The long answer to Yoyo's short answer is:
It's should be possible to move and rotate joints and bodyparts so that tori/uke rotates. The problem is that there isn't a command that does that so you have to calculate the new position and rotation for each bodypart and joint yourself. This shouldn't be too hard but it's a little work.
I'm not sure but I think I remember some glitches that appeared when I tried to rotate or move joints once. But that might be fixed or even just my memory playing tricks on me.

If I find time and motivation I might look into this but I'm pretty busy so don't count on it.