added new grammar and config file

ps-config/manipulationTask/manipulation.conf

+[main]
+startdb=43;
+uttdb=47;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+
+
+[pocketsphinxinstance]
+name=manipulation;
+dict=../../psGrammar/dictionary/tobiDic.dic;
+jsgf=../../psGrammar/manipulationTask/manipulation.jsgf;
+rsbscope=/speechrec/psa/manipulation;
+bestpath=no;
+autoload=yes;

ps-grammar/manipulationTask/manipulation.jsgf

+#JSGF V1.0;
+grammar manipulation;
+public <statement> = <kitchen> | <livingroom> | <accept> | <cleankitchen> | <cleanlivingroom> | <decline> | <search> | <clean> | tobi <clean>;
+<kitchen> = kitchen;
+<clean> = clean | (clean up) | sort | (clean room) | (clean up room) | (tidy up) | (tidy up room) | start |  (start cleaning) |  (start searching) | search | (search for objects);
+<search> = search;
+<livingroom> = livingroom;
+<accept> = yes;
+<cleankitchen> = clean kitchen;
+<cleanlivingroom> = clean livingroom;
+<decline> = no;
+
+