc {
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+}
+object "Selection" as node24  #cccccc {
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+}
+object "Selection" as node25  #cccccc {
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+}
+object "Selection" as node26  #47ba4c {
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+}
+object "DecisionTree" as node27 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node28 <<NTA>> #cccccc {
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+}
+object "ColorSelection" as node29 <<NTA>> #cccccc {
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+}
+object "Decision" as node30 <<NTA>> #cccccc {
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+}
+object "ColorSelection" as node31 <<NTA>> #cccccc {
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+}
+object "Decision" as node32 <<NTA>> #cccccc {
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+}
+
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+node0 *- - node23 : Selection[2]
+node0 *- - node24 : Selection[3]
+node0 *- - node25 : Selection[4]
+node0 *- - node26 : Selection[5]
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+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
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+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node19 - -> node21 : AttachedItem
+node27 *- - node28 : Node[0]
+node28 *- - node29 : Node[0]
+node28 *- - node31 : Node[1]
+node29 *- - node30 : Node[0]
+node31 *- - node32 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.37.370-Robot.setIsIdle()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.37.370-Robot.setIsIdle()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..f6dff8adf605c0eb3a3dc4370673905e200eeea8
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.37.370-Robot.setIsIdle()-AFTER.svg
@@ -0,0 +1,146 @@
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+
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+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
+  Name = binRed
+  Color = red
+}
+object "Pose" as node3  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
+  Name = binGreen
+  Color = green
+}
+object "Pose" as node9  #cccccc {
+  X = -10.0
+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
+  Name = boxRed
+  Color = red
+}
+object "Pose" as node13  #cccccc {
+  X = -5.0
+  Y = -10.0
+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
+  Name = boxGreen
+  Color = green
+}
+object "Pose" as node17  #cccccc {
+  X = -5.0
+  Y = 0.0
+  Z = 0.0
+}
+object "Robot" as node19  #47ba4c {
+  IsIdle = false
+}
+object "null" as node21<<null>>
+object "Selection" as node22  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node23  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node24  #cccccc {
+  Object = binRed
+}
+object "Selection" as node25  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node26  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node27 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node28 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node29 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node30 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node31 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node32 <<NTA>> #cccccc {
+  Target = binRed
+}
+
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+node0 *- - node22 : Selection[1]
+node0 *- - node23 : Selection[2]
+node0 *- - node24 : Selection[3]
+node0 *- - node25 : Selection[4]
+node0 *- - node26 : Selection[5]
+node0 *-[#blue]- node27 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node19 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node19 - -> node21 : AttachedItem
+node27 *- - node28 : Node[0]
+node28 *- - node29 : Node[0]
+node28 *- - node31 : Node[1]
+node29 *- - node30 : Node[0]
+node31 *- - node32 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.40.610-Robot.setAttachedItem()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.40.610-Robot.setAttachedItem()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..0c244098c9a95a66fdfa455e4d3ca81727217bda
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.40.610-Robot.setAttachedItem()-AFTER.svg
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+link node19 to node16--><g id="link_node19_node16"><path codeLine="106" d="M758.81,272.5 C724.87,272.5 679.29,272.5 640.91,272.5 " fill="none" id="node19-to-node16" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="635.79,272.5,644.79,276.5,640.79,272.5,644.79,268.5,635.79,272.5" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="87" x="653.75" y="265.5669">AttachedItem</text></g><!--MD5=[add0e5ddcae6036c15522d78d5b7a844]
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
+  Name = binRed
+  Color = red
+}
+object "Pose" as node3  #cccccc {
+  X = -10.0
+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
+  Name = binGreen
+  Color = green
+}
+object "Pose" as node9  #cccccc {
+  X = -10.0
+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
+  Name = boxRed
+  Color = red
+}
+object "Pose" as node13  #cccccc {
+  X = -5.0
+  Y = -10.0
+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
+  Name = boxGreen
+  Color = green
+}
+object "Pose" as node17  #cccccc {
+  X = -5.0
+  Y = 0.0
+  Z = 0.0
+}
+object "Robot" as node19  #47ba4c {
+  IsIdle = false
+}
+object "Selection" as node21  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node22  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node23  #cccccc {
+  Object = binRed
+}
+object "Selection" as node24  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node25  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node26 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node27 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node28 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node29 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node30 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node31 <<NTA>> #cccccc {
+  Target = binRed
+}
+
+node0 *- - node1 : Table
+node0 *- - node21 : Selection[1]
