forward_short JOG 2000 10.0 10.0  
forward_long  JOG 5000 20.0 20.0
forward_left  JOG 2000 10.0 20.0
forward_right JOG 2000 20.0 10.0
dance         RGB 100 255 30 0 0
dance         JOG 2000 15.0 15.0
dance         RGB 100 0 30 255 1
dance         SOUND 1000 200
dance         JOG 4000 -20.0 20.0
dance         SOUND 500 400
dance         RGB 100 0 255 20 0