<?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:params="http://playerstage.sourceforge.net/gazebo/xmlschema/#params">  <model:ObserverCam>    <id>usercam1</id>    <xyz>-0.588 -1.430 1.756</xyz>    <rpy>0 41 46</rpy>    <imageSize>640 480</imageSize>  </model:ObserverCam>  <model:LightSource>    <id>light1</id>    <xyz>-1.000 -1.000 10.000</xyz>  </model:LightSource>  <model:GroundPlane>    <id>ground1</id>    <texture2D>grid.ppm</texture2D>  </model:GroundPlane>    <model:Pioneer2DX>    <id>robot1</id>    <xyz>-0.250 0.000 0.234</xyz>    <rpy>-0 0 0</rpy>    <model:SickLMS200>      <id>laser1</id>      <xyz>0.0 0 0</xyz>    </model:SickLMS200>        <model:Pioneer2Gripper>      <id>gripper1</id>      <xyz>0.15 0 -0.1</xyz>     </model:Pioneer2Gripper>  </model:Pioneer2DX>  <model:SimpleSolid>      <xyz>0.050 -0.000 -0.000</xyz>      <shape>box</shape>      <size>0.07 0.07 0.07</size>      <color>1 1 0</color>      <mass>0.1</mass>      <rpy>0 -0 0</rpy>  </model:SimpleSolid></gz:world>