Add nonterminals to cupro demo grammars

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>);
+public <command> = [<robot>] ( <followMe> | <ordering> | <learn> | <rec> | <count> | <explain> | <listen> | <hand> | <see> | <save> | <who> | <gripper> | <demo> | <grasp> | <kitchenDrawer> | <cleanup> | <setTable> );
 
 <robot> = (tiago | robot | tobi);
 
@@ -19,3 +19,6 @@ public <command> = [<robot>] ( <followMe> | <ordering> | <learn> | <rec> | <coun
 <gripper> = (show me your gripper);
 <demo> = (end the (demonstration | demo));
 <grasp> = ((grasp | give ) [me] ( an | the ) object);
+<kitchenDrawer> = (tell me about the kitchen);
+<cleanup> = (clean up the table);
+<setTable> = (set the table);

psGrammar/demos/cupro/kitchen_demo.jsgf

 #JSGF V1.0;
 grammar commands;
 
-public <command> = [<robot>] ( <demo> | <save> | <place> | <introduction>);
+public <command> = [<robot>] ( <demo> | <save> | <place> | <introduction> | <setTable>);
 
 <robot> = (robot | tiago | tobi);
 
@@ -9,3 +9,7 @@ public <command> = [<robot>] ( <demo> | <save> | <place> | <introduction>);
 <save> = (save location);
 <place> = (go to);
 <introduction> = (introduce yourself);
+
+<setTable> = (set the table for <guestNumber>);
+
+<guestNumber> = (one guest) | (two guests);