XSTEP



  <action type="walk(Agent)">
  <seq>
   <par speed="fast">
    <gesture type="turn" actor="Agent" part="r_shoulder" dir="back_down2"/>
    ...
   </par>
   <par speed="fast">
    ...
    <gesture type="turn" actor="Agent" part="r_hip" dir="back_down2"/>
   </par>
  </seq>
  </action>