demo owl

psConfig/demos/demoOWL.conf

+[main]
+startdb=55;
+uttdb=60;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+alsadevice=sysdefault;
+
+[pocketsphinxinstance]
+name=confirm;
+jsgf=../../psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=stop;
+rsbscope=/speechrec/psa/stop;
+jsgf=../../psGrammar/confirm/stop.jsgf;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=objects;
+rsbscope=/speechrec/psa/objects;
+jsgf=../../psGrammar/object/object-csra.jsgf;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=commands;
+rsbscope=/speechrec/psa/commands;
+jsgf=../../psGrammar/demos/owl_commands.jsgf;
+bestpath=no;
+autoload=yes;
+

psGrammar/demos/owl_commands.jsgf

+#JSGF V1.0;
+grammar commands;
+
+public <command> = [<robot>] ( <introduce> | <save> | <wait> | <goTo> | <followMe> | <followHand> | <gravity> | <exit> | <lookAt> | <trash> | <drop> | <nothing> | <search> | <describe> | <difference> | <take> | <give> | <count> | <explain> | <store_groceries> );
+
+<robot> = (tobi | robot | tiago);
+
+<introduce> = (introduce yourself) | (who are you);
+
+<save> = (save location);
+<wait> = (wait for me);
+<goTo> = (go to location);
+
+<followMe> = (follow me);
+<followHand> = (come with me);
+
+<gravity> = (gravity compensation) | (show me your gripper) | (switch to gravity mode);
+
+<exit> = (end the (demonstration | demo));
+
+<lookAt> = (look at camera one | look at the camera);
+
+<trash> = (((take out the trash) | (take out the garbage)));
+<drop> = (((throw it away)));
+<nothing> = (do nothing);
+
+<search> = ( search for [a] [waving] person);
+
+<describe> = (tell me what you see);
+<difference> = (spot the difference);
+
+<take> = (handover);
+<give> = (((give it to me) | (give me the object)));
+
+<count> = (count the people);
+
+<explain> = (what can you do) | (explain your skills);
+
+<store_groceries> = (store the groceries);
+<serve_breakfast> = (serve breakfast);
\ No newline at end of file

psGrammar/object/object-csra.jsgf

+#JSGF V1.0;
+grammar ToBI_object;
+public <statement> = [<verb>] [<article>] <objects> [please];
+
+<objects> = <object>;
+<object> = <grab_object>;
+<grab_object> = <cutlery_class> | <drink_class> | <fruit_class> | <pantry_class> | tool | drinks | snacks | object | food | something | stuff | item | beverage | things;
+<cutlery_class> = fork | cup | bowl | plate | knife | spoon;
+<drink_class> = milk | coke | milo;
+<fruit_class> = orange | banana | pear | peach;
+<pantry_class> = (potted meat) | cracker | mustard | soap | cornflakes; 
+
+<verb> = (bring me) | bring | carry | retrieve | fetch | get | give | find | search for | put | learn | remember | memorize;
+<article> = the | an | some | a | this;
+
+