extended grammar for helpmecarry task

psConfig/tasks/helpmecarry.conf

@@ -8,14 +8,14 @@ alsadevice=sysdefault;
 
 [pocketsphinxinstance]
 name=name;
-jsgf=../../psGrammar/tasks/helpmecarry_meetPerson.jsgf;
+jsgf=../../psGrammar/tasks/helpmecarry/helpmecarry_meetPerson.jsgf;
 rsbscope=/speechrec/psa/helpmecarry/person;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=command;
-jsgf=../../psGrammar/tasks/helpmecarry_commands.jsgf;
+jsgf=../../psGrammar/tasks/helpmecarry/helpmecarry_commands.jsgf;
 rsbscope=/speechrec/psa/helpmecarry/command;
 bestpath=no;
 autoload=yes;

psGrammar/tasks/helpmecarry_commands.jsgf → psGrammar/tasks/helpmecarry/helpmecarry_commands.jsgf

@@ -5,11 +5,12 @@ public <statement> = [<robot>] [please] <command> [please] [<robot>];
 
 <robot> = (tobi | robot | biron);
 
-<command> = (<follow> | <stop> | <goto>);
+<command> = (<follow> | <stop> | <goto> | <take>);
 
-<follow> = (follow [me]);
-<stop> = (stop | wait) [here];
+<follow> = (follow | come with )[me];
+<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>;
 
 <place> = (place one | place two | door | start);
 

psGrammar/tasks/helpmecarry/helpmecarry_commands_old.jsgf

+#JSGF V1.0;
+grammar ToBI_commands;
+
+public <statement> = [<robot>] [please] <command> [please] [<robot>];
+
+<robot> = (tobi | robot | biron);
+
+<command> = (<follow> | <stop> | <goto> | <deliver> | <find>);
+
+<follow> =  (follow [me] | come [with me] | let us go) [to the car];
+<stop> = (((stop | wait) [following me] [here]) | ((we (arrived at| are at | reached) | here is) [the] (car | goal)));
+<goto> = (go | drive) [back] to <location>;
+<deliver> = (bring | deliver | take) [the] <bag> to <location>;
+<find> = (find | search for| ask | look for) <name> in <location> [and ask (him | her) to help us];
+
+<bag> = (bag | groceries);
+<name> = (michael | lucarelli | dombrowski | anna | beth | victoria);
+<location> = (<room> | <room> <precisePlace> | <precisePlace> | <precisePlace> in <room>);
+<room> = [the] (kitchen | bath room | living room | bed room);
+<precisePlace> = [the] (table | sofa | couch | shelf);