diff --git a/psGrammar/demos/cupro/commands.jsgf b/psGrammar/demos/cupro/commands.jsgf
index d566f3a4727dba6abb657cafb5f0c944d160db7f..99daa1b57d4b4f7f28920c2385e1426999ea79f1 100644
--- a/psGrammar/demos/cupro/commands.jsgf
+++ b/psGrammar/demos/cupro/commands.jsgf
@@ -1,11 +1,12 @@
 #JSGF V1.0;
 grammar commands;
 
-public <command> = [<robot>] ( <followMe> | <ordering> | <learn> | <rec> | <count> | <explain> | <listen> | <hand> | <see> | <save> | <who> | <gripper> | <demo> | <grasp> | <kitchenDrawer> | <cleanup> | <setTable> );
+public <command> = [<robot>] ( <followMe> | <stop> | <ordering> | <learn> | <rec> | <count> | <explain> | <listen> | <hand> | <see> | <save> | <who> | <gripper> | <demo> | <grasp> | <kitchenDrawer> | <cleanup> | <setTable> );
 
 <robot> = (tiago | robot | tobi);
 
 <followMe> = (follow me);
+<stop> = (stop);
 <ordering> = (start taking orders) | (take my order);
 <learn> = (learn a person);
 <rec> = (recognize me);