From 25ae694d1f3db2ef0855ebc2901b8866e208eac7 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 13 Jan 2023 12:58:51 +0300
Subject: [PATCH] simulator: add red circle model for recognizing

---
 .../materials/scripts/red_circle.material     |  16 ++++++++++++
 .../materials/textures/red_circle.png         | Bin 0 -> 8050 bytes
 .../models/red_circle/model.config            |  13 ++++++++++
 .../models/red_circle/red_circle.sdf          |  24 ++++++++++++++++++
 .../models/red_circle/red_circle.svg          |   7 +++++
 5 files changed, 60 insertions(+)
 create mode 100644 clover_simulation/models/red_circle/materials/scripts/red_circle.material
 create mode 100644 clover_simulation/models/red_circle/materials/textures/red_circle.png
 create mode 100644 clover_simulation/models/red_circle/model.config
 create mode 100644 clover_simulation/models/red_circle/red_circle.sdf
 create mode 100644 clover_simulation/models/red_circle/red_circle.svg

diff --git a/clover_simulation/models/red_circle/materials/scripts/red_circle.material b/clover_simulation/models/red_circle/materials/scripts/red_circle.material
new file mode 100644
index 00000000..9741c598
--- /dev/null
+++ b/clover_simulation/models/red_circle/materials/scripts/red_circle.material
@@ -0,0 +1,16 @@
+material red_circle
+{
+	technique
+	{
+		pass
+		{
+			scene_blend alpha_blend
+			texture_unit
+			{
+				texture red_circle.png
+				filtering none
+				scale 1.0 1.0
+			}
+		}
+	}
+}
diff --git a/clover_simulation/models/red_circle/materials/textures/red_circle.png b/clover_simulation/models/red_circle/materials/textures/red_circle.png
new file mode 100644
index 0000000000000000000000000000000000000000..66c963f09a2ebf81315b5be24c4e3fda4af9fb26
GIT binary patch
literal 8050
zcmXY0c_7pO|KC05Tsd+s&5^T6$vNekD@H|biKtNSqikR0=wL>evobNtQOIqd_(Zv~
zDCJryG8H8u*YCAHzdyFU_k6$K&)4&Qy`GO}nxli2AfGfJ1OgExSep|e5GaNF;Xwfk
zsq;`j_~8w+b_<6<)sAvMP<$)V9T0a%Shz+whXzDM`(8c^iH?re3JN(Ne#STKtXAmd
zz=H2a(h!LJ4#C{aC8qG(WOV)6v$VM%i{a$^75DjS@w>$CSt#Z5pzibV2ueviIsKDb
zH$FW7z3x=T%+YVVyT07|9kJ?jL8(GBpxz1U#G8&FSm@ml6;y48-Mdj4xIMOda#Afs
ze|>VJa53;vE9c~7{NQ$TPI1Z5#&=;_+QEa0v+$eGI~xmrZGEb_NFE?-_IT?l<mqm2
z9hylT+`SV`y2GsevA8I=6F$1u34aKYhkY-eT^Nj<4s>X<3~sB%kEn`_Lk!`DkPL;L
zs~^vw@-b@;(~Ol`lM8!IuQ7#mD(q|rY$}vVKZ7}KnP1>D5+4&AlNpm6Lyl#xICs^a
zhE51<qMGEJqBa*Sb>3zRC|~S{Ik}CR*BRDo*N(5P-XzB=of&-<%(i6PRQkE`d6>;A
