diff --git a/ps-config/manipulationTask/manipulation.conf b/ps-config/manipulationTask/manipulation.conf
new file mode 100644
index 0000000000000000000000000000000000000000..1fb3c9f3010dabc5da6b81d99cb0b99a16bd8038
--- /dev/null
+++ b/ps-config/manipulationTask/manipulation.conf
@@ -0,0 +1,15 @@
+[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;
diff --git a/ps-grammar/manipulationTask/manipulation.jsgf b/ps-grammar/manipulationTask/manipulation.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..e96f5382d4152700f1cb07a7dbeab444c41e038d
--- /dev/null
+++ b/ps-grammar/manipulationTask/manipulation.jsgf
@@ -0,0 +1,13 @@
+#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;
+
+