robotZoo

pocketsphinxAdapter/config/demoChallange/followMe.conf~

+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=followMe;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/followMe/followMe.jsgf;
+rsbscope=/speechrec/psa/followMe;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;

pocketsphinxAdapter/grammar/bironLeave/bironLeave.jsgf~

+#JSGF V1.0;
+grammar BIRON_Leave;
+public <leave> = [biron] [please] leave [please] [biron];

pocketsphinxAdapter/grammar/cleanUp/cleanUp.jsgf~

+#JSGF V1.0;
+grammar ToBI_cleanUp;
+public <task> = [tobi] [please] <command> [please] [tobi];
+
+<command> = <cleanUp>;
+<cleanUp> = (clean | tidy) [up] [the] <rooms>;
+<rooms> = kitchen | bathroom | bedroom | living_room | dining_room | office;

pocketsphinxAdapter/grammar/demoChallange/demoChallange.jsgf~

+#JSGF V1.0;
+grammar ToBI_demoChallange;
+public <statement> = [tobi] [please] <command> [please] [tobi];
+
+<command> = <followMe> | <stop> | <cleanUp> | <grasp>;
+<followMe> = follow me;
+<stop> = stop [it];
+<cleanUp> = clean [up];
+<grasp> = grasp [object];

pocketsphinxAdapter/grammar/demoChallange/followMe.jsgf~

+#JSGF V1.0;
+grammar ToBI_followMe;
+public <statement> = [tobi] [please] (<followMe> | <stop>) [please] [tobi];
+
+<followMe> = follow me;
+<stop> = stop [it];

pocketsphinxAdapter/grammar/gprs/gprs.jsgf.small

+#JSGF V1.0;
+grammar ToBI_GPRS;
+public <task> = <command>;
+<command> = <bring_command>;
+<bring_command> = <bringVerb> <person> <article> <grab_object>;
+<bringVerb> = bring;
+<person> = me;
+<article> = a;
+<grab_object> = coke;

pocketsphinxAdapter/grammar/gprs/gprs.jsgf~

+#JSGF V1.0;
+grammar ToBI_GPRS;
+public <task> = [tobi] [(would | could) you] [please] <command> [please] [tobi];
+
+<command> = <bring_command> | <goto_command> | <follow_command> | <find_command> | <pointat_command> | <learn_command> | <cleanup_command> | <show_command>;
+
+<bring_command> = (<bringVerb> [<person>] [<article>] <grab_object> [<preposition> [<article>] <location>] [(to|into) [<article>] <second_location>]) | (<bringVerb> [<article>] <person> <preposition> <article> <location>);
+<goto_command> = <gotoVerb> [<further_preposition> | <preposition>] [<article>] <location>;
+<follow_command> = <followVerb> <person>;
+<find_command> = <findVerb> [<article>] (<grab_object> | <person>) [in [<article>] <location>];
+<pointat_command> = <pointatVerb> [<article>] <location>;
+<learn_command> = <learnVerb> [<article>] (<person> | <location>);
+<cleanup_command> = <cleanupVerb> [<article> <room_class>];
+<show_command> = <showVerb> [<person>] (([<article>] <grab_object>) | ([the (path|way) to] [<article>] <location>)); 
+
+<bringVerb> = bring | carry | retrieve | fetch | get | give | put | attend | deliver | convey | gather | (pick up) | take | lead | grasp;
+<findVerb> = detect | find | (search [for]) | (check [for]) | acquire | attain | obtain | (look for);
+<pointatVerb> = (point at) | denote | direct | indicate | suggest;
+<showVerb> = show | demonstrate | present;
+<gotoVerb> = navigate | go | approach | move | run | travel | ride;
+<followVerb> = follow | chase | (come after);
+<learnVerb> = learn | remember | memorize | determine | gain | study | train;
+<cleanupVerb> = (clean up) | (tidy up) | clear | (do up) | (straighten up);
+
+<person> = someone | <personal_pronoun> | <person_name> | (person | man | woman | guy | girl | boy | human | robot);
+<personal_pronoun> = him | her | me;
+<person_name> = james|john|robert|michael|william|david|richard|charles|linda|thomas|mary|patricia|joseph|dorothy|barbara|susan|jennifer|maria|elizabeth|margaret;
+
+<grab_object> = <cleaningstuff_class> | <drink_class> | <snack_class> | <food_class> | cleaningstuff | drink | snack | object | food | something | stuff | item;
+<cleaningstuff_class> = deodorant | toothpaste | cleaner | fresh_discs | sponge;
+<drink_class> = beer_bottle | fanta | beer_can | coke | seven_up | chocolate_milk | energy_drink | orange_juice | apple_juice | milk;
+<snack_class> = chocolate | cookies | drops | cracker;
+<food_class> = tomato_sauce | peanut_butter | chicken_noodles | marmalade | veggie_noodles | garlic_sauce; 
+
+<location> = <appliance_class> | <shelf_class> | <seat_class> | <table_class> | <room_class> | <utensil_class> | <door_class> | door | seating | utensil | location | room | appliance | shelf | seat | table | somewhere | apartment | furniture;
+
+<second_location> = <appliance_class> | <shelf_class> | <seat_class> | <table_class> | <room_class> | <utensil_class> | <door_class> | door | seating | utensil | location | room | appliance | shelf | seat | table | somewhere | apartment;
+
+<appliance_class> = stove | sink | fridge | tv_counter;
+<shelf_class> = bar | kitchen_counter | cupboard | dresser | side_board | book_shelf | pantry | cabinet;
+<seat_class> = <seating_class>;
+<seating_class> = bench | bed | sofa | armchair;
+<table_class> = hallway_table | side_table | kitchen_table | dinner_table | couch_table | bedsidetable;
+<door_class> = exit | entry;
+<room_class> = kitchen | living_room | bed_room | hallway;
+<utensil_class> = hanger | umbrella_stand | trash_bin | plant;
+<preposition> = into | to | from;
+<further_preposition> = (on [top of]) | in | (next to) | at | near;
+
+<article> = the | an | a | some | this;

