diff --git a/pages/docs/cleaning-parsing.md b/pages/docs/cleaning-parsing.md
index a5d61432e647cc941664e7687b5d02e7caaf5ecb..f3da680dc178cb3abfa38f9bfbcae66f2d345260 100644
--- a/pages/docs/cleaning-parsing.md
+++ b/pages/docs/cleaning-parsing.md
@@ -1,41 +1,42 @@
+# Parsing the Robot Sorting World (Current Version)
 
 | 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) |
+| - | initial | 2023.08.30.17.22.35.713 | ![](cleaning/) |
+| - | Robot.addSelection() | 2023.08.30.17.22.35.930 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.35.930-Robot.addSelection()-AFTER.svg) |
+| - | Robot.addSelection() | 2023.08.30.17.22.36.135 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.36.135-Robot.addSelection()-AFTER.svg) |
+| - | Robot.addSelection() | 2023.08.30.17.22.36.299 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.36.299-Robot.addSelection()-AFTER.svg) |
+| - | Robot.addSelection() | 2023.08.30.17.22.36.472 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.36.472-Robot.addSelection()-AFTER.svg) |
+| - | Robot.addSelection() | 2023.08.30.17.22.36.694 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.36.694-Robot.addSelection()-AFTER.svg) |
+| - | Robot.addSelection() | 2023.08.30.17.22.36.916 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.36.916-Robot.addSelection()-AFTER.svg) |
+| initial | - | 2023.08.30.17.22.37.084 | ![](cleaning/AST-000-2023.08.30.17.22.37.084-initial.svg) |
+| parseNotEmptyTable | - | 2023.08.30.17.22.37.118 | ![](cleaning/AST-001-2023.08.30.17.22.37.118-parseNotEmptyTable.svg) |
+| parseMisplacedObject | - | 2023.08.30.17.22.37.222 | ![](cleaning/AST-002-2023.08.30.17.22.37.222-parseMisplacedObject.svg) |
+| parsePickUpObject | - | 2023.08.30.17.22.37.354 | ![](cleaning/AST-003-2023.08.30.17.22.37.354-parsePickUpObject.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.37.370 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.37.370-Robot.setIsIdle()-AFTER.svg) |
+| - | Robot.setAttachedItem() | 2023.08.30.17.22.40.610 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.40.610-Robot.setAttachedItem()-AFTER.svg) |
+| - | MovableObject.setPose() | 2023.08.30.17.22.40.843 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.40.843-MovableObject.setPose()-AFTER.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.44.046 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.44.046-Robot.setIsIdle()-AFTER.svg) |
+| parseRobotIsReadyToDropToken | - | 2023.08.30.17.22.44.077 | ![](cleaning/AST-004-2023.08.30.17.22.44.077-parseRobotIsReadyToDropToken.svg) |
+| parseDropObjectAtRightPlace | - | 2023.08.30.17.22.44.299 | ![](cleaning/AST-005-2023.08.30.17.22.44.299-parseDropObjectAtRightPlace.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.44.393 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.44.393-Robot.setIsIdle()-AFTER.svg) |
+| - | Robot.setAttachedItem() | 2023.08.30.17.22.47.502 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.47.502-Robot.setAttachedItem()-AFTER.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.50.697 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.50.697-Robot.setIsIdle()-AFTER.svg) |
+| parseRobotIsReadyToPickToken | - | 2023.08.30.17.22.50.740 | ![](cleaning/AST-006-2023.08.30.17.22.50.740-parseRobotIsReadyToPickToken.svg) |
+| parseMoveObjectToCorrectPlace | - | 2023.08.30.17.22.50.845 | ![](cleaning/AST-007-2023.08.30.17.22.50.845-parseMoveObjectToCorrectPlace.svg) |
+| parseMisplacedObject | - | 2023.08.30.17.22.51.015 | ![](cleaning/AST-008-2023.08.30.17.22.51.015-parseMisplacedObject.svg) |
+| parsePickUpObject | - | 2023.08.30.17.22.51.183 | ![](cleaning/AST-009-2023.08.30.17.22.51.183-parsePickUpObject.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.51.188 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.51.188-Robot.setIsIdle()-AFTER.svg) |
+| - | Robot.setAttachedItem() | 2023.08.30.17.22.54.469 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.54.469-Robot.setAttachedItem()-AFTER.svg) |
+| - | MovableObject.setPose() | 2023.08.30.17.22.54.605 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.54.605-MovableObject.setPose()-AFTER.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.57.777 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.57.777-Robot.setIsIdle()-AFTER.svg) |
+| parseRobotIsReadyToDropToken | - | 2023.08.30.17.22.57.844 | ![](cleaning/AST-010-2023.08.30.17.22.57.844-parseRobotIsReadyToDropToken.svg) |
+| parseDropObjectAtRightPlace | - | 2023.08.30.17.22.57.973 | ![](cleaning/AST-011-2023.08.30.17.22.57.973-parseDropObjectAtRightPlace.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.22.57.974 | ![](cleaning/Context-RobotWorld-2023.08.30.17.22.57.974-Robot.setIsIdle()-AFTER.svg) |
+| - | Robot.setAttachedItem() | 2023.08.30.17.23.01.134 | ![](cleaning/Context-RobotWorld-2023.08.30.17.23.01.134-Robot.setAttachedItem()-AFTER.svg) |
+| - | Robot.setIsIdle() | 2023.08.30.17.23.04.221 | ![](cleaning/Context-RobotWorld-2023.08.30.17.23.04.221-Robot.setIsIdle()-AFTER.svg) |
+| parseRobotIsReadyToPickToken | - | 2023.08.30.17.23.04.245 | ![](cleaning/AST-012-2023.08.30.17.23.04.245-parseRobotIsReadyToPickToken.svg) |
+| parseMoveObjectToCorrectPlace | - | 2023.08.30.17.23.04.375 | ![](cleaning/AST-013-2023.08.30.17.23.04.375-parseMoveObjectToCorrectPlace.svg) |
+| parseEmptyTable | - | 2023.08.30.17.23.04.482 | ![](cleaning/AST-014-2023.08.30.17.23.04.482-parseEmptyTable.svg) |
+| parseTidy | - | 2023.08.30.17.23.04.592 | ![](cleaning/AST-015-2023.08.30.17.23.04.592-parseTidy.svg) |
+| complete | - | 2023.08.30.17.23.04.699 | ![](cleaning/AST-016-2023.08.30.17.23.04.699-complete.svg) |