<bml id="bml1" xmlns:bmlt="http://hmi.ewi.utwente.nl/bmlt">
	<bmlt:procanimation id="conduct1" name="3-beat"/>
	<bmlt:procanimation id="conduct2" name="3-beat" start="conduct1:end"/>
	<bmlt:procanimation id="conduct3" name="3-beat" start="conduct2:end"/>
	<bmlt:procanimation id="conduct4" name="3-beat" start="conduct3:end"/>
	<bmlt:procanimation id="conduct5" name="3-beat" start="conduct4:end"/>
	
	<bmlt:controller id="balance1" class="BalanceController" start="0" end="15"/>
	<bmlt:controller id="shoulder1" class="BallJointController" start="3.5" end="6.5">
		<bmlt:parameter name="joint" value="l_shoulder"/>
	</bmlt:controller>
	<bmlt:controller id="elbow1" class="HingeJointController" start="3.5" end="6.5">
		<bmlt:parameter name="joint" value="l_elbow"/>
	</bmlt:controller>	
	
	<bmlt:transition id="trans1" class="HermiteSplinePhysicalTransition" start="shoulder1:end" end="7">
		<bmlt:parameter name="joints" value="l_shoulder,l_elbow,l_wrist"/>
	</bmlt:transition> 		
</bml>


