intial gpsr robocup changes

psGrammar/tasks/gpsr/gpsr23.jsgf

@@ -171,10 +171,10 @@ public <sentence> 		= [could you | robot | tobi | tiago] [please] <command>;
 <N_posture> 			= sitting | standing | lying down;
 <N_three>           = three;
 
-<N_object>                  	= bleach | (dishwasher tab) | (tray) | (basket) | (bag) | (fork) | (knife) | spoon | plate | bowl | cup | milk | coke | milo | banana | pear | orange | peach | mustard | spam | sugar | pringles | crackers | cornflakes | cloth;
-<N_category>                	= (cleaning supplies) | containers | cutlery | drinks | fruits | (pantry items) | snacks; 
-<N_room>                    	= kitchen | (living room) | bedroom | (dining room);
-<N_roomTwo> 			= kitchen | (living room) | bedroom | (dining room);
+<N_object>                  	= (tray) | (basket) | (bag) | sponge | cleanser | (red wine) | (juice pack) | (cola) | (tropical juice) | (milk) | (iced tea) | (orange juice) | (tuna) | (tomato soup) | spam | mustard | (strawberry jello) | (chocolate jello) | (coffe grounds) | sugar | pear | plum | peach | lemon | orange | strawberry | banana | apple | (tennis ball) | (soccer ball) | (rubiks cube) | dice | baseball | pringles | cornflakes | cheezit | spoon | plate | cup | fork | bowl | knife;
+<N_category>                	= containers | (cleaning supplies) | drinks | food | fruits | toys | snacks | dishes;
+<N_room>                    	= kitchen | (living room) | bedroom | study;
+<N_roomTwo> 			= kitchen | (living room) | bedroom | study;
 <N_placement>               	= (small cabinet) | (side table) | (ikea table);
 <N_placementTwo>            	= (small cabinet) | (side table) | (ikea table);
 <N_beacon>                  	= (seat one) | (seat two) | (seat three) | (seat four) | (seat five) | (seat six) | (small cabinet) | (side table) | (ikea table) | exit | entrance;