+node0 *- - node22 : Selection[2]
+node0 *- - node23 : Selection[3]
+node0 *- - node24 : Selection[4]
+node0 *- - node25 : Selection[5]
+node0 *-[#blue]- node26 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node19 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node19 -[norank]-> node16 : AttachedItem
+node26 *- - node27 : Node[0]
+node27 *- - node28 : Node[0]
+node27 *- - node30 : Node[1]
+node28 *- - node29 : Node[0]
+node30 *- - node31 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.40.843-MovableObject.setPose()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.40.843-MovableObject.setPose()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..b8f1bd9b9f7c814e82b0c358fb751bd7d3cf2134
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.40.843-MovableObject.setPose()-AFTER.svg
@@ -0,0 +1,145 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+  Color = red
+}
+object "Pose" as node3  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
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+  Color = green
+}
+object "Pose" as node9  #cccccc {
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+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
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+  Color = red
+}
+object "Pose" as node13  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
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+  Color = green
+}
+object "Pose" as node17  #47ba4c {
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+  Y = -1.0
+  Z = -1.0
+}
+object "Robot" as node20  #cccccc {
+  IsIdle = false
+}
+object "Selection" as node22  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node23  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node24  #cccccc {
+  Object = binRed
+}
+object "Selection" as node25  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node26  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node27 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node28 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node29 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node30 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node31 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node32 <<NTA>> #cccccc {
+  Target = binRed
+}
+
+node0 *- - node1 : Table
+node0 *- - node22 : Selection[1]
+node0 *- - node23 : Selection[2]
+node0 *- - node24 : Selection[3]
+node0 *- - node25 : Selection[4]
+node0 *- - node26 : Selection[5]
+node0 *-[#blue]- node27 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node20 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node20 -[norank]-> node16 : AttachedItem
+node27 *- - node28 : Node[0]
+node28 *- - node29 : Node[0]
+node28 *- - node31 : Node[1]
+node29 *- - node30 : Node[0]
+node31 *- - node32 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.44.046-Robot.setIsIdle()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.44.046-Robot.setIsIdle()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..99f5cbef4d820d20e67826624eeea0e751540f4e
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.44.046-Robot.setIsIdle()-AFTER.svg
@@ -0,0 +1,145 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+}
+object "Pose" as node3  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
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+  Color = green
+}
+object "Pose" as node9  #cccccc {
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+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
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+  Color = red
+}
+object "Pose" as node13  #cccccc {
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+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
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+  Color = green
+}
+object "Pose" as node17  #cccccc {
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+  Z = -1.0
+}
+object "Robot" as node20  #47ba4c {
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+}
+object "Selection" as node22  #cccccc {
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+}
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+}
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+}
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+}
+object "Selection" as node26  #cccccc {
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+}
+object "DecisionTree" as node27 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node28 <<NTA>> #cccccc {
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+}
+object "ColorSelection" as node29 <<NTA>> #cccccc {
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+}
+object "Decision" as node30 <<NTA>> #cccccc {
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+}
+object "ColorSelection" as node31 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node32 <<NTA>> #cccccc {
+  Target = binRed
+}
+
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+node0 *- - node23 : Selection[2]
+node0 *- - node24 : Selection[3]
+node0 *- - node25 : Selection[4]
+node0 *- - node26 : Selection[5]
+node0 *-[#blue]- node27 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node20 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node20 -[norank]-> node16 : AttachedItem
+node27 *- - node28 : Node[0]
+node28 *- - node29 : Node[0]
+node28 *- - node31 : Node[1]
+node29 *- - node30 : Node[0]
+node31 *- - node32 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.44.393-Robot.setIsIdle()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.44.393-Robot.setIsIdle()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..ce4875522361ee126c470a67e9834a3452095412
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.44.393-Robot.setIsIdle()-AFTER.svg
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+  Color = red
+}
+object "Pose" as node3  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
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+  Color = green
+}
+object "Pose" as node9  #cccccc {
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+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
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+  Color = red
