#JSGF V1.0;
grammar commands;

public <command> = [<robot>] ( <save> | <wave> | <who> | <goTo> | <followMe> | <followHand> | <gravity> | <exit> | <trash> | <search>);

<robot> = (tobi | robot | tiago);

<save> = (save location);
<wave> = (wait for me);
<who> = (who are you);
<goTo> = (go to location);
<followHand> = (come with me) | (give me your hand);
<gravity> = (gravity compensation) | (show me your gripper) | (switch to gravity mode);
<exit> = (stop the task);

<followMe> = (follow me);
<handover> = handover;

<ordering> = (start taking orders) | (take my order);
<learn> = (learn a person);
<rec> = (recognize me);
<count> = (count the people);
<explain> = (what can you do) | (explain your skills);

<see> = (tell me what you see);
<demo> = (end the (demonstration | demo));
<grasp> = ((grasp | give ) [me] ( an | the ) object);

<trash> = ([please] ((take out the trash) | (take out the garbage)));
<search> = ([please] search for [a] [waving] person);
<difference> = (spot the difference);

<bring> = ([please] (bring) [the] <bringObject> (to a waving person));
<bringObject> = (coke | drink | beer);