demoDyn: object grammars

psConfig/demos/demoDynamic.conf

@@ -20,6 +20,13 @@ jsgf=../../psGrammar/confirm/stop.jsgf;
 bestpath=no;
 autoload=yes;
 
+[pocketsphinxinstance]
+name=objects;
+rsbscope=/speechrec/psa/objects;
+jsgf=../../psGrammar/object/lab_objects.jsgf;
+bestpath=no;
+autoload=yes;
+
 [pocketsphinxinstance]
 name=learning;
 rsbscope=/speechrec/psa/learning;

psGrammar/demos/demoDynamic.jsgf

@@ -18,10 +18,9 @@ public <command> = [<robot>] ( <introduce> | <save> | <wave> | <goTo> | <followM
 <search> = ( search for [a] [waving] person);
 <describe> = (tell me what you see);
 <difference> = (spot the difference);
-<bring> = ((bring) [the] <bringObject> (to a waving person));
-<bringObject> = (coke | drink | beer | object);
-<take> = handover | (take the <takeObject> from me);
-<takeObject> = (coke | drink | beer | object);
+<bring> = (deliver [an object]);
+<take> = (handover);
+<pick> = (grasp [an object]);
 
 <ordering> = (start taking orders) | (take my order);
 <learn> = (learn a person);

psGrammar/object/lab_objects.jsgf

+#JSGF V1.0;
+grammar ToBI_object;
+public <statement> = [<verb>] [<article>] <objects> [please];
+
+<objects> = <object>;
+<object> = <grab_object>;
+
+<grab_object> = <cleaning_class> | <food_class> | (cleaning stuff) | drinks | snacks | object | food | something | stuff | item | beverage | things;
+
+<cleaning_class> = cloth | soap | sponge;
+<food_class> = salt | apple | pringles | cereals | cornflakes | peas | (coconut milk); 
+
+<verb> = (bring me) | bring | carry | retrieve | fetch | get | give | find | search for | put | learn | remember | memorize;
+<article> = the | an | some | a | this;
+
+