z+<3sUeu6)!Kk8p66(b+UTziYL(AAq>B-xT|dv@CL`>kGDvMPXVrXu{LKscIcFNKD>
ziw_*!l!sKqv>vEs+xE7VU%&~f^P9Je)gi-p!VZQ>jZ#NkhwV<=HhhYNE?r@(_?x&K
zq9$KQ-v4g?RY2BcJ95{GDSz;Yv9%tpP^j?OEbCe9h>t|-duRLIXh-qqmt35a^B0sW
zb&e>knb7+9=bVyUvH70e9&8>qf?X!C!>BLi?5R{dBD02~sq@V_4Y*<R-zS&-5cSBH
z))OLrD<~99m{k9wC(duaU~vH>OE@8|jgrU_r02&#)<nV#mgIC4v<j{Ce91hD#k_62
zG2+DmRkTU|1l~0P+S_bQ>0=Fw(+SVgONwDSqYs)!s@2K5q}MOnq8q*6EY;yH?Ylde
z1&jxRhr34kg`jhg66NJhmhVA*iC)!ISDrQr{p%dmbz-Lne*$XlemO$Ol;1zk!Uz+i
zzU1)6bndA1wa?5>n1af3Bg=P0L85p6jWL<E^Xxm!fa|Z%)jvXYAQNu&_t~U4g}Pz8
za3Aq(W99+;E{DArzlyT=GNZ4YdlOcR&)4$PW#cN-y2fu*@a8}i(1VKMk@NdGg-Di*
z$QkAj<_={0VVE>S>?v_;b#>XKi%!#^JaF@tRX`M<)W1E#e;A^0Ki@jxLMSk<y@&|2
zj)^8+;VaMl<GU|RZAov{I{zP7(En1q$U@G>qsOJA-a6TjNf3akBPHrgmpU26d$exn
z-y}z8#ahf`^Yb%g9+jrbrLOH-($x^UT@5GqrLL)o9M_Vw%$P+GRYbx`Po2Jn$EZgJ
zwcla(kc2kuR{zxEIf@_k*;!17vQlfkD8nT$w!o^@%O`l7o2~*0F#V>8T?{iV`g?^R
zG#s)SO|<EjFi((blI=Sd{C1hFp1Ot;G0C|rtU?i0#N2E7yy9$Ym6^;OV7m7j)kIL7
zW)M2oBJLR_o{@WUQbyDbp{BB??&rr@zLsf79aRw(NGCl``fl{gJ8_E$A6^laT#SyI
z$1~2;)E@YbKwEvpuAplPLNTpEPdM5tl&d#l<VHt)W37`S1;UD6TPGeN|2o!v(#5%_
z3ar}ww&Kvc#eH)AW3JeCi60(pJD)k06Yf#COqdSM6wvdUu8pdT6o_6@3lqsnaXEY(
zr6t=L;_ooOzv~$<T~aX$HV7+rH@HD}^Mr!5^S*;&ML1w5Z-7u*M*`^uhG5mWkAh`M
z2aCk4%N1u~JBYTrh+PCZLwJljO(+|~GMBJcQ7lFz$c@zix@Rk&esO<+Ejma#xAwib
z(`5I+PfGH?e(cMN=^AqMAPve%3xvobbPz7@ZjeqdK8@Hk6e$<|Fz0vE<5{ppH;nB~
zo&k!DM9(>T>R$Gq$3_N{`<49;vkREjz+2LJGNfE;>@h%}tvHmG+C{RhHKIE$N3e;C
z7)?3)pax~$9AtvzSPPKG;sSh=l$vFOW~lS~pBW8UXSl@6PyNJ8UkoQ{r-xQ=$d=r0
zLhHCiW)u#=woNevnGMCI0G(5JFhog--fO8BNuiJw2?s?+$5r#l;d_DSe911A1$(Xv
z#aPa(QiB)c*it&7VAX^CxR3M9b*7jNkX$MnVnu1DM^LDi@nXh)2bP>Qgb3eaWy7E%
z8`&5l>x+bS_f?myo+zMBFujLpOb_-~_`E+KDSByt7<4HQ_)qWs8)mF|+uaC?sAUaa
zF&)(*q@gNj!E($KN=Qj9wL$N$A6BEJ&QyFq-(UeGNq%X>9yh-=B6!NG9IxnQ5n0qT
z%QcowIH^YXlHWWwNk_W;hh-Z=UuF!%7vWf_V3;B;Fc-rL?efNsIzR77%1WXC<7N?Q
zxR$6bM=wck#VcYUSMd!mln6<`uuF6P+f5OatGlOQX)%XJX9A7KZHW8S$)&w*T(Z<4
zEN!fS^B~Y`ZV#h=gWT1-339XjPy$l4PJQ$np;24Tg8F=tSJq~h#WITvYT~1}RDJ)K
zi2*XQEU)s*;%6_GCH;E2<bf8g6CZtdGAD&@5T_WXC30*z@9PIuO6mZq1|FZCu1L@w
z6I`2JdwpD{W*td1E?;}Xw4Um>BhJY36`nLO*FM;ZXS=XJvG(8?f;B21+slqcRJ|+s
zGHM(+2)hpy4|aytC@tS&nHh{uz|!=uan!;?ofH|2lTfRy^-@3{?gy#}HeKWRYEei0
zS0O`tmvhUK>Z@XbDv-4!OSgb`7*<!2Uysjj0eYz$V7~j5H}fauphpz4Lw|esTd4sx
z;k6p3cQ$4Z;mVR9JJdGioK<*Ets<s8E@xdC=u9kmSk{8v6tY1FS?KcNKJH_RGaLWX
zC*ejnx!FUr-^#63oFz^^=mwnm<lzZPshT!iGCyJ)IrcPyhai3T3hDSA%z=V9N$c)?
