<?xml version="1.0" ?>
<sdf version="1.6">

  <actor name="actor">
    <skin>
      <filename>meshes/skin.dae</filename>
      <scale>1.0</scale>
    </skin>
    <pose>0 0 0 0 0 0</pose>
    <animation name="walking">
      <filename>meshes/animation.dae</filename>
      <scale>1.0</scale>
      <interpolate_x>true</interpolate_x>
    </animation>
    <script>
      <loop>true</loop>
      <delay_start>1.0</delay_start>
      <auto_start>true</auto_start>
      <trajectory id="0" type="walking">
        <waypoint>
          <time>0</time>
          <pose>0 1 0 0 0 0</pose>
        </waypoint>
        <waypoint>
          <time>0.5</time>
          <pose>0.1950 0.9807 0 0 0 -0.1963</pose>
        </waypoint>
        <waypoint>
          <time>1</time>
          <pose>0.3826 0.9238 0 0 0 -0.3926</pose>
        </waypoint>
        <waypoint>
          <time>1.5</time>
          <pose>0.5555 0.831 0 0 0 -0.589</pose>
        </waypoint>
      </trajectory>
    </script>
  </actor>

</sdf>
