diff --git a/ps-grammar/dictionary/tobiDic.dic b/ps-grammar/dictionary/tobiDic.dic
index 9b9c0e2e9da85523ad93b9673f1db6ab716e8cb3..05aa0ac8ebfb4ea916756d35ef83e33f75c27e79 100644
--- a/ps-grammar/dictionary/tobiDic.dic
+++ b/ps-grammar/dictionary/tobiDic.dic
@@ -7440,6 +7440,7 @@ babushkas	B AH B UH SH K AH Z
 baby	B EY B IY
 baby's	B EY B IY Z
 babyak	B AE B IY AE K
+baby_food	B EY B IY F UW D
 babyhood	B EY B IY HH UH D
 babyish	B EY B IY IH SH
 babylon	B AE B AH L AA N
@@ -20938,6 +20939,7 @@ choate	CH OW T
 chock	CH AA K
 chocolat	CH AA K L AH T
 chocolate	CH AO K L AH T
+chocolate_cookies	CH AO K L AH T K UH K IY Z
 chocolate_milk	CH AO K L AH T M IH L K
 chocolatemilk	CH AO K L AH T M IH L K
 chocolates	CH AO K L AH T S
@@ -21856,7 +21858,6 @@ cleaner	K L IY N ER
 cleaners	K L IY N ER Z
 cleanest	K L IY N AH S T
 cleaning	K L IY N IH NG
-cleaningstuff	K L IY N IH NG S T AH F
 cleaning_stuff 	K L IY N IH NG S T AH F
 cleanliness	K L EH N L IY N IH S
 cleanly	K L IY N L IY
@@ -49477,6 +49478,7 @@ grapage	G R EY P AH JH
 grape	G R EY P
 grapefruit	G R EY P F R UW T
 grapefruits	G R EY P F R UW T S
+grape_juice	G R EY P JH UW S
 graper	G R EY P ER
 grapes	G R EY P S
 grapeshot	G R EY P SH AA T
diff --git a/ps-grammar/gprs/gprs.jsgf b/ps-grammar/gprs/gprs.jsgf
index b321673f904a22742282ca6cfab488e5fd106b97..a0bae54f04ae68d595958dc4a1d8a2c0c0716c50 100644
--- a/ps-grammar/gprs/gprs.jsgf
+++ b/ps-grammar/gprs/gprs.jsgf
@@ -26,14 +26,13 @@ public <task> = [<robot_name>] [(would | could) you] [please] <command> [please]
 
 <person> = someone | <personal_pronoun> | <person_name> | (person | man | woman | guy | girl | boy | human | robot);
 <personal_pronoun> = him | her | me;
-<person_name> = james|john|robert|michael|william|david|richard|charles|linda|thomas|mary|patricia|joseph|dorothy|barbara|susan|jennifer|maria|elizabeth|margaret;
-
-<grab_object> = <bathroom_class> | <drink_class> | <snack_class> | <food_class> | <tool_class> | tool | (bathroom stuff) | drink | snack | object | food | something | stuff | item | beverage | things;
-<bathroom_class> = (shower gel) | (hair gel);
-<drink_class> = (orange juice) | (fruit juice) | (ice tea) | coffee | beer;
-<snack_class> = chocolates | (chewing gum) | peanuts;
-<food_class> = (noodle sauce) | (cat food) | dumplings | tacos; 
-<tool_class> = sponge | tape | (sole latex);
+<person_name> = james|john|alfred|daniel|charles|luis|paul|richard|robert|steve|anna|beth|carmen|jennifer|jessica|kimberly|kristina|laura|mary|sarah;
+
+<grab_object> = <cleaning_class> | <drink_class> | <snack_class> | <food_class> | tool | (bathroom stuff) | cleaning_stuff | drinks | snacks | object | food | something | stuff | item | beverage | things;
+<cleaning_class> = brush | detergent | shampoo | sponge | toothpaste;
+<drink_class> = (orange juice) | beer | cola | chocolate_milk | energy_drink | grape_juice | milk | water;
+<snack_class> = chocolate_cookies | chips | biscuits | bread | pringles | strawberry_cookies;
+<food_class> = baby_food | crackers | coffee | yeast | noodles | beans; 
 
 <location> = <appliance_class> | <shelf_class> | <seat_class> | <table_class> | <door_class> | <exit_class> | exit | door | seating | utensil | location | room | appliance | shelf | seat | table | somewhere | apartment | furniture;