z%mv#X3LWO4_%X8VSU<fZ9xIZF@<3j2Gq`~he=HiKOzTvW^H*Cb#8-|#DY^c6Pf+~;
zdQf`D?qN}!1W$tSSSMgvNe+bWJc>wVjD+&4f5ftnwoM(QDnCSe;b${|Ob@+)$vHoQ
z+55P%4oqOa+RwI^CD~Psi@w?U_a}wUFiOiWdhcEWV>q0OKRYi)bvdIV{DZ^Vqdam3
zFeETVeSAT*x`eO7TeH?%S!Ns^@}^i$3a-IVon6n`a~A^^c)Mv)cE*~RBx~CZ_9E5R
zYvOf0P4Z(M9z29#x*=)Orufc@IM}+kt2}iitp}>0x%=(}LiCbUn8~XOD}5W{ZCn_R
zHkYd(LxZK|p*_%Fjn<NES&q$_99S0`eT7Z5b=@I--a}|#a$#Rl!Wgab;`|PT9hq9N
zp~ig{@i{=VMa8}n73)>0HNr7+4<SvCd`ZGIf~>;G8ofGW!#bybD^*hHCn?GO*^NB@
zO?2&y4@Q-+cTTzT{4sg??tf56$eV&dr<K=(Oha^J?LT%{k>ijMrqzfIu~QRWY&om&
z=gM6(d#u7UU@|jT{EF*R$HERmv`#y0_vg?8MM9~c=F$b7nlE!^s2}&XGvEg4IED@?
zAwd{DUy?dQnp;_sqS6_%cHR6Nv7~KHUkgN-Qf-qdnt~hnXyar0=a<>^5bviLP<7OT
zyxC1x+hY@zDX9n8YCbhnoy{OK-a<Dh&5dtECu(><-2rxVLC3=qhcga;-vUzb)*@o!
zLZ@A+BlpUf#qGsM{~RC}UIPY;d@M8i(((986v&WUoE#++4I3)wvt^}>rU|R+@YfZ@
zWl^B^=&&<cEPg$?y#QaiV3Ol_+lEU2)11y(pEq7-FMdY+oZ~JS7!R}h#Tkfm!zNC4
ztx|C-RzoIL@lSxS4~IprhT;g)q<{URwrG=8yq`LMeYt`oY^{FxY9p+QS$B&uio06f
zv|$A5pAfxTe%jOMW##rf{1gakg8k#&OSzLBglO;_j2-1u6_R94MFsC(^4D2h{3X~@
zg!f9}K2|RrV}CgG)i=atz1rx*P#oc358HsAk`G14u_8nN0KX`Y-%Q;yxN_;Rt!sJ2
zkJALAaU0{cWK<)NP-!XN$E+NkgByLu=Y!VCeY)|?L51?xC)S#^e@rwcRz>@3J>H{(
zO8+oCtaEb1)^%#thMGKV;_vl(kl%oYpL+k#c^qNocXE{Xt0`dcBTH6oF^<&afl21f
z3y(<-|NA0*IyW|a>v{CsiX`jZv2x!=Y^l;8#J_D`Ua)l)31{TgNHmrZs3VX*(zh20
z6?eQt0%1o`eaEQD?~by2PbM}O!7i<XRlWO4Rvv)}>4$G4`WKC|a13aUv*sCN{c-I^
z1G4N*V2e^8Xjp`L=U6bgDM5))T3R-=`HowA;L$Mmh`(#7lfMPHKMy_&i!}ibzD-?c
z?s>9BR7YNRS#`q^1a%hzJCTZne4AWuxv#aYVOdk9XM)W8*VawP5g&hnB^IvhZiO|%
zg62JZ2rS3^OR0I=2d7dsNv)*V_8}Z081yKLIts;{6kU64iXSkfYJrgK!AYS&HQ`lL
z9N~4;KX%BU|1&{k;`I9JJ@>E3TX(;48S1&XnsyzS`Ehcv!l&)qiTgdxj6#!v$d*0I
