forward_short 1 JOG 2000 10.0 10.0  
forward_long  1 JOG 5000 20.0 20.0
forward_left  1 JOG 2000 10.0 20.0
forward_right 1 JOG 2000 20.0 10.0
dance         8  RGB 100 255 30 0 0
dance         7  JOG 2000 15.0 15.0
dance         3  RGB 100 0 30 255 1
dance         1  SOUND 1000 200
dance         10 JOG 4000 -20.0 20.0
dance         9  SOUND 500 400
dance         11 RGB 100 0 255 20 0