update demoDyn fix bring/take

psGrammar/demos/demoDynamic.jsgf

 #JSGF V1.0;
 grammar commands;
 
-public <command> = [<robot>] ( <introduce> | <save> | <wave> | <goTo> | <followMe> | <followHand> | <gravity> | <exit> | <trash> | <search> | <describe> | <difference>);
+public <command> = [<robot>] ( <introduce> | <save> | <wave> | <goTo> | <followMe> | <followHand> | <gravity> | <exit> | <trash> | <search> | <describe> | <difference> | <bring> | <take> );
 
 <robot> = (tobi | robot | tiago);
 
@@ -20,7 +20,8 @@ public <command> = [<robot>] ( <introduce> | <save> | <wave> | <goTo> | <followM
 <difference> = (spot the difference);
 <bring> = ([please] (bring) [the] <bringObject> (to a waving person));
 <bringObject> = (coke | drink | beer | object);
-<takeObject> = handover | (take the <bringObject> from me);
+<take> = handover | (take the <takeObject> from me);
+<takeObject> = (coke | drink | beer | object);
 
 <ordering> = (start taking orders) | (take my order);
 <learn> = (learn a person);