Code reorganization and Drone Logic Update

docs/blender_models.md

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+# Blender Models in Gazebo
+
+Import 3D models from Blender into the ARG simulation.
+
+## Workflow
+
+```
+Blender (.blend) → Export COLLADA (.dae) → Gazebo Model → World
+```
+
+## Step 1: Create Model in Blender
+
+1. Create your 3D model
+2. Apply all transforms: `Ctrl+A` → All Transforms
+3. Set origin to geometry center
+
+## Step 2: Export from Blender
+
+1. File → Export → COLLADA (.dae)
+2. Settings:
+   - Selection Only (if needed)
+   - Include Armatures: OFF
+   - Include Animations: OFF
+   - Triangulate: ON
+3. Save as `model.dae`
+
+## Step 3: Create Gazebo Model
+
+```
+gazebo/models/my_model/
+├── model.config
+├── model.sdf
+├── meshes/
+│   └── model.dae
+└── materials/
+    └── textures/
+        └── texture.png
+```
+
+### model.config
+
+```xml
+<?xml version="1.0"?>
+<model>
+  <name>My Model</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <description>Custom Blender model</description>
+</model>
+```
+
+### model.sdf
+
+```xml
+<?xml version="1.0"?>
+<sdf version="1.9">
+  <model name="my_model">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
+```
+
+## Step 4: Add to World
+
+```xml
+<include>
+  <uri>model://my_model</uri>
+  <name>my_model_instance</name>
+  <pose>5 3 0 0 0 0</pose>
+</include>
+```
+
+## Step 5: Set Model Path
+
+```bash
+export GZ_SIM_RESOURCE_PATH=$PWD/gazebo/models:$GZ_SIM_RESOURCE_PATH
+```
+
+## Common Issues
+
+### Model Not Found
+```bash
+export GZ_SIM_RESOURCE_PATH=/full/path/to/gazebo/models:$GZ_SIM_RESOURCE_PATH
+```
+
+### Scale Wrong
+In Blender, check unit settings: Properties → Scene → Units
+
+Adjust in SDF:
+```xml
+<scale>0.01 0.01 0.01</scale>
+```
+
+### Textures Not Showing
+Put textures in `materials/textures/` and reference in DAE file.
+
+Or add material in SDF:
+```xml
+<visual name="visual">
+  <geometry>
+    <mesh><uri>meshes/model.dae</uri></mesh>
+  </geometry>
+  <material>
+    <diffuse>0.8 0.2 0.2 1</diffuse>
+  </material>
+</visual>
+```
+
+### Model Orientation Wrong
+Blender uses Z-up, Gazebo uses Z-up. Should match.
+
+If rotated, fix in Blender or use pose:
+```xml
+<pose>0 0 0 1.5708 0 0</pose>
+```
+
+## Simplified Collision
+
+For complex meshes, use simple collision:
+
+```xml
+<collision name="collision">
+  <geometry>
+    <box><size>2 2 3</size></box>
+  </geometry>
+</collision>
+<visual name="visual">
+  <geometry>
+    <mesh><uri>meshes/complex_model.dae</uri></mesh>
+  </geometry>
+</visual>
+```
+
+## Template
+
+Copy the template:
+```bash
+cp -r gazebo/models/custom_object gazebo/models/my_model
+```
+
+Then:
+1. Edit `model.config` with your name
+2. Edit `model.sdf` with your model name
+3. Put your `model.dae` in `meshes/`
+
+## Test Model
+
+```bash
+gz sim -v4 gazebo/worlds/custom_landing.sdf
+```