Segundo o sítio do Inkscape ele nativamente não suporta animação.
https://inkscape.org/pt/learn/animation/
No entanto nessa mesma página mais abaixo são listados programas capazes de o fazer
GIMP
GIMP is a free/open source, 2D graphics editor, which can create, import and export, both raster and vector images. (It's primarily for raster graphics, but has some minimal vector features.) It has a relatively simple and easy to use GIF animation feature, with at least 3 tutorials on their website. You can find them by looking through their Documentation page. Basically, images drawn with Inkscape need to be exported to PNG, before they are imported into GIMP (hint: in GIMP, use Import as Layers). Note that there are MANY other programs which can create GIF animations — just search!
Tupi
Tupi is a free/open source program which can animate both raster and vector images. Their Documentation page provides links to their manual, tutorials, examples, faq, and more.
Synfig Studio
Synfig Studio is a free/open source 2D animation program, which can import and utilize SVG images. Starting with version 0.91, Inkscape can even export the native Synfig format, SIF. There are both a manual and tutorials in their wiki.
enve
enve is a relatively young free/libre 2D animation software with support for both importing SVG files and creating animated SVG documents.
Blender
Blender is a free/open source 3D animation suite, which can import SVG images. There are both manual and tutorials on their Support page.
Blockquote
Básicamente as animações são feitas frame a frame, no caso a ferramenta enve capaz de fazer animações via imagens tipo SVG.
Tente verificar o enve provavelmente seja a ferramenta usada para essas animações.