+}
+object "Pose" as node13  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
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+  Color = green
+}
+object "Pose" as node17  #cccccc {
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+  Y = -1.0
+  Z = -1.0
+}
+object "Robot" as node20  #47ba4c {
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+}
+object "Selection" as node22  #cccccc {
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+}
+object "Selection" as node23  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node24  #cccccc {
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+}
+object "Selection" as node25  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node26  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node27 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node28 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node29 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node30 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node31 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node32 <<NTA>> #cccccc {
+  Target = binRed
+}
+
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+node0 *- - node22 : Selection[1]
+node0 *- - node23 : Selection[2]
+node0 *- - node24 : Selection[3]
+node0 *- - node25 : Selection[4]
+node0 *- - node26 : Selection[5]
+node0 *-[#blue]- node27 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
+node1 *- - node20 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node20 -[norank]-> node16 : AttachedItem
+node27 *- - node28 : Node[0]
+node28 *- - node29 : Node[0]
+node28 *- - node31 : Node[1]
+node29 *- - node30 : Node[0]
+node31 *- - node32 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.47.502-Robot.setAttachedItem()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.47.502-Robot.setAttachedItem()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..17596ee84d6063fd9cdb4378e6f9a68c3a420db1
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.47.502-Robot.setAttachedItem()-AFTER.svg
@@ -0,0 +1,146 @@
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+}
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+}
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+}
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+  Z = 0.0
+}
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+  Color = green
+}
+object "Pose" as node9  #cccccc {
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+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
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+  Color = red
+}
+object "Pose" as node13  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "MovableObject" as node16  #cccccc {
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+  Color = green
+}
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+  Y = -1.0
+  Z = -1.0
+}
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+}
+object "null" as node22<<null>>
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+}
+object "Selection" as node24  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node25  #cccccc {
+  Object = binRed
+}
+object "Selection" as node26  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node27  #cccccc {
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+}
+object "DecisionTree" as node28 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node29 <<NTA>> #cccccc {
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+}
+object "ColorSelection" as node30 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node31 <<NTA>> #cccccc {
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+}
+object "ColorSelection" as node32 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node33 <<NTA>> #cccccc {
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+}
+
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+node0 *- - node24 : Selection[2]
+node0 *- - node25 : Selection[3]
+node0 *- - node26 : Selection[4]
+node0 *- - node27 : Selection[5]
+node0 *-[#blue]- node28 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : PhysicalObject[3]
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+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 *- - node17 : Pose
+node20 - -> node22 : AttachedItem
+node28 *- - node29 : Node[0]
+node29 *- - node30 : Node[0]
+node29 *- - node32 : Node[1]
+node30 *- - node31 : Node[0]
+node32 *- - node33 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.50.697-Robot.setIsIdle()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.50.697-Robot.setIsIdle()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..539bd3048872a0e5d0b248f7c0d53639a809e495
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.50.697-Robot.setIsIdle()-AFTER.svg
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+}
+object "Pose" as node3  #cccccc {
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+  Y = -10.0
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+}
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+}
+object "Pose" as node9  #cccccc {
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+  Z = 0.0
+}
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+  Color = red
+}
+object "Pose" as node13  #cccccc {
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+  Z = 0.0
+}
+object "Robot" as node16  #47ba4c {
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+}
+object "null" as node18<<null>>
+object "Selection" as node19  #cccccc {
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+}
+object "Selection" as node21  #cccccc {
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+}
+object "Selection" as node22  #cccccc {
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+}
+object "Selection" as node23  #cccccc {
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+}
+object "Selection" as node24  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node25 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node26 <<NTA>> #cccccc {
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+}
+object "ColorSelection" as node27 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node28 <<NTA>> #cccccc {
