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Integrating new input devices and their associated interaction techniques into interactive applications has always been challenging and time-consuming, due to the learning curve and technical complexity involved. Modeling devices, interactions and applications helps reducing the accidental complexity. Visual modeling languages can hide an important part of the technical aspects involved in the development process, thus allowing a faster and less error-prone development process. However, even with the help of modeling a gap remains to be bridged in order to go from models to the actual implementation of the interactive application. In this paper we use ICO, a visual formalism based on high-level Petri nets, to develop a generic layered framework for specifying executable models of interaction using gestural input devices. By way of the CASE tool PETSHOP we demonstrate the framework's feasibility to handle the Kinect and gesture-based interaction techniques. We validate the approach through two case studies that illustrate how to use executable, reusable and ex-tensible ICO models to develop gesture-based gaming applications.