pocketsphinxAdapter/grammar/leave/leave.jsgf~

+#JSGF V1.0;
+grammar ToBI_leave;
+public <leave> = [tobi] [please] leave [please] [tobi];

pocketsphinxAdapter/grammar/location/location.jsgf~

+#JSGF V1.0;
+grammar ToBI_location;
+public <statement> = <locationPhrase> [please];
+
+<locationPhrase> = [<verb>] [<preposition>] [the | this] <location>;
+
+<verb> = go | search | learn | remember | memorize;
+
+<location> = <appliance_class> | <shelf_class> | <seat_class> | <table_class> | <room_class> | <utensil_class> | <door_class>;
+
+<appliance_class> = stove | sink | fridge | tv_counter;
+<shelf_class> = bar | kitchen_counter | cupboard | dresser | side_board | book_shelf | pantry | cabinet;
+<seat_class> = <seating_class>;
+<seating_class> = bench | bed | sofa | armchair;
+<table_class> = hallway_table | side_table | kitchen_table | dinner_table | couch_table | bedsidetable;
+<room_class> = kitchen | living_room | bed_room | hallway;
+<utensil_class> = hanger | umbrella_stand | trash_bin | plant;
+<door_class> = exit | entry;
+<preposition> = into | (on [top of]) | in | ([next] to) | at | near | in | from;

pocketsphinxAdapter/grammar/person/person.jsgf~

+#JSGF V1.0;
+grammar ToBI_person;
+public <statement> = <naming>;
+<naming> = [(my name is) | (i am)] <name>;
+<name> = James | John | Robert | William | David | Richard | Michael | Charles | Joseph | Thomas
+	| Mary | Patricia | Linda | Barbara | Elizabeth | Jennifer | Maria | Susan | Margaret | Dorothy;

pocketsphinxAdapter/grammar/restaurant/restaurant.jsgf~

+#JSGF V1.0;
+grammar ToBI_restaurant;
+public <restaurant> = [tobi] [please] <command> [please] [tobi];
+<command> = <followMe> | <stop> | <beverages> | <ordering> | <deliveryLocations> | <savePlaceLeft> | <savePlaceRight> | <savePlace>;
+
+<followMe> = (follow me) | (come [(with me) | here]) | (keep up);
+<stop> = stop [this];
+<beverages> = <objectCategory> | <objects>;
+<objectCategory> = drinks | food;
+<objects> = <drinks> | <food>;
+
+<drinks> = beer_bottle | fanta | beer_can | coke | seven_up | chocolate_milk | energy_drink | orange_juice | apple_juice | milk;
+<food> = tomato_sauce | peanut_butter | chicken_noodles | marmalade | veggie_noodles | garlic_sauce;
+
+<ordering> = ordering;
+<deliveryLocations> = table (one | two | three);
+<savePlaceLeft> = left;
+<savePlaceRight> = right;
+<savePlace> = <save>;
+<save> = save [the] (place | location) [[to | on] [the | my] (<savePlaceRight> | <savePlaceLeft>)];

ps-config/robotZoo/robotZoo.conf

+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/followMe/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;

ps-config/robotZoo/robotZoo.conf~

+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=followMe;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/followMe/followMe.jsgf;
+rsbscope=/speechrec/psa/followMe;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/followMe/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;