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+}
+object "ColorSelection" as node29 <<NTA>> #cccccc {
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+}
+object "Decision" as node30 <<NTA>> #cccccc {
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+}
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+node0 *- - node21 : Selection[2]
+node0 *- - node22 : Selection[3]
+node0 *- - node23 : Selection[4]
+node0 *- - node24 : Selection[5]
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+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 - -> node18 : AttachedItem
+node25 *- - node26 : Node[0]
+node26 *- - node27 : Node[0]
+node26 *- - node29 : Node[1]
+node27 *- - node28 : Node[0]
+node29 *- - node30 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.51.188-Robot.setIsIdle()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.51.188-Robot.setIsIdle()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..614618362488991981afd71bc38ef2d69238b606
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.51.188-Robot.setIsIdle()-AFTER.svg
@@ -0,0 +1,133 @@
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+}
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+node2 *- - node3 : Pose
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+node26 *- - node27 : Node[0]
+node26 *- - node29 : Node[1]
+node27 *- - node28 : Node[0]
+node29 *- - node30 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.54.469-Robot.setAttachedItem()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.54.469-Robot.setAttachedItem()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..e4ae92d762a788308e5e5d6abadc6d02d5254b7f
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.54.469-Robot.setAttachedItem()-AFTER.svg
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+link node16 to node12--><g id="link_node16_node12"><path codeLine="95" d="M583.67,272.5 C549.21,272.5 502.95,272.5 465.16,272.5 " fill="none" id="node16-to-node12" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="460.12,272.5,469.12,276.5,465.12,272.5,469.12,268.5,460.12,272.5" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="87" x="478.5" y="265.5669">AttachedItem</text></g><!--MD5=[078644cd2ccbd03428eb0af40d6ca025]
+reverse link node24 to node25--><g id="link_node24_node25"><path codeLine="96" d="M1279.5,174.06 C1279.5,197.41 1279.5,229.02 1279.5,249.82 " fill="none" id="node24-backto-node25" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1279.5,160.76,1275.5,166.76,1279.5,172.76,1283.5,166.76,1279.5,160.76" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="52" x="1280.5" y="208.0669">Node[0]</text></g><!--MD5=[00b44a7906828c9f6aab45e5ac1ed51d]
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+reverse link node28 to node29--><g id="link_node28_node29"><path codeLine="100" d="M1373.78,454.34 C1374.7,479.33 1375.91,512.21 1376.69,533.6 " fill="none" id="node28-backto-node29" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1373.29,441.05,1369.5168,447.1952,1373.738,453.0416,1377.5112,446.8965,1373.29,441.05" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="52" x="1377.5" y="500.0669">Node[0]</text></g><!--MD5=[c953482e61e8ecbb526a1502aa559d52]
+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
+  Name = binRed
+  Color = red
+}
+object "Pose" as node3  #cccccc {
+  X = -10.0
+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
+  Name = binGreen
+  Color = green
+}
+object "Pose" as node9  #cccccc {
+  X = -10.0
+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
+  Name = boxRed
+  Color = red
+}
+object "Pose" as node13  #cccccc {
+  X = -5.0
+  Y = -10.0
+  Z = 0.0
+}
+object "Robot" as node16  #47ba4c {
+  IsIdle = false
+}
+object "Selection" as node18  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node20  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node21  #cccccc {
+  Object = binRed
+}
+object "Selection" as node22  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node23  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node24 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node25 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node26 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node27 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node28 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node29 <<NTA>> #cccccc {
+  Target = binRed
+}
+
+node0 *- - node1 : Table
+node0 *- - node18 : Selection[1]
+node0 *- - node20 : Selection[2]
+node0 *- - node21 : Selection[3]
+node0 *- - node22 : Selection[4]
+node0 *- - node23 : Selection[5]
+node0 *-[#blue]- node24 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 -[norank]-> node12 : AttachedItem
+node24 *- - node25 : Node[0]
+node25 *- - node26 : Node[0]
+node25 *- - node28 : Node[1]
+node26 *- - node27 : Node[0]
+node28 *- - node29 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.54.605-MovableObject.setPose()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.54.605-MovableObject.setPose()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..310be634c2872782a951530680fdc9cfa0910be6
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.54.605-MovableObject.setPose()-AFTER.svg
@@ -0,0 +1,132 @@
