<?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">  <param:Global>    <utmOffset>499015.29 3846508.76</utmOffset>  </param:Global>  <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:Road>    <roadFile>road.txt</roadFile>    <color>1.0 0.9 0.8</color>    <textureFile>grid.ppm</textureFile>  </model:Road>  <model:CarChassis>    <id>car1</id>    <xyz>3.775 9.529 0.631</xyz>    <rpy>-4 -4 54</rpy>  </model:CarChassis>  <model:ObserverCam>    <id>userCam0</id>    <xyz>4.934 -0.688 5.071</xyz>    <rpy>0 15 83</rpy>    <imageSize>640 480</imageSize>  </model:ObserverCam></gz:world>