cupro kitchen intro

psConfig/demos/cupro.conf

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

psGrammar/demos/cupro/commands.jsgf

+#JSGF V1.0;
+grammar commands;
+
+public <command> = [<robot>] ( <followMe> | <ordering> | <learn> | <rec> | <count> | <explain> | <listen> | <hand> | <see> | <save> | <who> | <gripper> | <demo> | <grasp>);
+
+<robot> = (tiago | robot | tobi)
+
+<followMe> = (follow me);
+<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);
+<listen> = (go to location);
+<hand> = (wait for waving);
+<see> = (tell me what you see);
+<save> = (save location);
+<who> = (who are you);
+<gripper> = (show me your gripper);
+<demo> = (end the (demonstration | demo));
+<grasp> = ((grasp | give ) [me] ( an | the ) object);

psGrammar/demos/cupro/kitchen_demo.jsgf

+#JSGF V1.0;
+grammar commands;
+
+public <command> = [<robot>] ( <demo> | <save> | <place> | <introduction>);
+
+<robot> = (robot | tiago | tobi);
+
+<demo> = (demo);
+<save> = (save location);
+<place> = (go to);
+<introduction> = (introduce)