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style="stroke:#181818;stroke-width:0.5;" x1="292.5" x2="342.5" y1="144.7969" y2="144.7969"/></g><g id="elem_node2"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="121" x="7" y="242"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="22" x="56.5" y="256.9951">Bin</text><line style="stroke:#181818;stroke-width:0.5;" x1="8" x2="127" y1="262.2969" y2="262.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="109" x="13" y="279.292">Name = binRed</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="13" y="295.5889">Color = red</text></g><g id="elem_node3"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="79" x="28" y="380"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="50" y="394.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="29" x2="106" y1="400.2969" y2="400.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="67" x="34" y="417.292">X = -10.0</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="65" x="34" y="433.5889">Y = -10.0</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="52" x="34" y="449.8857">Z = 0.0</text></g><g id="elem_node8"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="136" x="163.5" y="242"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="22" x="220.5" y="256.9951">Bin</text><line style="stroke:#181818;stroke-width:0.5;" x1="164.5" x2="298.5" y1="262.2969" y2="262.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="124" x="169.5" y="279.292">Name = binGreen</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="97" x="169.5" y="295.5889">Color = green</text></g><g id="elem_node9"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="79" x="192" y="380"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="214" y="394.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="193" x2="270" y1="400.2969" y2="400.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="67" x="198" y="417.292">X = -10.0</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="51" x="198" y="433.5889">Y = 0.0</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="52" x="198" y="449.8857">Z = 0.0</text></g><g id="elem_node12"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="125" x="335" y="242"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="102" x="346.5" y="256.9951">MovableObject</text><line style="stroke:#181818;stroke-width:0.5;" x1="336" x2="459" y1="262.2969" y2="262.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="113" x="341" y="279.292">Name = boxRed</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="341" y="295.5889">Color = red</text></g><g id="elem_node13"><rect fill="#47BA4C" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="70" x="362.5" y="380"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="380" y="394.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="363.5" x2="431.5" y1="400.2969" y2="400.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="58" x="368.5" y="417.292">X = -1.0</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="56" x="368.5" y="433.5889">Y = -1.0</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="57" x="368.5" y="449.8857">Z = -1.0</text></g><g id="elem_node16"><rect fill="#CCCCCC" height="44.5938" style="stroke:#181818;stroke-width:0.5;" width="99" x="584" y="250"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="42" x="612.5" y="264.9951">Robot</text><line style="stroke:#181818;stroke-width:0.5;" x1="585" x2="682" y1="270.2969" y2="270.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="87" x="590" y="287.292">IsIdle = false</text></g><g id="elem_node18"><rect fill="#CCCCCC" height="44.5938" style="stroke:#181818;stroke-width:0.5;" width="145" x="379" 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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+  Color = red
+}
+object "Pose" as node3  #cccccc {
+  X = -10.0
+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
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+  Color = green
+}
+object "Pose" as node9  #cccccc {
+  X = -10.0
+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
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+  Color = red
+}
+object "Pose" as node13  #47ba4c {
+  X = -1.0
+  Y = -1.0
+  Z = -1.0
+}
+object "Robot" as node16  #cccccc {
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+}
+object "Selection" as node18  #cccccc {
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+}
+object "Selection" as node20  #cccccc {
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+}
+object "Selection" as node21  #cccccc {
+  Object = binRed
+}
+object "Selection" as node22  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node23  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node24 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node25 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node26 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node27 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node28 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node29 <<NTA>> #cccccc {
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+}
+
+node0 *- - node1 : Table
+node0 *- - node18 : Selection[1]
+node0 *- - node20 : Selection[2]
+node0 *- - node21 : Selection[3]
+node0 *- - node22 : Selection[4]
+node0 *- - node23 : Selection[5]
+node0 *-[#blue]- node24 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 -[norank]-> node12 : AttachedItem
+node24 *- - node25 : Node[0]
+node25 *- - node26 : Node[0]
+node25 *- - node28 : Node[1]
+node26 *- - node27 : Node[0]
+node28 *- - node29 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.57.777-Robot.setIsIdle()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.57.777-Robot.setIsIdle()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..06f7520e07b58ec96c55ba0c62e1e8c48168e9a3
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.57.777-Robot.setIsIdle()-AFTER.svg
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+reverse link node24 to node25--><g id="link_node24_node25"><path codeLine="96" d="M1279.5,174.06 C1279.5,197.41 1279.5,229.02 1279.5,249.82 " fill="none" id="node24-backto-node25" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1279.5,160.76,1275.5,166.76,1279.5,172.76,1283.5,166.76,1279.5,160.76" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="52" x="1280.5" y="208.0669">Node[0]</text></g><!--MD5=[00b44a7906828c9f6aab45e5ac1ed51d]
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
+  Name = binRed
+  Color = red
+}
+object "Pose" as node3  #cccccc {
+  X = -10.0
+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
+  Name = binGreen
+  Color = green
+}
+object "Pose" as node9  #cccccc {
+  X = -10.0
+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
+  Name = boxRed
+  Color = red
+}
+object "Pose" as node13  #cccccc {
+  X = -1.0
+  Y = -1.0
+  Z = -1.0
+}
+object "Robot" as node16  #47ba4c {
+  IsIdle = true
+}
+object "Selection" as node18  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node20  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node21  #cccccc {
