diff --git a/CMakeLists.txt b/CMakeLists.txt
index 69582af7f0..fd853cb328 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -68,7 +68,7 @@ set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 #--------------------------------------
 # Find ignition-common
 # Always use the profiler component to get the headers, regardless of status.
-ign_find_package(ignition-common4 VERSION 4.2
+ign_find_package(ignition-common4 VERSION 4.4
   COMPONENTS
     profiler
     events
diff --git a/examples/worlds/actor.sdf b/examples/worlds/actor.sdf
index 2c8c3c5679..fc6af99daa 100644
--- a/examples/worlds/actor.sdf
+++ b/examples/worlds/actor.sdf
@@ -165,5 +165,59 @@
       </link>
     </model>
 
+    <actor name="actor_walking">
+      <skin>
+        <filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
+        <scale>1.0</scale>
+      </skin>
+      <animation name="walk">
+        <filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
+        <interpolate_x>true</interpolate_x>
+      </animation>
+      <script>
+        <loop>true</loop>
+        <delay_start>0.000000</delay_start>
+        <auto_start>true</auto_start>
+        <trajectory id="0" type="walk" tension="0.6">
+          <waypoint>
+            <time>0</time>
+            <pose>3 4 1.0 0 0 0</pose>
+          </waypoint>
+          <waypoint>
+            <time>2</time>
+            <pose>5 4 1.0 0 0 0</pose>
+          </waypoint>
+          <waypoint>
+            <time>2.5</time>
+            <pose>5 4 1.0 0 0 1.57</pose>
+          </waypoint>
+          <waypoint>
+            <time>4</time>
+            <pose>5 6 1.0 0 0 1.57</pose>
+          </waypoint>
+          <waypoint>
+            <time>4.5</time>
+            <pose>5 6 1.0 0 0 3.142</pose>
+          </waypoint>
+          <waypoint>
+            <time>6</time>
+            <pose>3 6 1 0 0 3.142</pose>
+          </waypoint>
+          <waypoint>
+            <time>6.5</time>
+            <pose>3 6 1 0 0 -1.57</pose>
+          </waypoint>
+          <waypoint>
+            <time>8</time>
+            <pose>3 4 1.0 0 0 -1.57</pose>
+          </waypoint>
+          <waypoint>
+            <time>8.5</time>
+            <pose>3 4 1.0 0 0 0</pose>
+          </waypoint>
+        </trajectory>
+      </script>
+    </actor>
+
   </world>
 </sdf>
diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
index 42ed3d82e9..dae751a09a 100644
--- a/src/rendering/SceneManager.cc
+++ b/src/rendering/SceneManager.cc
@@ -894,7 +894,7 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id,
                     static_cast<int>(point->Time()*1000)));
           waypoints[pointTp] = point->Pose();
         }
-        trajInfo.SetWaypoints(waypoints);
+        trajInfo.SetWaypoints(waypoints, trajSdf->Tension());
         // Animations are offset by 1 because index 0 is taken by the mesh name
         auto animation = _actor.AnimationByIndex(trajInfo.AnimIndex()-1);