diff --git a/psGrammar/tasks/gpsr/eegpsr23.jsgf b/psGrammar/tasks/gpsr/eegpsr23.jsgf
index aad5b6b0edd493f2f3780454f02f0071c5b4f842..7f87e5f4db0cc91e01666fb9ee138af074d0e334 100644
--- a/psGrammar/tasks/gpsr/eegpsr23.jsgf
+++ b/psGrammar/tasks/gpsr/eegpsr23.jsgf
@@ -4,7 +4,7 @@ grammar speechRecognition;
 
 public <sentence> 		= [could you | robot | tobi | tiago] [please] <command> [please] ;
 
-<command>               = <CMDcountObj> | <CMDtransferObj> | <CMDfollow> | <CMDgreetTwo> | <cmdfndppl> | <cmdfndobj> | <cmdguide> | <cmdfollow> | <cmdfollowout> | <cmdincomplete> | <cmdman> | <complexman>;
+<command>               = <CMDcountObj> | <CMDtransferObj> | <CMDfollow> | <cmdfndppl> | <cmdfndobj> | <cmdguide> | <cmdfollow> | <cmdfollowout> | <cmdincomplete> | <cmdman> | <complexman>;
 
 <CMDcountObj>              = (<V_count> <NP_category> (items | objects) at <NP_placement> and (inform | (report to))  <NP_me>) | (<V_count> <NP_category> (items | objects) are in <NP_placement>);
 
@@ -12,11 +12,9 @@ public <sentence> 		= [could you | robot | tobi | tiago] [please] <command> [ple
 
 <CMDfollow>                = <V_follow> the person at <NP_beacon>;
 
-<CMDgreetTwo>                 = <V_meet> <NP_name> at <NP_beacon> then <V_meet> <NP_personalpron> in <NP_roomTwo>;
+<cmdfndppl> 			= <countPrsInRoom> | <talkInfoToGestPrsInRoom> | (<findPrsInRoom> and <answerQuestion>) | (<goToLoc> <findPrs> and (<answerQuestion> | <talkInfo>)) | (<answerToGestPrsInRoom>);
 
-<cmdfndppl> 			= <tellPrsInfoInLoc> | <countPrsInRoom> | <talkInfoToGestPrsInRoom> | (<findPrsInRoom> and <answerQuestion>) | (<goToLoc> <findPrs> and (<answerQuestion> | <talkInfo>)) | (<answerToGestPrsInRoom>);
-
-<cmdfndobj> 			= <findObjInRoom> | <countObjOnPlcmt> | <tellCatPropOnPlcmt> | <tellObjPropOnPlcmt> | <findThreeObjInRoom>;
+<cmdfndobj> 			= <findObjInRoom> | <countObjOnPlcmt> | <tellObjPropOnPlcmt> | <findThreeObjInRoom>;
 
 <cmdguide> 			= <guideNameFromBeacToBeac> | (<meetPrsAtBeac> and <guidePronToBeacon>) | (<goToLoc> <meetName> and <guidePronToBeacon>) | <guideNameToBeacFindAtBeac>;
 
@@ -25,9 +23,9 @@ public <sentence> 		= [could you | robot | tobi | tiago] [please] <command> [ple
 
 <cmdfollowout> 		= <meetPrsAtBeac> <followPrs> and (<goToLoc> | <guidePronBack>);
 
-<cmdincomplete> 		= <followName> | <deliverObjToMe> | <guideNameToBeacon> | ([<goToLoc>] <meetName> and <guidePronIncomplete>);
+<cmdincomplete> 		= <followName> | <deliverObjToMe> | <guideNameToBeacon>;
 
-<cmdman> 			= <bringMeObjFromPlcmt> | (<takeObjFromPlcmt> and (<deliverObjPronToMe> | <deliverObjToNameAtBeac>)) | ((<takeObjFromPlcmt> | <takeObj>) and <placeObjPronOnPlcmt>) | <deliverObjToGestPrsInRoom> | <bringMeObj> | (<goToLoc> <findObj> and (<deliverObjPronToMe> | <placeObjPronOnPlcmt>)) | <placeObjOnPlcmt> | <bringObjFromRoomToPlcmt>;
+<cmdman> 			= <bringMeObjFromPlcmt> | (<takeObjFromPlcmt> and (<deliverObjPronToMe> | <deliverObjToNameAtBeac>)) | ((<takeObjFromPlcmt> | <takeObj>) and <placeObjPronOnPlcmt>) | <deliverObjToGestPrsInRoom> | <bringMeObj> | (<goToLoc> <findObj> and (<deliverObjPronToMe> | <placeObjPronOnPlcmt>));
 
 <complexman> 			= <deliverObjToPlacement> | <bringMeRelObjFromPlcmt> | <bringMeShapedObjFromPlcmt>;
 
@@ -41,7 +39,7 @@ public <sentence> 		= [could you | robot | tobi | tiago] [please] <command> [ple
 <takeObjFromPlcmt> 		= <V_take>  <NP_object> <fromLocPrep> (<NP_room> | <NP_placement>);
 
 <findPrs> 			= <V_find> (<NP_gestperson> | <NP_genderperson> | <NP_poseperson>);
-<findPrsInRoom> 		= <V_find> (<NP_gestperson> | <NP_genderperson> | <NP_poseperson>) <inLocPrep> <NP_room>;
+<findPrsInRoom> 		= <V_find> (<NP_gestperson> | <NP_poseperson>) <inLocPrep> <NP_room>;
 
 <placeObjOnPlcmt> 		= <V_place> <NP_object> <placePrep>  <NP_placement>;
 <placeObjPronOnPlcmt> 		= <V_place> <NP_objectpron> <placePrep>  <NP_placement>;