diff --git a/pocketsphinxAdapter/config/cleanUp/cleanUp.conf b/pocketsphinxAdapter/config/cleanUp/cleanUp.conf
new file mode 100644
index 0000000000000000000000000000000000000000..bfc174a983fa1393d908eba65b81c2b8c7ec32c1
--- /dev/null
+++ b/pocketsphinxAdapter/config/cleanUp/cleanUp.conf
@@ -0,0 +1,23 @@
+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=cleanUp;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/cleanUp/cleanUp.jsgf;
+rsbscope=/speechrec/psa/cleanUp;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
diff --git a/pocketsphinxAdapter/config/cocktailparty/cocktailparty.conf b/pocketsphinxAdapter/config/cocktailparty/cocktailparty.conf
new file mode 100644
index 0000000000000000000000000000000000000000..1084aca27460eb6d47736cdf0d33d53528935244
--- /dev/null
+++ b/pocketsphinxAdapter/config/cocktailparty/cocktailparty.conf
@@ -0,0 +1,32 @@
+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=person;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/person/person.jsgf;
+rsbscope=/speechrec/psa/person;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=object;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/object/object.jsgf;
+rsbscope=/speechrec/psa/object;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
diff --git a/pocketsphinxAdapter/config/cocktailparty/cocktailparty.conf~ b/pocketsphinxAdapter/config/cocktailparty/cocktailparty.conf~
new file mode 100644
index 0000000000000000000000000000000000000000..9b518d964d3055e9927246c76fd70f1d194390f0
--- /dev/null
+++ b/pocketsphinxAdapter/config/cocktailparty/cocktailparty.conf~
@@ -0,0 +1,23 @@
+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=person;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/person/person.jsgf;
+rsbscope=/speechrec/psa/person;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
diff --git a/pocketsphinxAdapter/config/fireInTheApartment/fireInTheApartment.conf b/pocketsphinxAdapter/config/fireInTheApartment/fireInTheApartment.conf
new file mode 100644
index 0000000000000000000000000000000000000000..f906ed96622ffde9ae64809bb5dd1b2a620f05ee
--- /dev/null
+++ b/pocketsphinxAdapter/config/fireInTheApartment/fireInTheApartment.conf
@@ -0,0 +1,14 @@
+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
diff --git a/pocketsphinxAdapter/config/followMe/followMe.conf b/pocketsphinxAdapter/config/followMe/followMe.conf
new file mode 100644
index 0000000000000000000000000000000000000000..7bb0800feec44821a1a76614b2b02546cdbf5af1
--- /dev/null
+++ b/pocketsphinxAdapter/config/followMe/followMe.conf
@@ -0,0 +1,23 @@
+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=followMe;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/followMe/followMe.jsgf;
+rsbscope=/speechrec/psa/followMe;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
diff --git a/pocketsphinxAdapter/config/followMe/followMe.conf~ b/pocketsphinxAdapter/config/followMe/followMe.conf~
new file mode 100644
index 0000000000000000000000000000000000000000..bfc174a983fa1393d908eba65b81c2b8c7ec32c1
--- /dev/null
+++ b/pocketsphinxAdapter/config/followMe/followMe.conf~
@@ -0,0 +1,23 @@
+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=cleanUp;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/cleanUp/cleanUp.jsgf;
+rsbscope=/speechrec/psa/cleanUp;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
diff --git a/pocketsphinxAdapter/config/gprs/gprs.conf b/pocketsphinxAdapter/config/gprs/gprs.conf
new file mode 100644
index 0000000000000000000000000000000000000000..2e2ff174175a0ff465d3f64f240d438dd86f6f70
--- /dev/null
+++ b/pocketsphinxAdapter/config/gprs/gprs.conf
@@ -0,0 +1,50 @@
+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=gprs;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/gprs/gprs.jsgf;
+rsbscope=/speechrec/psa/gprs;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=gprsPerson;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/gprsPerson/gprsPerson.jsgf;
+rsbscope=/speechrec/psa/gprsPerson;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=location;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/location/location.jsgf;
+rsbscope=/speechrec/psa/location;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=object;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/object/object.jsgf;
+rsbscope=/speechrec/psa/object;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
diff --git a/pocketsphinxAdapter/config/gprs/gprs.conf~ b/pocketsphinxAdapter/config/gprs/gprs.conf~
new file mode 100644
index 0000000000000000000000000000000000000000..2e2ff174175a0ff465d3f64f240d438dd86f6f70
--- /dev/null
+++ b/pocketsphinxAdapter/config/gprs/gprs.conf~
@@ -0,0 +1,50 @@
+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=gprs;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/gprs/gprs.jsgf;
