>                 <configuration>
>                 <grammars>org/apache/pig/parser/QueryLexer.g</grammars>
>                 <grammars>org/apache/pig/parser/QueryParser.g</grammars>

I don't use Antlr but generally I'd expect this to be:
<grammars>
<grammar>abc</grammar>
<grammar>xyz</grammar>
</grammars>

Are you sure that you've got the configuration correct?

Wayne

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