z%x&i_p9io^950*1*uK;Pqy5ZPBJ2%%=@9b^ydA*262n)6V>}ie1HFdw&Wwv#uL%fD
z`pPUk{^Dkavv_LXDJuQ8aixrgFoCFkT8%P?!KUIEZt{^)-;)czh>SxMrG2mjVz^OG
zzoE+Z;~$8}L!>TiYW|sw7m4qh@bV3PS_D>;pn=~E>|Hp?3`ZDvY-XiTwx*tLFtd6%
zZJsf<%N5fvm!M1_!i{(|u;GFi^vPdu0FUHPNiem<5@{Y-EpGxf;7N#r|AorLY+R7E
zvqbNA<p01TXD1u5S^WOF`>r}s=`W&+*8+aJx%QEe*Fjd~f4HjiG&zlz-h$5IavL~l
zZl@+ZR_7r>Aa;F4Eb#l6|L?Cjd%4oQfBFyN@tI~>Dn0p~2v^sQ33w(h(qAR734`-f
z+Fug}l+=BQ4L8GGAVkVU6R4;4LIuVeBlrl!nG1#}4Yi`9)Diug+*eg3ny)DlIM-}l
zsr2+F?qzSImM?*7@ByI+uJ0dUA1HGM!4WttHTBG#I?|!}oOI+r%JKo9W!63%;kIrM
zFSwI7pvmPo`<KZzF<|(;A@^;m1|OAMz-58ev%O5^vMj*r?11Y$f=UmNhM&9x_S@jX
zl)o>^%fsch{t8xAh{q9%!ayWMb{hkpRvyo&;8IBgTyk&8#l{H4-2JPKkv?j|)8IOe
zap}7>{QG};MIQk+GPv{<1UTm!_p5jEJD2i7o-30B7AQI)&bv$&|4*7JDVq9^;0OY7
z;Us09J+|f@qA6`b9l<??+_K-ki6dw>A^+Mq1jWzQ-`(d5dBQ_01;_CHE6cmPc<%3`
z79>{Z$)EGxI-nOfqS8@KCH;?lw-7KdevoIA_F~g^T9oNsJc@+ioPGSCT3~<OS*^}x
zZCG8j7V!V!vXFfHMWF9Rm<GC0HH!fDU3Kzx|LW^6#H?qfeS+>eg39c!<0N1EK~$pY
zmJ*0Nlw92<a#N-jA%74h$8}opC<^)bs+b(s&yal_jsdBfeDOtF{6}pW2P`cb)+rOA
zNFaWjG-)<s58Jvzaxtp6aEv2bQ)>zj)F`$nVW6Z&2IsG`H>@JNK;l3|3Sg@+cZ@Qq
zMYB2Z@mt<u9fPGRlzuBxA9|M!)g{q%yvfLiqok4N_r#of@bQC*_j%R$33MjTKJT%Z
zd^;K@TqoRw9;0{Ca0I=l$-z5k)}Nc^#lc>9pggAMxJtFgRsJN+=hi~BzB)^R6tx>i
z>WcR^U-@gWpjID_u`nsMnK{X9+xDm8Mkj21L})_CSGwkb7%3!$RTXZX)XJ+i@|jiA
zAT6%ybCnAC`j@3*6zb~h89WHNvFrT>4>msZi&?Kc^IkQ`#4&z{<S~qVek*B&?Y5;_
z4nGY1*hs_{52_PN1K)h`o#n0?%Pfj9sKMR7A<m4N37l~_|C<-L3}wd~^C=N3JHrFi
zh0a~%<!4uUCWBhn)7kLT_KCLdKiwzh6A=<oxm+KDiXVTN>=OD(CkH3k8QMUUfA!}-
z|CQeTJoM*HPAx?7Q2FWS?<=3!QR(@u8NutpC)7J9{ve2xjthoz$w1@j!>2Wc&V};w
zdpxJoec!O&of13k{S20x2cLjmc<lvB(!eD0D}I)9lDkC_Zy)jw(apv&wg)ei8{M7c
