Merge branch 'master' of rcs:robocup-speechrec

pocketsphinxAdapter/grammar/gprs/gprs.jsgf

@@ -4,10 +4,10 @@ public <task> = [tobi] [(would | could) you] [please] <command> [please] [tobi];
 
 <command> = <bring_command> | <goto_command> | <follow_command> | <find_command> | <put_command> | <learn_command> | <wait>;
 
-<bring_command> = <bringVerb> [<person>] <grab_object> [from | into | to] [<location> | <person>];
+<bring_command> = <bringVerb> [<person>] [the | an | a | some | this] <grab_object> [from | into | to] [<location> | <person>];
 <goto_command> = <gotoVerb> <preposition> <location>;
 <follow_command> = <followVerb> <person>;
-<find_command> = <findVerb> (<grab_object> | <person>) [in <location>];
+<find_command> = <findVerb> ([the | an | a | some | this] <grab_object> | <person>) [in <location>];
 <put_command> = <putVerb> <grab_object> <preposition> <location>;
 <learn_command> = <learnVerb> [the | a | an | this] (<person> | <location>);
 
@@ -22,7 +22,7 @@ public <task> = [tobi] [(would | could) you] [please] <command> [please] [tobi];
 <personal_pronoun> = him | her | me;
 <person_name> = james|john|robert|michael|william|david|richard|charles|linda|thomas|mary|patricia|joseph|dorothy|barbara|susan|jennifer|maria|elizabeth|margaret;
 
-<grab_object> = [the | an | a | some | this] (<medicine_class> | <stuff_class> | <drink_class> | <snack_class> | medicine | stuff | drink | snack | object | something);
+<grab_object> = (<medicine_class> | <stuff_class> | <drink_class> | <snack_class> | medicine | stuff | drink | snack | object | something);
 <stuff_class> = matches | cards | flowers | sponge | bag | cube | headphone | cup | tape | microphone;
 <medicine_class> = bandaids | creme | kleenex;
 <drink_class> = coke | beer | wine | redbull | water | juice;
@@ -36,6 +36,6 @@ public <task> = [tobi] [(would | could) you] [please] <command> [please] [tobi];
 <bin_class> = waste;
 <decoration_class> = plant | poster;
 <room_class> = kitchen | living_room | dining_room;
-<preposition> = (on [top]) | in | ([next] to) | at | near | in | into | from;
+<preposition> = (on [top of]) | in | ([next] to) | at | near | in | into | from;
 
 <wait> = wait;