+  Object = binRed
+}
+object "Selection" as node22  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node23  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node24 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node25 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node26 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node27 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node28 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node29 <<NTA>> #cccccc {
+  Target = binRed
+}
+
+node0 *- - node1 : Table
+node0 *- - node18 : Selection[1]
+node0 *- - node20 : Selection[2]
+node0 *- - node21 : Selection[3]
+node0 *- - node22 : Selection[4]
+node0 *- - node23 : Selection[5]
+node0 *-[#blue]- node24 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 -[norank]-> node12 : AttachedItem
+node24 *- - node25 : Node[0]
+node25 *- - node26 : Node[0]
+node25 *- - node28 : Node[1]
+node26 *- - node27 : Node[0]
+node28 *- - node29 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.57.974-Robot.setIsIdle()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.57.974-Robot.setIsIdle()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..7bb1bf4fd75e1b8a4e252fc59f3875e554c25e4f
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.22.57.974-Robot.setIsIdle()-AFTER.svg
@@ -0,0 +1,132 @@
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style="stroke:#181818;stroke-width:0.5;" x1="292.5" x2="342.5" y1="144.7969" y2="144.7969"/></g><g id="elem_node2"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="121" x="7" y="242"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="22" x="56.5" y="256.9951">Bin</text><line style="stroke:#181818;stroke-width:0.5;" x1="8" x2="127" y1="262.2969" y2="262.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="109" x="13" y="279.292">Name = binRed</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="13" y="295.5889">Color = red</text></g><g id="elem_node3"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="79" x="28" y="380"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="50" y="394.9951">Pose</text><line 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font-size="14" lengthAdjust="spacing" textLength="58" x="368.5" y="417.292">X = -1.0</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="56" x="368.5" y="433.5889">Y = -1.0</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="57" x="368.5" y="449.8857">Z = -1.0</text></g><g id="elem_node16"><rect fill="#47BA4C" height="44.5938" style="stroke:#181818;stroke-width:0.5;" width="99" x="584" y="250"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="42" x="612.5" y="264.9951">Robot</text><line style="stroke:#181818;stroke-width:0.5;" x1="585" x2="682" y1="270.2969" y2="270.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="87" x="590" y="287.292">IsIdle = false</text></g><g id="elem_node18"><rect fill="#CCCCCC" height="44.5938" style="stroke:#181818;stroke-width:0.5;" width="145" x="379" 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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
+  Name = binRed
+  Color = red
+}
+object "Pose" as node3  #cccccc {
+  X = -10.0
+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
+  Name = binGreen
+  Color = green
+}
+object "Pose" as node9  #cccccc {
+  X = -10.0
+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
+  Name = boxRed
+  Color = red
+}
+object "Pose" as node13  #cccccc {
+  X = -1.0
+  Y = -1.0
+  Z = -1.0
+}
+object "Robot" as node16  #47ba4c {
+  IsIdle = false
+}
+object "Selection" as node18  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node20  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node21  #cccccc {
+  Object = binRed
+}
+object "Selection" as node22  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node23  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node24 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node25 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node26 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node27 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node28 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node29 <<NTA>> #cccccc {
+  Target = binRed
+}
+
+node0 *- - node1 : Table
+node0 *- - node18 : Selection[1]
+node0 *- - node20 : Selection[2]
+node0 *- - node21 : Selection[3]
+node0 *- - node22 : Selection[4]
+node0 *- - node23 : Selection[5]
+node0 *-[#blue]- node24 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 -[norank]-> node12 : AttachedItem
+node24 *- - node25 : Node[0]
+node25 *- - node26 : Node[0]
+node25 *- - node28 : Node[1]
+node26 *- - node27 : Node[0]
+node28 *- - node29 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.23.01.134-Robot.setAttachedItem()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.23.01.134-Robot.setAttachedItem()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..3f2e9cb43d42128225c9510ba40719389d6b8903
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.23.01.134-Robot.setAttachedItem()-AFTER.svg
@@ -0,0 +1,133 @@
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+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
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+  Color = red
+}
+object "Pose" as node3  #cccccc {
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+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
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+  Color = green
+}
+object "Pose" as node9  #cccccc {
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+  Y = 0.0
+  Z = 0.0
+}
+object "MovableObject" as node12  #cccccc {
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+  Color = red
+}
+object "Pose" as node13  #cccccc {
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+  Y = -1.0
+  Z = -1.0
+}
+object "Robot" as node16  #47ba4c {
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+}
+object "null" as node18<<null>>
+object "Selection" as node19  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node21  #cccccc {
