<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">

  <include>
    <uri>model://ground_plane</uri>
  </include>

  <include>
    <uri>model://sun</uri>
  </include>

  <actor name="actor">
    <skin>
      <filename>file://media/models/walk.dae</filename>
      <scale>1.0</scale>
    </skin>
    <animation name="walking">
      <filename>file://media/models/walk.dae</filename>
      <scale>1.000000</scale>
      <interpolate_x>true</interpolate_x>
    </animation>
    <script>
      <loop>false</loop>
      <delay_start>0.000000</delay_start>
      <auto_start>true</auto_start>
        <trajectory id="0" type="walking">
          <waypoint>
            <time>0.0</time>
            <pose>0 0 0 0 0 0</pose>
          </waypoint>
          <waypoint>
            <time>1.25</time>
            <pose>2 0 0 0 0 0</pose>
          </waypoint>
          <waypoint>
            <time>2.5</time>
            <pose>4 0 0 0 0 0</pose>
          </waypoint>
          <waypoint>
            <time>3.75</time>
            <pose>2 0 0 0 0 3.14</pose>
          </waypoint>
        </trajectory>
    </script>
  </actor>

 </world>
</sdf>