+rsbscope=/speechrec/psa/gprs;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=gprsPerson;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/gprsPerson/gprsPerson.jsgf;
+rsbscope=/speechrec/psa/gprsPerson;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=location;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/location/location.jsgf;
+rsbscope=/speechrec/psa/location;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=object;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/object/object.jsgf;
+rsbscope=/speechrec/psa/object;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
diff --git a/pocketsphinxAdapter/config/inspection/inspection.conf b/pocketsphinxAdapter/config/inspection/inspection.conf
new file mode 100644
index 0000000000000000000000000000000000000000..f06b022b22acf016c8be9ec92853ee4344e046cf
--- /dev/null
+++ b/pocketsphinxAdapter/config/inspection/inspection.conf
@@ -0,0 +1,23 @@
+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=leave;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/leave/leave.jsgf;
+rsbscope=/speechrec/psa/leave;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=bironLeave;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/bironLeave/bironLeave.jsgf;
+rsbscope=/speechrec/psa/bironLeave;
+bestpath=no;
+autoload=yes;
diff --git a/pocketsphinxAdapter/config/inspection/inspection.conf~ b/pocketsphinxAdapter/config/inspection/inspection.conf~
new file mode 100644
index 0000000000000000000000000000000000000000..bfc174a983fa1393d908eba65b81c2b8c7ec32c1
--- /dev/null
+++ b/pocketsphinxAdapter/config/inspection/inspection.conf~
@@ -0,0 +1,23 @@
+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+[pocketsphinxinstance]
+name=cleanUp;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/cleanUp/cleanUp.jsgf;
+rsbscope=/speechrec/psa/cleanUp;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
diff --git a/pocketsphinxAdapter/config/install_pocketsphinx_conf.sh b/pocketsphinxAdapter/config/install_pocketsphinx_conf.sh
new file mode 100755
index 0000000000000000000000000000000000000000..749fc98011b2229b068f02a14a36c496d2429c79
--- /dev/null
+++ b/pocketsphinxAdapter/config/install_pocketsphinx_conf.sh
@@ -0,0 +1,15 @@
+#!/bin/sh
+if [ $1 ]
+ then installdir=$1
+ else installdir="/vol/robocup/2013/share/SpeechRec/"
+fi
+mkdir -p $installdir/psConfig
+
+for i in `ls` 
+do
+  if [ -d $i ]
+    then cp -r $i $installdir/psConfig
+  fi
+done
+
+echo "copying done"
diff --git a/pocketsphinxAdapter/config/install_pocketsphinx_conf.sh~ b/pocketsphinxAdapter/config/install_pocketsphinx_conf.sh~
new file mode 100755
index 0000000000000000000000000000000000000000..0482d391e8ef16cfbbf1c5b509d717d01b6b5ccd
--- /dev/null
+++ b/pocketsphinxAdapter/config/install_pocketsphinx_conf.sh~
@@ -0,0 +1,15 @@
+#!/bin/sh
+if [ $1 ]
+ then installdir=$1
+ else installdir="/vol/robocup/2013/share/SpeechRec/"
+fi
+mkdir -p $installdir/psGrammar
+
+for i in `ls` 
+do
+  if [ -d $i ]
+    then cp -r $i $installdir/psGrammar
+  fi
+done
+
+echo "copying done"
diff --git a/pocketsphinxAdapter/grammar/followMe/followMe.jsgf b/pocketsphinxAdapter/grammar/followMe/followMe.jsgf
index c6a5b9adf3b056b4f8055ae200da0610a8a47b8f..6d8673de5de58e6c1ee66dc8c005dc320fe0f238 100644
--- a/pocketsphinxAdapter/grammar/followMe/followMe.jsgf
+++ b/pocketsphinxAdapter/grammar/followMe/followMe.jsgf
@@ -1,8 +1,8 @@
 #JSGF V1.0;
 grammar ToBI_followMe;
-public <statement> = [tobi] [please] (<followMe> | <elevator> | <closer>) [please] [tobi];
+public <statement> = [tobi] [please] (<followMe> | <elevator> | <closer> | <leave>) [please] [tobi];
 
 <followMe> = follow me [into the elevator];
 <elevator> = [(this is) | ([lets] go into)] [an | the] elevator;
 <closer> = come (closer | close);
-
+<leave> = leave [the elevator];
diff --git a/pocketsphinxAdapter/grammar/followMe/followMe.jsgf~ b/pocketsphinxAdapter/grammar/followMe/followMe.jsgf~
index c6a5b9adf3b056b4f8055ae200da0610a8a47b8f..806c1c5917067569bb917e2f38e2caff1df84df3 100644
--- a/pocketsphinxAdapter/grammar/followMe/followMe.jsgf~
+++ b/pocketsphinxAdapter/grammar/followMe/followMe.jsgf~
@@ -5,4 +5,4 @@ public <statement> = [tobi] [please] (<followMe> | <elevator> | <closer>) [pleas
 <followMe> = follow me [into the elevator];
 <elevator> = [(this is) | ([lets] go into)] [an | the] elevator;
 <closer> = come (closer | close);
-
+<leave> = leave [the elevator];
diff --git a/pocketsphinxAdapter/grammar/leave/leave.jsgf b/pocketsphinxAdapter/grammar/leave/leave.jsgf
index 83230d80b948c797f3a3ee26e50d75a240e17ab5..7891a12bf79a77d78bbc3047b5b7f6117dffdd11 100644
--- a/pocketsphinxAdapter/grammar/leave/leave.jsgf
+++ b/pocketsphinxAdapter/grammar/leave/leave.jsgf
@@ -1,3 +1,3 @@
 #JSGF V1.0;
 grammar ToBI_leave;
-public <statement> = [tobi] [please] leave [the elevator] [please] [tobi];
+public <statement> = [tobi] [please] leave [please] [tobi];