Update/Add ersti demo grammars and config

psConfig/demos/ersti_demo.conf

@@ -13,38 +13,16 @@ 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/commands;
-jsgf=../../psGrammar/demos/cupro/commands.jsgf;
+jsgf=../../psGrammar/demos/ersti/commands.jsgf;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
-name=kitchen_demo;
-rsbscope=/speechrec/psa/kitchen_demo;
-jsgf=../../psGrammar/demos/cupro/kitchen_demo.jsgf;
+name=commands;
+rsbscope=/speechrec/psa/actions;
+jsgf=../../psGrammar/demos/ersti/actions.jsgf;
 bestpath=no;
 autoload=yes;
-

psGrammar/demos/ersti/actions.jsgf

+#JSGF V1.0;
+grammar actions;
+
+public <action> = [<robot>] ( <demo> | <goto> | <introduction> | <setTable>);
+
+<robot> = (robot | tiago | tobi);
+
+<demo> = (tell me about the kitchen);
+
+<goto> = ([go to the] <location>);
+<location> = (table) | (kitchen);
+
+<introduction> = (introduce yourself);
+
+<setTable> = (set the table for <guestNumber>);
+
+<guestNumber> = (one guest) | (two guests);

psGrammar/demos/ersti/commands.jsgf

+#JSGF V1.0;
+grammar commands;
+
+public <command> = [<robot>] ( <followMe> | <stop> | <ordering> | <learn> | <rec> | <count> | <explain> | <goto> | <hand> | <see> | <save> | <who> | <gripper> | <demo> | <grasp> | <kitchenDrawer> | <cleanup> | <setTable> | <lookAt> );
+
+<robot> = (tiago | robot | tobi);
+
+<followMe> = (follow me);
+<stop> = (stop);
+<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);
+<goto> = (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);
+<kitchenDrawer> = (tell me about the kitchen);
+<cleanup> = (clean up the table);
+<setTable> = (set the table);
+<lookAt> = (look at camera one | look at the camera);