added some phrases to the helpmecarry grammar

psConfig/tasks/helpmecarry.conf

@@ -9,7 +9,7 @@ alsadevice=sysdefault;
 [pocketsphinxinstance]
 name=name;
 jsgf=../../psGrammar/tasks/helpmecarry/helpmecarry_meetPerson.jsgf;
-rsbscope=/speechrec/psa/helpmecarry/person;
+rsbscope=/speechrec/psa/helpmecarry/name;
 bestpath=no;
 autoload=yes;
 
@@ -24,7 +24,7 @@ autoload=yes;
 [pocketsphinxinstance]
 name=confirm;
 jsgf=../../psGrammar/confirm/confirm.jsgf;
-rsbscope=/speechrec/psa/helpmecarry/confirm;
+rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
 

psGrammar/tasks/helpmecarry/helpmecarry_commands.jsgf

@@ -7,10 +7,10 @@ public <statement> = [<robot>] [please] <command> [please] [<robot>];
 
 <command> = (<follow> | <stop> | <goto> | <take>);
 
-<follow> = (follow | come with )[me];
+<follow> = ((follow | come with )[me] | hello );
 <stop> = ((((stop [following me]) | wait) [here])  | here is the car );
 <goto> = (go to [the] <place>);
-<take> = (take | bring) ((this [bag]) | the groceries) to [the] <place>;
+<take> = (take | bring | deliver | put) ((this | the) [(bag | groceries)]) (on | onto | to) [the] <place>;
 
-<place> = (place one | place two | door | start);
+<place> = (kitchen | bathroom);