zMPU83+4;Y{aD>Wc<KDIout&9`VYIifQ}tU01fr+s`;b_?3X-^Pmr|338yyNXjCBJ0
zAVkC+)`^ygxa>$EUeqXmZ{$7vo!=0g6X3BnH8{O#x1wxxM8`Fx))@k8|Ce*?d<LG+
zPOoyB_{PeY4^wdB5t_94=szDrl!Zw{k?U~;;*k>0?7x!^Sbowt=}{~19)fgJJXs~W
zWd{m~w7yH)=G6Qz^&v0eVBd!*7DFZw{qx^%;|TD_(qpv#>8NF8kj(hm#dFJ;bSnM+
z;MYc@yOLr&`0iqt)t(#Qr|qaCfg6-}E5?GYC3uKV4P5KXi+FJCn4j><M*phBt0^pg
z;QlWSEE#Qg1G0u((tGv8Vjq>>(UKFqUa6w6*<Of;m<-RXX5m%_t>RC}zuMsS7xURy
zdwy}sg*pO13~S9?x2~D0eag*AcIWCZV<m7h?eNM$|B8c=)AoHbVDE0fa)v-msYd@+
z48N#7UH>*7E9Tsbj@t%D42Slbx1XU~c|g7AByaX^H>%5fZBpRM<>iE<iz>oCZSzyp
zxvM$2hM6l{szP7hB4ENI%pvmDpKu6)rBMy}y?BcJD-Z^K4mZ4RO+1n~UGtN4)d9PZ
zE-VQ}|6T><?Y4*YtnZc)6U*m+U{q?fGsud1@ZIUkvMTkBSju){MW7clp>DAUWapY)
zXCEAOfDAFeAhgNnI<}KUU|GAPjBfWEf&=eA8tP}aMb=*7)4?I*+g6gQkkkl}<^b9i
zW)!&}olVbNKJO!>qrg2uKdmcj=38qe%N?g$4z;3A$nWpv^`8`(Nnwg48CT#0+xdHq
z5-4a5Cv3cP(VNzJA0Z9GvGaPPS*Tph&$~&Thf3q}T90dG)2G(I-0g$g*kK_e%N4}~
zt$l1EEyA(Sr<hazCI`R3bDIr}K=SRni;pL;URkp*D!qi;OnKp!kFxpyP1hz2tOn^M
zx^UQMb86qn8Oy^pkd4}sN2${DLd@^}Q|@Z`cQUd8Q}E65`@3-r+LY5{qr1NlkF_ik
z_+u`C?q@{UTV?rd*|Cu_d@+wl#$oqt`nw6MhKQ97(E0qhmEJ!MOFUtajMHNpavbFy
zb79b4Be}K9fBU9D%6i#<ebf1)-6xrPOlJTs(DR#VoG7I}&<Hw~fGk|T%GP7%b30PY
zH?W!-=UDtCAE5fN_i{U^+X<BZl59*}U7V(`ed^e*CaIVxZud3znF;l;){^r-v!Vei
zk|(K(gyc4Kd(=sR)YvogSZBtx=$mW((~w0qxnoqmxOmS#IL8AEp_QObP62tv!=!0}
z*_Z=af3yH&&;#xI3;jq_O5iC1Ki6lADiT2u81XiVj#Y!6oAbmJx{*G8uk;P4{hHpM
z<tX-@m@BFD55IYqZYXD?50>FcKT;mFJ&h0`a7tGx>ocr9r$=uoJ>(UECWxzEl{rJ;
z)P=%&Uf&h^93T#oGsi{7uJsPU0*o)im%g@4R{9?raC??dX@=>`tNy`h5jdHxWJ$e8
zMt9SYFiI?ZR7~Lfl^X@P0YCAuqea>hg#=xGU?oL%B);nn8^>E=(mG{5d%Y|vqOuvh
zurAIXVI9CR;EBg)X#hVcjV<`%oTe`rW6O2v{h`eD2dq6UdKyU3Y8bOqf%StVOd;t?