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+}
+object "Selection" as node22  #cccccc {
+  Object = binRed
+}
+object "Selection" as node23  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node24  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node25 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node26 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node27 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node28 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node29 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node30 <<NTA>> #cccccc {
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+}
+
+node0 *- - node1 : Table
+node0 *- - node19 : Selection[1]
+node0 *- - node21 : Selection[2]
+node0 *- - node22 : Selection[3]
+node0 *- - node23 : Selection[4]
+node0 *- - node24 : Selection[5]
+node0 *-[#blue]- node25 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : PhysicalObject[2]
+node1 *- - node16 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 *- - node13 : Pose
+node16 - -> node18 : AttachedItem
+node25 *- - node26 : Node[0]
+node26 *- - node27 : Node[0]
+node26 *- - node29 : Node[1]
+node27 *- - node28 : Node[0]
+node29 *- - node30 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.23.04.221-Robot.setIsIdle()-AFTER.svg b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.23.04.221-Robot.setIsIdle()-AFTER.svg
new file mode 100644
index 0000000000000000000000000000000000000000..663a2fcfa4862c0e5a921e1d78284e3cc530acc6
--- /dev/null
+++ b/pages/docs/cleaning/Context-RobotWorld-2023.08.30.17.23.04.221-Robot.setIsIdle()-AFTER.svg
@@ -0,0 +1,120 @@
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+reverse link node0 to node19--><g id="link_node0_node19"><path codeLine="77" d="M759.45,49.27 C772.49,56.29 786.36,64.44 798.5,73 C818.38,87.03 838.75,105.66 853.39,119.95 " fill="none" id="node0-backto-node19" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="747.77,43.14,751.224,49.4701,758.3956,48.7165,754.9416,42.3864,747.77,43.14" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="77" x="819.5" y="86.0669">Selection[4]</text></g><!--MD5=[eb75d0b31851f6439bfbad6b2204eb58]
+reverse link node0 to node21--><g id="link_node0_node21"><path codeLine="78" d="M772,36.84 C810.83,44.73 861.95,56.85 905.5,73 C939.8,85.72 976.66,105.01 1003.02,119.89 " fill="none" id="node0-backto-node21" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="759.07,34.28,764.1767,39.3713,770.8405,36.6156,765.7338,31.5243,759.07,34.28" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="77" x="945.5" y="86.0669">Selection[5]</text></g><!--MD5=[9ca80cef5e9e1abb505064116d98a0cc]
+reverse link node0 to node22--><g id="link_node0_node22"><path codeLine="79" d="M772.45,30.28 C837.56,35.93 943.31,48.21 1031.5,73 C1077.41,85.91 1127.56,108.75 1159.49,124.48 " fill="none" id="node0-backto-node22" style="stroke:#0000FF;stroke-width:1.0;"/><polygon fill="#0000FF" points="759.2,29.17,764.845,33.657,771.1581,30.172,765.513,25.685,759.2,29.17" style="stroke:#0000FF;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="92" x="1083.5" y="86.0669">DecisionTree()</text></g><!--MD5=[f60b1340598d55a2a52e32a1b47098f9]
+reverse link node1 to node2--><g id="link_node1_node2"><path codeLine="80" d="M191.53,152.37 C165.22,160 131.13,173.3 107.5,195 C93.7,207.67 83.84,226.21 77.36,241.86 " fill="none" id="node1-backto-node2" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="204.1,148.97,197.2625,146.6791,192.518,152.1095,199.3555,154.4004,204.1,148.97" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="110" x="108.5" y="208.0669">PhysicalObject[0]</text></g><!--MD5=[aab71d439334b3932df860227df3fc49]
+reverse link node1 to node8--><g id="link_node1_node8"><path codeLine="81" d="M228.45,173.71 C228.05,180.7 227.7,188.11 227.5,195 C227.05,210.42 227.83,227.57 228.82,241.72 " fill="none" id="node1-backto-node8" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="229.25,160.66,224.8882,166.4024,228.5113,172.6372,232.8731,166.8948,229.25,160.66" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="110" x="228.5" y="208.0669">PhysicalObject[1]</text></g><!--MD5=[d94bece8bcc5e6aa1fd28b319d850caa]
+reverse link node1 to node12--><g id="link_node1_node12"><path codeLine="82" d="M268.78,162.33 C270.71,163.24 272.63,164.14 274.5,165 C304.86,179.01 319.14,172.09 343.5,195 C359.46,210.01 369.95,233.01 375.99,249.87 " fill="none" id="node1-backto-node12" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="256.93,156.65,260.6119,162.8503,267.7514,161.8363,264.0695,155.636,256.93,156.65" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="37" x="358.5" y="208.0669">Robot</text></g><!--MD5=[baaefe4032084066602bb2b837123d86]
+reverse link node2 to node3--><g id="link_node2_node3"><path codeLine="83" d="M67.5,316.57 C67.5,336.66 67.5,360.36 67.5,379.74 " fill="none" id="node2-backto-node3" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="67.5,303.34,63.5,309.34,67.5,315.34,71.5,309.34,67.5,303.34" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="31" x="68.5" y="346.0669">Pose</text></g><!--MD5=[23515da47c2099ccdcd5e2c9427fca29]
+reverse link node8 to node9--><g id="link_node8_node9"><path codeLine="84" d="M231.5,316.57 C231.5,336.66 231.5,360.36 231.5,379.74 " fill="none" id="node8-backto-node9" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="231.5,303.34,227.5,309.34,231.5,315.34,235.5,309.34,231.5,303.34" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="31" x="232.5" y="346.0669">Pose</text></g><!--MD5=[e6aa5b81438d853fcb8a719677843a3d]
+link node12 to node14--><g id="link_node12_node14"><path codeLine="85" d="M382.5,295.06 C382.5,321.98 382.5,367.81 382.5,395.11 " fill="none" id="node12-to-node14" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="382.5,400.31,386.5,391.31,382.5,395.31,378.5,391.31,382.5,400.31" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="87" x="383.5" y="346.0669">AttachedItem</text></g><!--MD5=[0372593ddec4d590477786accacbb672]
