From 9afe32fc997d4c042ddfcd93ca104086b92b2d29 Mon Sep 17 00:00:00 2001
From: Linus Schwarz <linus.schwarz@uni-bielfeld.de>
Date: Sat, 1 Jul 2023 01:25:19 +0200
Subject: [PATCH] Flattened relPos and absPos

---
 psGrammar/tasks/gpsr/gpsr23.jsgf | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/psGrammar/tasks/gpsr/gpsr23.jsgf b/psGrammar/tasks/gpsr/gpsr23.jsgf
index fa644c20..4768dc03 100644
--- a/psGrammar/tasks/gpsr/gpsr23.jsgf
+++ b/psGrammar/tasks/gpsr/gpsr23.jsgf
@@ -103,10 +103,8 @@ public <sentence> 		= [could you | robot | tobi | tiago] [please] <command>;
 <LocPrep> 			= in | at;
 <onLocPrep> 			= on;
 <arePrep> 			= are;
-<absPrep>           = <direction> most;
-<relPrep>           = (at the <direction> of ) | <position>;
-<direction>         = left | right;
-<position>            = above | behind | under | (on top of);
+<absPrep>           = (at the (left | right) of) | ((left | right) most);
+<relPrep>           = (at the (left | right)) of | (above | behind | under | (on top of));
 <shape>             = biggest | largest | smallest | heaviest | lightest | thinnest;
 
 <V_take>    			= bring | take | get | grasp | (pick up);
-- 
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