<?xml version="1.0" ?><sdfversion="1.6"><worldname="default"><!-- A ground plane --><include><uri>model://ground_plane</uri></include><!-- A global light source --><include><uri>model://sun</uri></include><!-- An actor --><actorname="animated_box"><linkname="link"><visualname="visual"><geometry><box><size>.2 .2 .2</size></box></geometry></visual></link><script><loop>true</loop><delay_start>0.000000</delay_start><auto_start>true</auto_start><trajectory id="0" type="square"><waypoint><time>0.0</time><pose>-1-11000</pose></waypoint><waypoint><time>1.0</time><pose>-111000</pose></waypoint><waypoint><time>2.0</time><pose>111000</pose></waypoint><waypoint><time>3.0</time><pose>1-11000</pose></waypoint><waypoint><time>4.0</time><pose>-1-11000</pose></waypoint></trajectory></script></actor></world></sdf>