z%b6^*7Cl+y-|dNKtO{tJ|9r(|=yy|R1jXyzZ~0#T(S2dsFzHMD5YR3jVpsU?6OwuW
zoZcp`FVIxVeg4yNCV#=@jH;7@r^t|*IcEjl31`s2Lsy;d^Z*R**ZU=4fZ0gqF!Lu^
z_jdhRW~RTFr-8MpKp+|7?}d^@KGXm(k#!tIKfS-t7CoQ)K~tF2Z%fYosCgVG_(qL=
z)_=PmAU4w9xxtpf@pZXvI(M45_aW5l*laUcVSGsvtnieSRcDS{c^k|g^)L1`=*0>Q
zUBC7yRbN71CXWji-h0BQpV=RpjnPppJpqzy2;BkaLJjnLKOjp)okUmg%55(Y1hR+(
zNmo~J<GH)p3clj`R8G5dsT+7>gE%>I!3l(;^nw@roKB*bfi-WbJGjvbor4+zq=#{7
z+d49n-B6a4ts@=iYp)W%Z?yeM2tbmEr4uOGgD*crOT9o$b|Nr{9PaZX)nzS8@q0_o
zOxa2R6)rNDN%uOJtca%u;TZYGR!-DQ7>&|g$ca@f2f@S0F%gp0wHsRgl7rN7o89Z*
zAs8cB+ZZ8BXrM4RUL@?LRoSL6vW89g&npAOwtVKq0!uYsDh5vTR+FQrYfxzBMv`lX
zYCVApsPFQXRedRc(px6Oc+V@-OyL;VHrJo<NaH2hzB2(5y%#E9C#;sY@Rrg)tX?#-
zf2t&5t*&zlQgipcN3@u|w8ME)XX)w2pLSIeO=wniY7)5yHl7Ql4E%n-MSNo&z^`dY
zR$8hGQ8UQ69B}q*6$LP>`+qR2fs^O;IMt<$>si*E!QC#a^^c7V*a+66)VI(bw1T6O
z-U}VJ_6wuZ2#WF(eB2&CE4Ce*^w<p7z}Bgp%h_p(pgaiYt&-FUy?2@wXF5ugrE&rV
zmqgh3zS6^m_&CjvM_gX_YJn1QdhR3}r=tykq&$7{uhX+T@M1#45fw(;6Y{?~R*L|c
zcJ8hsC!!kF<SeAkR-vIP%Y9`@0_p(8erd!XW3be~a-xeYd-@#jEA1@Aqm%#$?@dz4
zNmmrCGbBY*=i3)hOkRISogwJ&yDe+4Qce)s@3?HF$GgfW%^-+JyUm#8jGU*q$hpG+
zYv;nF0Ba{6jXcz=%cz!dI|0TEE*XyYzvA8H&+3!2CF;;iylif56a0CMJ?XEdDd(Sk
zgq)qze67EWyce?5gB|#4$^Pu$@#?4Q5HH<9@eq8<p`reB!(LXLIw=FLpt$^j<?B+1
z=cxLLESa$7n9A2*TPr<64#Ku``b~2%rGkIQ5_!RipV&Y(m=<DNmv$-_bDsgG27$Cw
znXx>h+r4MYW~|{q!`T-8@&U0U1!C4&=CYUsDS+bbVhB~kO?VOnP4lF|)FVF?l8!Wi
ze0Ao|No>i^b^6jhu%Jo+-NdjJNS^%VnFg11N6oj6=v)zYhr40zCF}NuDJ~smdI7N>
zHA$~YEs5VOeWyY36}^OAl4na{!Cd7~6z}NXvz-gXQ82wpcIx(Wc}po2=+`W?EWIec
z6w2JeEw_MqkUN+M-5isTky$#$Ji}K$e9jG(K(5rk>aKtDPd98gQiQ+aL8ddQoxglI
ztW|nVAk2WK4n{?ZZrD;~KW{KI;~jetCM}q9mU)V#%Y}ud1k;f^m0)7f0}VxCv<oc<
zB9umxhC4phAIR4bHtQ~C7LeYuz0v}rB*T=K+;nQR<t)#-VNYxOiLslRyv!=n#Xc0#
zega(xFBIG)*_GVi$Ak?>C>}zm)77#h;rx9l7Rea0$)hi~)>w9r!5!5#cwa`GptT`f
z9S>3dd@^IhDhV?S{?!^_<`zh<Fcxu#pdBx^DWpfELRtz)%RQZgk-8q=z?iWpwW#7j
zRu@_FBk|OvF~q~>gw(Y1a`J!k!MO7GhmY{+^Tj}GRZOT)>-Cs=E*rb2(OQ>HkG1=e
zD-yXQSVm48Mt0}*P05Y(N~5D}N$1J7B|n`-O&LPhOV}{m<!SNs%}Q(Kj$+q?&dZYy
zCwAo$?>ujqQuIs$93G}VA{&z?Nt292pI4!?xwlRnt0H+jdv0AZ9(CT-Qdv&F&p61^
z5FS0gQva`KMaX88%89zKu&+E9JhjH~6ILtqjslXB%MfoTswu6%K`DtK^8`PlAu{eL
z{=&g|vsr9^jpO5!j}RgE)Y1x6u6S?JV!atY#8wSq!Ca2P9g7+7aoD*1pN&s71Foh6
z{m4eCovZ3T7dGeI(|5-CeDrE1ni4ms<q`7IJKG&UN~VpsBi~w1*X+d4Cbe&7sNeau
