<?xml version="1.0"?><gz:world xmlns:gz="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window" xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param">  <model:ObserverCam>    <id>userCam0</id>    <xyz>-0.195 -1.665 1.691</xyz>    <rpy>-0 38 53</rpy>    <imageSize>640 480</imageSize>  </model:ObserverCam>  <model:LightSource>    <id>light0</id>    <xyz>-5.000 -5.000 10.000</xyz>  </model:LightSource>  <model:GroundPlane>    <id>ground1</id>    <color>0.5 0.5 0.5</color>    <textureFile>grid.ppm</textureFile>  </model:GroundPlane>  <model:Pioneer2AT>    <id>robot1</id>    <xyz>-0.000 0.000 0.001</xyz>    <model:SonyVID30>      <id>camera1</id>      <xyz>0 0 0.30</xyz>      <rpy>0 0 0</rpy>      <model:StereoHead>        <id>stereo1</id>        <parentBody>head</parentBody>        <xyz>0 0 0.15</xyz>        <rpy>0 0 0</rpy>        <hfov>60</hfov>        <baseline>0.15</baseline>        <enableImageLeft>true</enableImageLeft>        <enableImageRight>true</enableImageRight>        <enableDisparityLeft>true</enableDisparityLeft>        <enableDisparityRight>true</enableDisparityRight>      </model:StereoHead>    </model:SonyVID30>  </model:Pioneer2AT>  <model:SimpleSolid>    <xyz>2.500 0.000 -0.000</xyz>    <shape>box</shape>    <size>1 2 1</size>    <color>0.0 1.0 0</color>       </model:SimpleSolid>  <model:SimpleSolid>    <xyz>1.000 -0.500 0.000</xyz>    <shape>cylinder</shape>    <size>0.5 0.50</size>    <color>0.0 0.0 1</color>       </model:SimpleSolid>  <model:SimpleSolid>    <xyz>1.500 0.500 -0.000</xyz>    <shape>sphere</shape>    <size>0.30</size>    <color>1.0 0.5 0</color>       </model:SimpleSolid></gz:world>