add Grammar and Config for guideAndGrasp

psConfig/demos/guideAndGrasp.conf

+[main]
+startdb=43;
+uttdb=47;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+alsadevice=sysdefault;
+
+[pocketsphinxinstance]
+name=confirm;
+jsgf=../../psGrammar/demos/guiderobot.jsgf;
+rsbscope=/speechrec/psa/object;
+bestpath=no;
+autoload=yes;

psGrammar/demos/guiderobot.jsgf

+#JSGF V1.0;
+grammar learning;
+
+public <command> = [meka] <cmd> <obj>;
+
+<cmd> =  grasp the;
+<obj> =  coke | drink;