<?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>  <pause>false</pause></param:Global>  <model:ObserverCam>    <id>userCam0</id>    <xyz>-1.181 -2.030 1.175</xyz>    <rpy>-0 14 43</rpy>    <imageSize>640 480</imageSize>    <updateRate>10</updateRate>    <nearClip>0.2</nearClip>    <farClip>100</farClip>    <shadeModel>smooth</shadeModel>    <polygonMode>fill</polygonMode>    <displayRays>true</displayRays>    <displayAxes>false</displayAxes>    <displayCoM>false</displayCoM>    <displayTextures>true</displayTextures>  </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:Shrimp>    <id>robot1</id>    <xyz>-0.026 0.000 0.199</xyz>  </model:Shrimp>  <model:SimpleSolid>    <xyz>2.000 -0.000 -0.001</xyz>    <shape>box</shape>    <mass>100</mass>    <size>1.10 1.10 .05</size>    <color>0.0 1.0 0</color>         <retro>1.0</retro>    <fiducial>1</fiducial>  </model:SimpleSolid>  <model:SimpleSolid>    <xyz>1.000 -1.000 -0.000</xyz>    <shape>cylinder</shape>    <size>0.50 0.40</size>    <color>0.0 0.0 0.5</color>       </model:SimpleSolid></gz:world>