diff --git a/psGrammar/tasks/gpsr/gpsr2.jsgf b/psGrammar/tasks/gpsr/gpsr2.jsgf
index 004a5b33860cc7f88d5c6794b14a384096a697e5..b236a337d1573d293a87d66204f6aff944d9ad64 100644
--- a/psGrammar/tasks/gpsr/gpsr2.jsgf
+++ b/psGrammar/tasks/gpsr/gpsr2.jsgf
@@ -6,11 +6,11 @@ public <sentence> 		= ([could you | robot | tobi] [please] <VP1> [([and|then] <V
 <VP1> 				= (<SingleCommands> | <NeedsToBeFirst> | <NoRestriction>);
 <VP2> 				= (<NeedsReference> | <NoRestriction>);
 <VP3> 				= (<NeedsReference> | <NoRestriction>);
- 
+
 <NeedsToBeFirst> 		= (<goToLoc> | <meetPrsAtBeac> | <findPrsInRoom>);
 <SingleCommands> 		= (<countObjOnPlcmt> | <countPrsInRoom> | <tellPrsInfoInLoc> | <tellObjPropOnPlcmt> | <deliverObjToGestPrsInRoom> | <followNameFromBeacToRoom> | <guideNameFromBeacToBeac> | <guideNameToBeacFindAtBeac> | <bringMeObjFromPlcmt> | <tellCatPropOnPlcmt> | <findObjInRoom> | <talkInfoToGestPrsInRoom> | <answerToGestPrsInRoom>);
 <NeedsReference> 		= <followPrsToRoom> | (<followPrs> | <placeObjPronOnPlcmt> | <deliverObjPronToMe> | <guidePrsToBeacon> | <deliverObjToNameAtBeac> | <answerQuestion> | <talkInfo> | <meetName> | <findPrs> | <placeObjOnPlcmt>);
-<NoRestriction> 		= (<findObj>  | <takeObj> | <takeObjFromPlcmt>  | <bringMeObj> | <deliverObjToMe>); 
+<NoRestriction> 		= (<findObj>  | <takeObj> | <takeObjFromPlcmt>  | <bringMeObj> | <deliverObjToMe>);
 
 
 <goToLoc> 			= <V_go> <toLocPrep> (<NP_room> | <NP_placement> | <NP_beacon>);
@@ -120,12 +120,20 @@ public <sentence> 		= ([could you | robot | tobi] [please] <VP1> [([and|then] <V
 <N_personattribute> 		= name | gender | pose;
 <N_posture> 			= sitting | standing | lying down;
 
-<N_object>    			= basket | cereals | cloth | (coconut milk) | coke | cornflakes | noodles | orange (juice | drink) | peas | plate | pringles | red bowl | salt | soap | sponge | (tomato paste) | water;
-<N_category> 			= care | drink | (cleaning stuff) | container | food | snack | cutlery;
-<N_room> 			= corridor | (living room) | kitchen | (bath room);
+<N_object_old>    			= basket | cereals | cloth | (coconut milk) | coke | cornflakes | noodles | orange (juice | drink) | peas | plate | pringles | red bowl | salt | soap | sponge | (tomato paste) | water;
+<N_object>              = (chocolate milk) | milk | cola | (soap box) | (choco krispies) | bowl | plate | fork | knife | spoon | cup | lemon | banana | peach | pear;
+<N_category_old> 			= care | drink | (cleaning stuff) | container | food | snack | cutlery;
+<N_category>          = fruits | cutlery | drinks | snacks | (pantry items);
+<N_room_old> 			= corridor | (living room) | kitchen | (bath room);
+<N_room>          = kitchen | (living room) | hallway | bathroom | office;
 <N_roomTwo> 			= corridor | (living room) | kitchen | (bath room);
-<N_placement> 			= (living table) | (kitchen counter) | sink | stove | cabinet | bar;
-<N_placementTwo> 		= (living table) | (kitchen counter) | sink | stove | cabinet | bar;
-<N_beacon> 			= (living table) | sink | bar | sofa | fridge | (comfy chair);
-<N_beaconTwo> 			= (living table) | sink | bar | sofa | fridge | (comfy chair);
-<N_name> 			= emma | olivia | sophia | ava | isabella | mia | abigail | emily | charlotte | harper | noah | liam | mason | jacob | william | ethan | james | alexander | michael | benjamin;
+<N_placement_old> 			= (living table) | (kitchen counter) | sink | stove | cabinet | bar;
+<N_placementTwo_old> 		= (living table) | (kitchen counter) | sink | stove | cabinet | bar;
+<N_placement>     = (kitchen table) | desk | (side board) | (side table) | sink | (kitchen counter) | cabinet | workstation;
+<N_placementTwo>  = (kitchen table) | desk | (side board) | (side table) | sink | (kitchen counter) | cabinet | workstation;
+<N_beacon_old> 			= (living table) | sink | bar | sofa | fridge | (comfy chair);
+<N_beaconTwo_old> 			= (living table) | sink | bar | sofa | fridge | (comfy chair);
+<N_beacon>        = fridge | sink | dishwasher | (easy chair) | (arm chair) | (kitchen table) | workstation;
+<N_beaconTwo>     = fridge | sink | dishwasher | (easy chair) | (arm chair) | (kitchen table) | workstation;
+<N_name_old> 			= emma | olivia | sophia | ava | isabella | mia | abigail | emily | charlotte | harper | noah | liam | mason | jacob | william | ethan | james | alexander | michael | benjamin;
+<N_name>          = amelia | angel | ava | charlie | charlotte | hunter | max | mia | olivia | parker | sam | jack | noah | oliver | thomas | william;