a1N~f-z<zwvJP*vvAp{Et^Xj8M|NB4ila|c@

literal 0
HcmV?d00001

diff --git a/clover_simulation/models/red_circle/model.config b/clover_simulation/models/red_circle/model.config
new file mode 100644
index 00000000..87e95600
--- /dev/null
+++ b/clover_simulation/models/red_circle/model.config
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<model>
+    <name>Red Circle</name>
+    <version>1.0</version>
+    <sdf version="1.5">red_circle.sdf</sdf>
+    <author>
+        <name>Oleg Kalachev</name>
+        <email>okalachev@gmail.com</email>
+    </author>
+    <description>
+        Red circle of size 40 cm on the floor for recognizing by a drone
+    </description>
+</model>
diff --git a/clover_simulation/models/red_circle/red_circle.sdf b/clover_simulation/models/red_circle/red_circle.sdf
new file mode 100644
index 00000000..caf0008e
--- /dev/null
+++ b/clover_simulation/models/red_circle/red_circle.sdf
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<sdf version="1.5">
+    <model name="red_circle">
+        <static>true</static>
+        <link name="red_circle_link">
+            <pose>0 0 1e-3 0 0 0</pose>
+            <visual name="red_circle_texture">
+                <cast_shadows>false</cast_shadows>
+                <geometry>
+                    <box>
+                        <size>0.4 0.4 1e-3</size>
+                    </box>
+                </geometry>
+                <material>
+                    <script>
+                        <uri>model://red_circle/materials/scripts</uri>
+                        <uri>model://red_circle/materials/textures</uri>
+                        <name>red_circle</name>
+                    </script>
+                </material>
+            </visual>
+        </link>
+    </model>
+</sdf>
diff --git a/clover_simulation/models/red_circle/red_circle.svg b/clover_simulation/models/red_circle/red_circle.svg
new file mode 100644
index 00000000..3321ece0
--- /dev/null
+++ b/clover_simulation/models/red_circle/red_circle.svg
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg xmlns="http://www.w3.org/2000/svg" width="20" height="20" viewBox="0 0 20 20">
+	<title>
+		red_circle
+	</title><g fill="red">
+	<circle cx="10.05" cy="10.05" r="9.9"/>
+</g></svg>