diff --git a/src/main/jastadd/cleanup/SemanticActions.jadd b/src/main/jastadd/cleanup/SemanticActions.jadd
index b3e0a424c49c46ddd2d3416e32ad941c11e73c2a..056e96cdb18db2f28e4230838ab0b86f4b7a094e 100644
--- a/src/main/jastadd/cleanup/SemanticActions.jadd
+++ b/src/main/jastadd/cleanup/SemanticActions.jadd
@@ -4,17 +4,14 @@ aspect SemanticActions {
     RobotScene scene = world.asRobotScene();
     System.out.println("performing semantic action for element Pick");
     String objectName = object();
-    java.util.concurrent.Executors.newSingleThreadExecutor().submit(new Runnable() {
-      @Override
-      public void run() {
-        scene.getRobot().setIsIdle(false);
-        try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
-        MovableObject object = scene.getTable().getMovableObjectByName(objectName);
-        scene.getRobot().setAttachedItem(object);
-        object.setPose(Pose.of(-1,-1,-1));
-        try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
-        scene.getRobot().setIsIdle(true);
-      }
+    java.util.concurrent.Executors.newSingleThreadExecutor().submit(() -> {
+      scene.getRobot().setIsIdle(false);
+      try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
+      MovableObject object = scene.getTable().getMovableObjectByName(objectName);
+      scene.getRobot().setAttachedItem(object);
+      object.setPose(Pose.of(-1,-1,-1));
+      try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
+      scene.getRobot().setIsIdle(true);
     });
   }
 
@@ -23,18 +20,15 @@ aspect SemanticActions {
     System.out.println("performing semantic action for element Pick");
     String objectName = object();
     String placeName = place();
-    java.util.concurrent.Executors.newSingleThreadExecutor().submit(new Runnable() {
-      @Override
-      public void run() {
-        scene.getRobot().setIsIdle(false);
-        try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
-        MovableObject object = scene.getTable().getMovableObjectByName(objectName);
-        Bin bin = scene.getTable().getBinByName(placeName);
-        object.setPose(Pose.of(bin.getPose()));
-        scene.getRobot().setAttachedItem(null);
-        try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
-        scene.getRobot().setIsIdle(true);
-      }
+    java.util.concurrent.Executors.newSingleThreadExecutor().submit(() -> {
+      scene.getRobot().setIsIdle(false);
+      try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
+      MovableObject object = scene.getTable().getMovableObjectByName(objectName);
+      Bin bin = scene.getTable().getBinByName(placeName);
+      object.setPose(Pose.of(bin.getPose()));
+      scene.getRobot().setAttachedItem(null);
+      try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
+      scene.getRobot().setIsIdle(true);
     });
   }