demodyn

psGrammar/demos/demoDynamic.jsgf

@@ -11,7 +11,7 @@ public <command> = [<robot>] ( <save> | <wave> | <who> | <goTo> | <followMe> | <
 <goTo> = (go to location);
 <followHand> = (come with me) | (give me your hand);
 <gravity> = (gravity compensation) | (show me your gripper) | (switch to gravity mode);
-<exit> = (exit);
+<exit> = (stop the task);
 
 <followMe> = (follow me);
 <handover> = handover;

psGrammar/demos/learning.jsgf

@@ -10,4 +10,4 @@ public <command> = [tobi] (<save> | <stop> );
 <location> = (table <numberOfTable>) | (shelf) | (bar) | (bin) | (garbage collection);
 <numberOfTable> = (one | two | three | four | five | six | seven | eight | nine);
 
-<stop> = stop | (wait [here]);
+<stop> = (stop the task) | (wait here);

psGrammar/demos/listen.jsgf

@@ -5,11 +5,11 @@ public <command> = [tobi] ( <goto> | <stop> );
 
 <goto> = ([go to] <NP_location>);
 
-<stop> = ((abort save) | (stop));
+<stop> = ((abort listen) | (stop the task));
 
 <NP_location> = ([the] <location>);
 
-<location> = (table <numberOfTable>) | shelf | bar | bin;
+<location> = (table <numberOfTable>) | shelf | bar | bin | (garbage collection);
 <numberOfTable> = (one | two | three | four | five | six | seven | eight | nine);