Merge branch 'master' of gitlab.ub.uni-bielefeld.de:CLF/Robocup/robocup-speechrec

psGrammar/demos/demoDynamic.jsgf

 #JSGF V1.0;
 grammar commands;
 
-public <command> = [<robot>] ( <introduce> | <save> | <garbage>| <followHand> );
+public <command> = [<robot>] ( <introduce> | <save> | <garbage>| <followHand> | <waving> | <gravity> | <handover_give> | <handober_take> | <trigger_fetch> | <trigger_sg> | <trigger_littering> | <trigger_breakfast> | <trigger_people> | <trigger_goto>);
 
 <robot> = (tobi | robot | tiago);
 
@@ -10,27 +10,30 @@ public <command> = [<robot>] ( <introduce> | <save> | <garbage>| <followHand> );
 <garbage> = (((take out the trash) | (take out the garbage)));
 <followHand> = (come with me) | (follow by hand);
 
+<waving> = ( search for [a] [waving] person);
+<gravity> = (gravity compensation) | (show me your gripper) | (switch to gravity mode);
+<handover_give> = ((handover) | (give it to me));
+<handober_take> = (hold this);
+
+<trigger_fetch> = ((bring | deliver) [me] [an] object);
+<trigger_sg> = (store the groceries);
+<trigger_littering> = (check for littering);
+<trigger_breakfast> = (serve breakfast);
+<trigger_people> = (describe [the] people);
+<trigger_goto> = (go to location);
 
 
-<wave> = (wait for me);
-<goTo> = (go to location);
-<followMe> = (follow me);
 
-<gravity> = (gravity compensation) | (show me your gripper) | (switch to gravity mode);
-<exit> = (stop the task);
 
 
-<search> = ( search for [a] [waving] person);
+
+
+<followMe> = (follow me);
+<exit> = (stop the task);
 <describe> = (tell me what you see);
 <difference> = (spot the difference);
-<bring> = (deliver [an object]);
-<take> = (handover);
-<pick> = (grasp [an object]);
-
 <ordering> = (start taking orders) | (take my order);
-<learn> = (learn a person);
-<rec> = (recognize me);
 <count> = (count the people);
 <explain> = (what can you do) | (explain your skills);
 <demo> = (end the (demonstration | demo));
-<grasp> = ((grasp | give ) [me] ( an | the ) object);
+<grasp> = ((grasp) [me] ( an | the ) object);