+reverse link node22 to node23--><g id="link_node22_node23"><path codeLine="86" d="M1192.5,174.06 C1192.5,197.41 1192.5,229.02 1192.5,249.82 " fill="none" id="node22-backto-node23" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1192.5,160.76,1188.5,166.76,1192.5,172.76,1196.5,166.76,1192.5,160.76" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="52" x="1193.5" y="208.0669">Node[0]</text></g><!--MD5=[5bb46bb4eeb754667a6cd2eb9a95b33c]
+reverse link node23 to node24--><g id="link_node23_node24"><path codeLine="87" d="M1173.06,306.43 C1156.88,333.84 1134.31,372.09 1120.31,395.79 " fill="none" id="node23-backto-node24" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1179.77,295.06,1173.273,298.1887,1173.6621,305.3893,1180.1592,302.2606,1179.77,295.06" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="52" x="1156.5" y="346.0669">Node[0]</text></g><!--MD5=[a0815fcb4215d9528b94a17a861415fc]
+reverse link node23 to node26--><g id="link_node23_node26"><path codeLine="88" d="M1208.69,306.8 C1222,334.19 1240.48,372.19 1251.95,395.79 " fill="none" id="node23-backto-node26" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1202.98,295.06,1202.0048,302.2049,1208.225,305.8531,1209.2002,298.7082,1202.98,295.06" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="52" x="1231.5" y="346.0669">Node[1]</text></g><!--MD5=[078644cd2ccbd03428eb0af40d6ca025]
+reverse link node24 to node25--><g id="link_node24_node25"><path codeLine="89" d="M1105.19,454.34 C1103.54,479.33 1101.36,512.21 1099.95,533.6 " fill="none" id="node24-backto-node25" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1106.07,441.05,1101.6831,446.7732,1105.2788,453.0239,1109.6657,447.3007,1106.07,441.05" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="52" x="1104.5" y="500.0669">Node[0]</text></g><!--MD5=[add0e5ddcae6036c15522d78d5b7a844]
+reverse link node26 to node27--><g id="link_node26_node27"><path codeLine="90" d="M1263.78,454.34 C1264.7,479.33 1265.91,512.21 1266.69,533.6 " fill="none" id="node26-backto-node27" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="1263.29,441.05,1259.5168,447.1952,1263.738,453.0416,1267.5112,446.8965,1263.29,441.05" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="52" x="1267.5" y="500.0669">Node[0]</text></g><!--MD5=[fbc2d110a02e9be3030ecdf31f81c3e1]
+@startuml
+skinparam object<<null>> {
+   BorderColor transparent
+   BackgroundColor transparent
+   shadowing false
+}
+hide <<null>> stereotype
+skinparam object<<NTA>> {
+    BorderColor blue
+}
+hide <<NTA>> stereotype
+
+scale 1.0
+
+object "RobotWorld" as node0  #cccccc {
+}
+object "Table" as node1  #cccccc {
+}
+object "Bin" as node2  #cccccc {
+  Name = binRed
+  Color = red
+}
+object "Pose" as node3  #cccccc {
+  X = -10.0
+  Y = -10.0
+  Z = 0.0
+}
+object "Bin" as node8  #cccccc {
+  Name = binGreen
+  Color = green
+}
+object "Pose" as node9  #cccccc {
+  X = -10.0
+  Y = 0.0
+  Z = 0.0
+}
+object "Robot" as node12  #47ba4c {
+  IsIdle = true
+}
+object "null" as node14<<null>>
+object "Selection" as node15  #cccccc {
+  Object = boxGreen
+}
+object "Selection" as node17  #cccccc {
+  Object = binGreen
+}
+object "Selection" as node18  #cccccc {
+  Object = binRed
+}
+object "Selection" as node19  #cccccc {
+  Object = boxRed
+}
+object "Selection" as node21  #cccccc {
+  Object = boxRed
+}
+object "DecisionTree" as node22 <<NTA>> #cccccc {
+}
+object "SizeSelection" as node23 <<NTA>> #cccccc {
+  Size = medium
+}
+object "ColorSelection" as node24 <<NTA>> #cccccc {
+  Color = green
+}
+object "Decision" as node25 <<NTA>> #cccccc {
+  Target = binGreen
+}
+object "ColorSelection" as node26 <<NTA>> #cccccc {
+  Color = red
+}
+object "Decision" as node27 <<NTA>> #cccccc {
+  Target = binRed
+}
+
+node0 *- - node1 : Table
+node0 *- - node15 : Selection[1]
+node0 *- - node17 : Selection[2]
+node0 *- - node18 : Selection[3]
+node0 *- - node19 : Selection[4]
+node0 *- - node21 : Selection[5]
+node0 *-[#blue]- node22 : DecisionTree()
+node1 *- - node2 : PhysicalObject[0]
+node1 *- - node8 : PhysicalObject[1]
+node1 *- - node12 : Robot
+node2 *- - node3 : Pose
+node8 *- - node9 : Pose
+node12 - -> node14 : AttachedItem
+node22 *- - node23 : Node[0]
+node23 *- - node24 : Node[0]
+node23 *- - node26 : Node[1]
+node24 *- - node25 : Node[0]
+node26 *- - node27 : Node[0]
+@enduml
+
+PlantUML version 1.2022.2(Sat Mar 05 17:30:19 CET 2022)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Default Encoding: UTF-8
+Language: en
+Country: GB
+--></g></svg>
\ No newline at end of file
diff --git a/pages/docs/cleaning/make-sort.bash b/pages/docs/cleaning/make-sort.bash
new file mode 100644
index 0000000000000000000000000000000000000000..8026841b04636921e557bd4021c1a57f136e6161
--- /dev/null
+++ b/pages/docs/cleaning/make-sort.bash
@@ -0,0 +1,20 @@
+#!/bin/bash
+rm -f table.csv
+for filename in *.svg
+do
+  fwe="${filename%.svg}"
+  split=`echo $fwe | tr "-" " "`
+  echo "$split $filename" >> table.csv
+done
+sort -t ' ' -k 3,3 table.csv > table-sorted.csv
+
+cat << EOF > ../cleaning-parsing.md
+# Parsing the Robot Sorting World (Current Version)
+
+| Action                     | Context Update  | Timestamp    | Parse Tree                                                                             |
+|----------------------------|-----------------|--------------|----------------------------------------------------------------------------------------|
+EOF
+
+awk '{print "| " (($1=="AST")?$4:"-") " | " (($1=="Context")?$4:"-") " | " $3 " | ![](cleaning/" (($1=="AST")?$5:$6) ") |"}' table-sorted.csv >> ../cleaning-parsing.md
+rm table.csv
+rm table-sorted.csv
diff --git a/pages/mkdocs.yml b/pages/mkdocs.yml
index 5c853666897cd929b009f94f879644fde1a60169..8da513c9e5903c740db1f33a3197d8b73963ca8b 100644
--- a/pages/mkdocs.yml
+++ b/pages/mkdocs.yml
@@ -7,9 +7,12 @@ nav:
   - "Load-Unload Grammar":
       - "Overview": load.md
       - "Parsing": load-parsing.md
-  - "Sorting Example":
+  - "Sorting Example (ACSOS Demo Paper Version)":
       - "Overview": acsos.md
       - "Parsing": acsos-parsing.md
+  - "Sorting Example (Current Version)":
+        - "Overview": cleaning.md
+        - "Parsing": cleaning-parsing.md
   - "API documentation": ragdoc/index.html
 
 theme: