diff --git a/cg/__init__.py b/cg/__init__.py
new file mode 100644
index 0000000..b7a1a91
--- /dev/null
+++ b/cg/__init__.py
@@ -0,0 +1,2 @@
+# -*- coding: utf-8 -*-
+# to keep this module importable
diff --git a/cg/blender/README.md b/cg/blender/README.md
new file mode 100644
index 0000000..fc6637d
--- /dev/null
+++ b/cg/blender/README.md
@@ -0,0 +1 @@
+## Модули проекта Robossembler для Blender
diff --git a/cg/blender/__init__.py b/cg/blender/__init__.py
new file mode 100644
index 0000000..2ad475e
--- /dev/null
+++ b/cg/blender/__init__.py
@@ -0,0 +1,5 @@
+# -*- coding: utf-8 -*-
+"""
+DESCRIPTION.
+Blender modules for Robosembler project pipeline.
+"""
diff --git a/cg/blender/export/README.md b/cg/blender/export/README.md
new file mode 100644
index 0000000..41acf25
--- /dev/null
+++ b/cg/blender/export/README.md
@@ -0,0 +1,9 @@
+## Модули экспорта для Blender
+
+Пакетный выпуск всех объектов сцены в требуемый 3д формат
+
+Совместим как с прикладной версией блендера, так и с модульной (скомпилированой в качестве модуля).
+
+Подходит для запуска как в качестве модуля, так и внутри blender сцены.
+
+Для запуска требуется указать путь назначения 3д файлов. Модули выпустять все объекты по отдельности с именами файлов по имени объекта.
diff --git a/cg/blender/export/__init__.py b/cg/blender/export/__init__.py
new file mode 100644
index 0000000..a3bda60
--- /dev/null
+++ b/cg/blender/export/__init__.py
@@ -0,0 +1,7 @@
+# -*- coding: utf-8 -*-
+"""
+DESCRIPTION.
+Blender export modules.
+Modules exports all objests in scene.
+You can set export path and subdir.
+"""
diff --git a/cg/blender/export/dae.py b/cg/blender/export/dae.py
new file mode 100644
index 0000000..7c432f8
--- /dev/null
+++ b/cg/blender/export/dae.py
@@ -0,0 +1,34 @@
+# -*- coding: utf-8 -*-
+"""
+DESCRIPTION.
+Collada mesh exporter.
+Exports all objects in scene.
+You can set export path and subdir.
+"""
+__version__ = "0.1"
+
+import logging
+import sys
+import bpy
+import os
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+
+
+def export_dae(path, subdir="dae"):
+    """ Collada mesh exporter. Exports all objects in scene. """
+    for ob in bpy.context.scene.objects:
+        # deselect all but just one object and make it active
+        bpy.ops.object.select_all(action='DESELECT')
+        ob.select_set(state=True)
+        bpy.context.view_layer.objects.active = ob
+        filename = bpy.context.active_object.name
+        # export dae
+        dae_path = os.path.join(path, subdir).replace('\\', '/')
+        if not os.path.isdir(dae_path):
+            os.makedirs(dae_path)
+        outpath = os.path.join(dae_path, filename)
+        logger.debug('vizual:', outpath)
+
+        bpy.ops.wm.collada_export(filepath=outpath, check_existing=False, apply_modifiers=True, export_mesh_type=0, export_mesh_type_selection='view', export_global_forward_selection='Y', export_global_up_selection='Z', apply_global_orientation=False, selected=True, include_children=False, include_armatures=False, include_shapekeys=False, deform_bones_only=False, include_animations=False, include_all_actions=True, export_animation_type_selection='sample', sampling_rate=1, keep_smooth_curves=False, keep_keyframes=False, keep_flat_curves=False, active_uv_only=False, use_texture_copies=True, triangulate=True, use_object_instantiation=True, use_blender_profile=True, sort_by_name=False, export_object_transformation_type=0, export_object_transformation_type_selection='matrix', export_animation_transformation_type=0, export_animation_transformation_type_selection='matrix', open_sim=False, limit_precision=False, keep_bind_info=False)
diff --git a/cg/blender/export/obj.py b/cg/blender/export/obj.py
new file mode 100644
index 0000000..17ea293
--- /dev/null
+++ b/cg/blender/export/obj.py
@@ -0,0 +1,34 @@
+# -*- coding: utf-8 -*-
+"""
+DESCRIPTION.
+OBJ mesh exporter.
+Exports all objects in scene.
+You can set export path and subdir.
+"""
+__version__ = "0.1"
+
+import logging
+import sys
+import bpy
+import os
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+
+
+def export_obj(path, subdir="obj"):
+    """ OBJ mesh exporter. Exports all objects in scene. """
+    for ob in bpy.context.scene.objects:
+        # deselect all but just one object and make it active
+        bpy.ops.object.select_all(action='DESELECT')
+        ob.select_set(state=True)
+        bpy.context.view_layer.objects.active = ob
+        filename = bpy.context.active_object.name
+        # export obj
+        obj_path = os.path.join(path, subdir).replace('\\', '/')
+        if not os.path.isdir(obj_path):
+            os.makedirs(obj_path)
+        outpath = os.path.join(obj_path, filename)
+        logger.debug('vizual:', outpath)
+
+        bpy.ops.wm.obj_export(filepath=outpath, forward_axis='Y', up_axis='Z', global_scale=1000, apply_modifiers=True, export_selected_objects=True, export_uv=True, export_normals=True, export_colors=False, export_materials=True, export_pbr_extensions=False, path_mode='AUTO', export_triangulated_mesh=True)
diff --git a/cg/blender/export/stl.py b/cg/blender/export/stl.py
new file mode 100644
index 0000000..61b1697
--- /dev/null
+++ b/cg/blender/export/stl.py
@@ -0,0 +1,42 @@
+# -*- coding: utf-8 -*-
+"""
+DESCRIPTION.
+STL mesh exporter.
+Exports all objects in scene.
+You can set export path and subdir.
+"""
+__version__ = "0.1"
+
+import logging
+import sys
+import bpy
+import os
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+
+
+def export_stl(path, subdir="stl"):
+    """ STL mesh exporter. Exports all objects in scene. """
+    for ob in bpy.context.scene.objects:
+        # deselect all but just one object and make it active
+        bpy.ops.object.select_all(action='DESELECT')
+        ob.select_set(state=True)
+        bpy.context.view_layer.objects.active = ob
+        filename = bpy.context.active_object.name
+        # create collision hull mesh
+        bpy.ops.object.mode_set(mode='EDIT')
+        bpy.ops.mesh.select_all(action='SELECT')
+        bpy.ops.mesh.convex_hull()
+        bpy.ops.object.mode_set(mode='OBJECT')
+        bpy.ops.object.modifier_add(type='DECIMATE')
+        bpy.context.object.modifiers["Decimate"].ratio = 0.2
+
+        # export stl
+        stl_path = os.path.join(path, subdir).replace('\\', '/')
+        if not os.path.isdir(stl_path):
+            os.makedirs(stl_path)
+        outpath = os.path.join(stl_path, filename+'.stl')
+        logger.debug('collision:', outpath)
+
+        bpy.ops.export_mesh.stl(filepath=outpath, check_existing=False, filter_glob='*.stl', use_selection=True, global_scale=1.0, use_scene_unit=False, ascii=False, use_mesh_modifiers=True, batch_mode='OFF', axis_forward='Y', axis_up='Z')
diff --git a/cg/blender/import_fcstd/LICENSE b/cg/blender/import_fcstd/LICENSE
new file mode 100644
index 0000000..9cecc1d
--- /dev/null
+++ b/cg/blender/import_fcstd/LICENSE
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
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+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
diff --git a/cg/blender/import_fcstd/README.md b/cg/blender/import_fcstd/README.md
new file mode 100644
index 0000000..75a7c67
--- /dev/null
+++ b/cg/blender/import_fcstd/README.md
@@ -0,0 +1,13 @@
+## import-fcstd
+### Импорт .FCStd сцены FreeCAD в Blender.
+
+Автор оригинальной версии сценария yorikvanhavre: [github](https://gist.github.com/yorikvanhavre/680156f59e2b42df8f5f5391cae2660b)
+
+Представлен в качестве модуля `importer.py` c подмодулями.
+Импортирует все видимые solid объекты в качестве mesh в Blender сцену.
+Задает имена mesh на основе solid объектов.
+Импортирует локальные координаты и задает их mesh объектам.
+Импортирует FEM материалы (если они есть) и задает их mesh объектам.
+Может работать как в качестве модуля, так и внутри blender сцены.
+
+
diff --git a/cg/blender/import_fcstd/__init__.py b/cg/blender/import_fcstd/__init__.py
new file mode 100644
index 0000000..e208cb7
--- /dev/null
+++ b/cg/blender/import_fcstd/__init__.py
@@ -0,0 +1,14 @@
+# -*- coding: utf-8 -*-
+# Original code by (C) 2019 yorikvanhavre <yorik@uncreated.net>
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+__version__ = "0.1"
diff --git a/cg/blender/import_fcstd/handler.py b/cg/blender/import_fcstd/handler.py
new file mode 100644
index 0000000..8a15406
--- /dev/null
+++ b/cg/blender/import_fcstd/handler.py
@@ -0,0 +1,74 @@
+# -*- coding: utf-8 -*-
+# Original code by (C) 2019 yorikvanhavre <yorik@uncreated.net>
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+import xml.sax
+
+
+class FreeCAD_xml_handler(xml.sax.ContentHandler):
+
+    """A XML handler to process the FreeCAD GUI xml data"""
+
+    # this creates a dictionary where each key is a FC object name,
+    # and each value is a dictionary of property:value pairs
+
+    def __init__(self):
+
+        self.guidata = {}
+        self.current = None
+        self.properties = {}
+        self.currentprop = None
+        self.currentval = None
+
+    # Call when an element starts
+
+    def startElement(self, tag, attributes):
+
+        if tag == "ViewProvider":
+            self.current = attributes["name"]
+        elif tag == "Property":
+            name = attributes["name"]
+            if name in ["Visibility","ShapeColor","Transparency","DiffuseColor"]:
+                self.currentprop = name
+        elif tag == "Bool":
+            if attributes["value"] == "true":
+                self.currentval = True
+            else:
+                self.currentval = False
+        elif tag == "PropertyColor":
+            c = int(attributes["value"])
+            r = float((c>>24)&0xFF)/255.0
+            g = float((c>>16)&0xFF)/255.0
+            b = float((c>>8)&0xFF)/255.0
+            self.currentval = (r,g,b)
+        elif tag == "Integer":
+            self.currentval = int(attributes["value"])
+        elif tag == "Float":
+            self.currentval = float(attributes["value"])
+        elif tag == "ColorList":
+            self.currentval = attributes["file"]
+
+    # Call when an elements ends
+
+    def endElement(self, tag):
+
+        if tag == "ViewProvider":
+            if self.current and self.properties:
+                self.guidata[self.current] = self.properties
+                self.current = None
+                self.properties = {}
+        elif tag == "Property":
+            if self.currentprop and (self.currentval != None):
+                self.properties[self.currentprop] = self.currentval
+                self.currentprop = None
+                self.currentval = None
diff --git a/cg/blender/import_fcstd/importer.py b/cg/blender/import_fcstd/importer.py
new file mode 100644
index 0000000..908cb92
--- /dev/null
+++ b/cg/blender/import_fcstd/importer.py
@@ -0,0 +1,269 @@
+# -*- coding: utf-8 -*-
+# Original code by (C) 2019 yorikvanhavre <yorik@uncreated.net>
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+import FreeCAD
+import logging
+import xml
+import sys
+import xml.sax
+import zipfile
+import os
+sys.path.append('/home/bm/bin/blender-git/blender_bin') # import blender module
+import bpy
+from bpy_extras.node_shader_utils import PrincipledBSDFWrapper
+from import_fcstd.handler import FreeCAD_xml_handler
+from import_fcstd.materials import set_fem_mat
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+
+
+def importer(filename,
+                 update=False,
+                 placement=True,
+                 tessellation=10.0,
+                 skiphidden=True,
+                 scale=0.001,
+                 select=True,
+                 report=None):
+
+    """Reads a FreeCAD .FCStd file and creates Blender objects"""
+
+    #path = '/usr/lib64/freecad/lib64'
+    TRIANGULATE = False # set to True to triangulate all faces (will loose multimaterial info)
+
+    '''
+    try:
+        # append the FreeCAD path specified in addon preferences
+        user_preferences = bpy.context.preferences
+        addon_prefs = user_preferences.addons[__name__].preferences
+        path = addon_prefs.filepath
+        if path:
+            if os.path.isfile(path):
+                path = os.path.dirname(path)
+            logger.debug("Configured FreeCAD path:", path)
+            sys.path.append(path)
+        else:
+            logger.debug("FreeCAD path is not configured in preferences")
+        import FreeCAD
+    except:
+        logger.debug("Unable to import the FreeCAD Python module. Make sure it is installed on your system")
+        logger.debug("and compiled with Python3 (same version as Blender).")
+        logger.debug("It must also be found by Python, you might need to set its path in this Addon preferences")
+        logger.debug("(User preferences->Addons->expand this addon).")
+        if report:
+            report({'ERROR'},"Unable to import the FreeCAD Python module. Check Addon preferences.")
+        return {'CANCELLED'}
+    # check if we have a GUI document
+    '''
+    guidata = {}
+    zdoc = zipfile.ZipFile(filename)
+    if zdoc:
+        if "GuiDocument.xml" in zdoc.namelist():
+            gf = zdoc.open("GuiDocument.xml")
+            guidata = gf.read()
+            gf.close()
+            Handler = FreeCAD_xml_handler()
+            xml.sax.parseString(guidata, Handler)
+            guidata = Handler.guidata
+            for key,properties in guidata.items():
+                # open each diffusecolor files and retrieve values
+                # first 4 bytes are the array length, then each group of 4 bytes is abgr
+                if "DiffuseColor" in properties:
+                    #logger.debug ("opening:",guidata[key]["DiffuseColor"])
+                    df = zdoc.open(guidata[key]["DiffuseColor"])
+                    buf = df.read()
+                    #logger.debug (buf," length ",len(buf))
+                    df.close()
+                    cols = []
+                    for i in range(1,int(len(buf)/4)):
+                        cols.append((buf[i*4+3],buf[i*4+2],buf[i*4+1],buf[i*4]))
+                    guidata[key]["DiffuseColor"] = cols
+        zdoc.close()
+        #logger.debug ("guidata:",guidata)
+    doc = FreeCAD.open(filename)
+    docname = doc.Name
+    if not doc:
+        logger.debug("Unable to open the given FreeCAD file")
+        if report:
+            report({'ERROR'},"Unable to open the given FreeCAD file")
+        return {'CANCELLED'}
+    #logger.debug ("Transferring",len(doc.Objects),"objects to Blender")
+
+    # import some FreeCAD modules needed below. After "import FreeCAD" these modules become available
+    import Part
+
+    def hascurves(shape):
+
+        for e in shape.Edges:
+            if not isinstance(e.Curve,(Part.Line,Part.LineSegment)):
+                return True
+        return False
+
+    fcstd_collection = bpy.data.collections.new("FreeCAD import")
+    bpy.context.scene.collection.children.link(fcstd_collection)
+
+    for obj in doc.Objects:
+        # logger.debug("Importing",obj.Label)
+        if skiphidden:
+            if obj.Name in guidata:
+                if "Visibility" in guidata[obj.Name]:
+                    if guidata[obj.Name]["Visibility"] == False:
+                        # logger.debug(obj.Label,"is invisible. Skipping.")
+                        # TODO add parent visibility check
+                        continue
+
+        verts = []
+        edges = []
+        faces = []
+        matindex = [] # face to material relationship
+        faceedges = [] # a placeholder to store edges that belong to a face
+
+        if obj.isDerivedFrom("Part::Feature"):
+            # create mesh from shape
+            shape = obj.Shape
+            if placement:
+                placement = obj.Placement
+                shape = obj.Shape.copy()
+                shape.Placement = placement.inverse().multiply(shape.Placement)
+            if shape.Faces:
+                if TRIANGULATE:
+                    # triangulate and make faces
+                    rawdata = shape.tessellate(tessellation)
+                    for v in rawdata[0]:
+                        verts.append([v.x,v.y,v.z])
+                    for f in rawdata[1]:
+                        faces.append(f)
+                    for face in shape.Faces:
+                        for e in face.Edges:
+                            faceedges.append(e.hashCode())
+                else:
+                    # write FreeCAD faces as polygons when possible
+                    for face in shape.Faces:
+                        if (len(face.Wires) > 1) or (not isinstance(face.Surface,Part.Plane)) or hascurves(face):
+                            # face has holes or is curved, so we need to triangulate it
+                            rawdata = face.tessellate(tessellation)
+                            for v in rawdata[0]:
+                                vl = [v.x,v.y,v.z]
+                                if not vl in verts:
+                                    verts.append(vl)
+                            for f in rawdata[1]:
+                                nf = []
+                                for vi in f:
+                                    nv = rawdata[0][vi]
+                                    nf.append(verts.index([nv.x,nv.y,nv.z]))
+                                faces.append(nf)
+                            matindex.append(len(rawdata[1]))
+                        else:
+                            f = []
+                            ov = face.OuterWire.OrderedVertexes
+                            for v in ov:
+                                vl = [v.X,v.Y,v.Z]
+                                if not vl in verts:
+                                    verts.append(vl)
+                                f.append(verts.index(vl))
+                            # FreeCAD doesn't care about verts order. Make sure our loop goes clockwise
+                            c = face.CenterOfMass
+                            v1 = ov[0].Point.sub(c)
+                            v2 = ov[1].Point.sub(c)
+                            n = face.normalAt(0,0)
+                            if (v1.cross(v2)).getAngle(n) > 1.57:
+                                f.reverse() # inverting verts order if the direction is couterclockwise
+                            faces.append(f)
+                            matindex.append(1)
+                        for e in face.Edges:
+                            faceedges.append(e.hashCode())
+            for edge in shape.Edges:
+                # Treat remaining edges (that are not in faces)
+                if not (edge.hashCode() in faceedges):
+                    if hascurves(edge):
+                        dv = edge.discretize(9) #TODO use tessellation value
+                        for i in range(len(dv)-1):
+                            dv1 = [dv[i].x,dv[i].y,dv[i].z]
+                            dv2 = [dv[i+1].x,dv[i+1].y,dv[i+1].z]
+                            if not dv1 in verts:
+                                verts.append(dv1)
+                            if not dv2 in verts:
+                                verts.append(dv2)
+                            edges.append([verts.index(dv1),verts.index(dv2)])
+                    else:
+                        e = []
+                        for vert in edge.Vertexes:
+                            # TODO discretize non-linear edges
+                            v = [vert.X,vert.Y,vert.Z]
+                            if not v in verts:
+                                verts.append(v)
+                            e.append(verts.index(v))
+                        edges.append(e)
+
+        elif obj.isDerivedFrom("Mesh::Feature"):
+            # convert freecad mesh to blender mesh
+            mesh = obj.Mesh
+            if placement:
+                placement = obj.Placement
+                mesh = obj.Mesh.copy() # in meshes, this zeroes the placement
+            t = mesh.Topology
+            verts = [[v.x,v.y,v.z] for v in t[0]]
+            faces = t[1]
+
+        if verts and (faces or edges):
+            # create or update object with mesh and material data
+            bobj = None
+            bmat = None
+            if update:
+                # locate existing object (mesh with same name)
+                for o in bpy.data.objects:
+                    if o.data.name == obj.Name:
+                        bobj = o
+                        logger.debug("Replacing existing object:",obj.Label)
+            bmesh = bpy.data.meshes.new(name=obj.Name)
+            bmesh.from_pydata(verts, edges, faces)
+            bmesh.update()
+            if bobj:
+                # update only the mesh of existing object. Don't touch materials
+                bobj.data = bmesh
+            else:
+                # create new object
+                bobj = bpy.data.objects.new(obj.Label, bmesh)
+                if placement:
+                    bobj.location = placement.Base.multiply(scale)
+                    m = bobj.rotation_mode
+                    bobj.rotation_mode = 'QUATERNION'
+                    if placement.Rotation.Angle:
+                        # FreeCAD Quaternion is XYZW while Blender is WXYZ
+                        q = (placement.Rotation.Q[3],)+placement.Rotation.Q[:3]
+                        bobj.rotation_quaternion = (q)
+                        bobj.rotation_mode = m
+                    bobj.scale = (scale, scale, scale)
+                if obj.Name in guidata:
+                    # one material for the whole object
+                    for fem_mat in doc.Objects:
+                        set_fem_mat(obj, bobj, fem_mat)
+
+            fcstd_collection.objects.link(bobj)
+            if select:
+                bpy.context.view_layer.objects.active = bobj
+                bobj.select_set(True)
+
+    FreeCAD.closeDocument(docname)
+
+    # TODO
+    # update do not dork
+
+    logger.info("Import freecad scene finished without errors")
+    return {'FINISHED'}
+
+
+if __name__ == '__main__':
+    importer()
diff --git a/cg/blender/import_fcstd/materials.py b/cg/blender/import_fcstd/materials.py
new file mode 100644
index 0000000..bca9e78
--- /dev/null
+++ b/cg/blender/import_fcstd/materials.py
@@ -0,0 +1,79 @@
+# -*- coding: utf-8 -*-
+# Original code by (C) 2019 yorikvanhavre <yorik@uncreated.net>
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+import logging
+import sys
+import bpy
+from bpy_extras.node_shader_utils import PrincipledBSDFWrapper
+from utils.shininess_to_roughness import shiny_to_rough
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+
+
+def set_fem_mat(obj, bobj, fem_mat):
+    if fem_mat.isDerivedFrom("App::MaterialObjectPython"):
+        if fem_mat.References[0][0].Name == obj.Name:
+            fem_mat_name = fem_mat.Material['Name']
+            if 'DiffuseColor' in fem_mat.Material.keys():
+                d_col_str = fem_mat.Material['DiffuseColor']
+                d_col4 = tuple(
+                    map(float, d_col_str[1:-1].split(', ')))
+                d_col = d_col4[:-1]
+            else:
+                d_col = (0.5, 0.5, 0.5)
+            if 'Father' in fem_mat.Material.keys():
+                if fem_mat.Material['Father'] == 'Metal':
+                    me = 1
+                else:
+                    me = 0
+            else:
+                me = 0
+            if 'Shininess' in fem_mat.Material.keys():
+                shiny = float(fem_mat.Material['Shininess'])
+                if shiny == 0:
+                    rg = 0.5
+                else:
+                    rg = shiny_to_rough(shiny)
+            else:
+                rg = 0.5
+            if 'EmissiveColor' in fem_mat.Material.keys():
+                e_col_str = fem_mat.Material['EmissiveColor']
+                e_col4 = tuple(
+                    map(float, e_col_str[1:-1].split(', ')))
+                e_col = e_col4[:-1]
+            else:
+                e_col = (0.0, 0.0, 0.0)
+            if 'Transparency' in fem_mat.Material.keys():
+                tr_str = fem_mat.Material['Transparency']
+                alpha = 1.0 - float(tr_str)
+            else:
+                alpha = 1.0
+
+            logger.debug('Assign %s to object %s', fem_mat_name, obj.Label)
+
+            if fem_mat_name in bpy.data.materials:
+                if len(bobj.material_slots) < 1:
+                    bobj.data.materials.append(bpy.data.materials[fem_mat_name])
+                else:
+                    bobj.material_slots[0].material = bpy.data.materials[fem_mat_name]
+            else:
+                bmat = bpy.data.materials.new(name=fem_mat_name)
+                bmat.use_nodes = True
+                principled = PrincipledBSDFWrapper(bmat, is_readonly=False)
+                principled.base_color = d_col
+                principled.metallic = me
+                principled.roughness = rg
+                principled.emission_color = e_col
+                principled.alpha = alpha
+                bobj.data.materials.append(bmat)
diff --git a/cg/blender/remesh/README.md b/cg/blender/remesh/README.md
new file mode 100644
index 0000000..10102b6
--- /dev/null
+++ b/cg/blender/remesh/README.md
@@ -0,0 +1,7 @@
+## Пакетная обработка всех объектов сцены в  Blender
+
+Совместим как с прикладной версией блендера, так и с модульной (скомпилированой в качестве модуля).
+
+Подходит для запуска как в качестве модуля, так и внутри blender сцены.
+
+Производится запекание локальных координат, выделение острых граней, обработка затенения полигонов.
diff --git a/cg/blender/remesh/__init__.py b/cg/blender/remesh/__init__.py
new file mode 100644
index 0000000..78829d2
--- /dev/null
+++ b/cg/blender/remesh/__init__.py
@@ -0,0 +1,64 @@
+# -*- coding: utf-8 -*-
+"""
+DESCRIPTION.
+Basic mesh processing for asset pipeline.
+Early WIP!
+"""
+__version__ = "0.1"
+
+import logging
+import sys
+import bpy
+import math
+from utils.apply_transforms import apply_transforms
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+
+
+def asset_setup(transforms=True, sharpness=True, shading=True):
+    """ asset setup pipeline """
+    for ob in bpy.context.scene.objects:
+        #deselect all but just one object and make it active
+        bpy.ops.object.select_all(action='DESELECT')
+        ob.select_set(state=True)
+        bpy.context.view_layer.objects.active = ob
+
+        if transforms:
+            # apply rot scale
+            apply_transforms(ob)
+            # remove doubles
+            bpy.ops.object.mode_set(mode='EDIT')
+            bpy.ops.mesh.select_all(action='SELECT')
+            bpy.ops.mesh.remove_doubles(threshold = 0.0001)
+            bpy.ops.mesh.select_all(action='DESELECT')
+            bpy.ops.mesh.select_mode(type = 'FACE')
+            bpy.ops.mesh.select_interior_faces()
+            bpy.ops.mesh.delete(type='FACE')
+            bpy.ops.object.mode_set(mode='OBJECT')
+
+        if sharpness:
+            # set shaps and unwrap
+            bpy.ops.object.mode_set(mode='EDIT')
+            bpy.ops.mesh.select_all(action='DESELECT')
+            bpy.ops.mesh.select_mode(type='EDGE')
+            bpy.ops.mesh.edges_select_sharp( sharpness = math.radians(30) )
+            bpy.ops.mesh.mark_sharp()
+            bpy.ops.mesh.select_all(action='SELECT')
+            bpy.ops.uv.smart_project()
+            bpy.ops.object.mode_set(mode='OBJECT')
+
+        if shading:
+            #fix shading
+            bpy.ops.object.shade_smooth()
+            bpy.context.view_layer.objects.active.data.use_auto_smooth = 1
+            bpy.context.view_layer.objects.active.modifiers.new(type='DECIMATE', name='decimate')
+            bpy.context.view_layer.objects.active.modifiers["decimate"].decimate_type = "DISSOLVE"
+            bpy.context.view_layer.objects.active.modifiers["decimate"].angle_limit = 0.00872665
+            bpy.context.object.modifiers["decimate"].show_expanded = 0
+            bpy.context.view_layer.objects.active.modifiers.new(type='WEIGHTED_NORMAL', name='weightednormal')
+            bpy.context.view_layer.objects.active.modifiers["weightednormal"].keep_sharp = 1
+            bpy.context.object.modifiers["weightednormal"].show_expanded = 0
+            bpy.context.view_layer.objects.active.modifiers.new(type='TRIANGULATE', name='triangulate')
+            bpy.context.object.modifiers["triangulate"].keep_custom_normals = 1
+            bpy.context.object.modifiers["triangulate"].show_expanded = 0
diff --git a/cg/blender/utils/README.md b/cg/blender/utils/README.md
index bf0abb9..47deb2e 100644
--- a/cg/blender/utils/README.md
+++ b/cg/blender/utils/README.md
@@ -1,3 +1,14 @@
+## Утилиты разного назначения для Blender
+
+**apply_transforms.py** - запекание локальных координат
+
+**cleanup_orphan_data.py** - очистка от неиспользуемых данных
+
+**remove_collections.py** - удаление заданной, либо всех коллекций сцены
+
+**shininess_to_roughness.py** - преобразование значения материала shiny в значения материала roughness
+
+
 ## blender_render_settings
 
 Сценарий настроек редактора Blender для уменьшения времени рендеринга.
@@ -5,7 +16,7 @@
 ### Тесты
 
 Тестовая сцена
-[](img/blender_render_settings.blend)
+[blender_render_settings.blend](img/blender_render_settings.blend)
 
 Сценарий работает в 3х режимах оптимизации:
 - small
@@ -27,3 +38,4 @@
 ### Применение
 
 Сценарий применяется для конфигурации Blender сцены непосредственно **перед** процессом рендеринга
+
diff --git a/cg/blender/utils/apply_transforms.py b/cg/blender/utils/apply_transforms.py
new file mode 100644
index 0000000..93be7c8
--- /dev/null
+++ b/cg/blender/utils/apply_transforms.py
@@ -0,0 +1,45 @@
+# -*- coding: utf-8 -*-
+# original idea from https://github.com/machin3io/MACHIN3tools
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+__version__ = "0.1"
+
+from mathutils import Matrix, Vector, Quaternion
+
+
+def apply_transforms(obj):
+    """ bake local object transforms """
+    def get_loc_matrix(location):
+        return Matrix.Translation(location)
+
+    def get_rot_matrix(rotation):
+        return rotation.to_matrix().to_4x4()
+
+    def get_sca_matrix(scale):
+        scale_mx = Matrix()
+        for i in range(3):
+            scale_mx[i][i] = scale[i]
+        return scale_mx
+
+    mx = obj.matrix_world
+
+    loc, rot, sca = mx.decompose()
+
+    meshmx = get_rot_matrix(rot) @ get_sca_matrix(sca)
+
+    obj.data.transform(meshmx)
+
+    applymx = get_loc_matrix(loc) @ get_rot_matrix(Quaternion()) @ get_sca_matrix(Vector.Fill(3, 1))
+
+    obj.matrix_world = applymx
+
+    obj.rotation_mode = 'XYZ'
diff --git a/cg/blender/utils/cleanup_orphan_data.py b/cg/blender/utils/cleanup_orphan_data.py
new file mode 100644
index 0000000..4b83c61
--- /dev/null
+++ b/cg/blender/utils/cleanup_orphan_data.py
@@ -0,0 +1,38 @@
+# -*- coding: utf-8 -*-
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+__version__ = "0.1"
+
+import bpy
+
+
+def cleanup_orphan_data():
+    """Removes all data without users"""
+    for block in bpy.data.meshes:
+        if block.users == 0:
+            bpy.data.meshes.remove(block)
+
+    for block in bpy.data.materials:
+        if block.users == 0:
+            bpy.data.materials.remove(block)
+
+    for block in bpy.data.textures:
+        if block.users == 0:
+            bpy.data.textures.remove(block)
+
+    for block in bpy.data.images:
+        if block.users == 0:
+            bpy.data.images.remove(block)
+
+    for block in bpy.data.collections:
+        if block.users == 0:
+            bpy.data.collections.remove(block)
diff --git a/cg/blender/utils/remove_collections.py b/cg/blender/utils/remove_collections.py
new file mode 100644
index 0000000..710dfa1
--- /dev/null
+++ b/cg/blender/utils/remove_collections.py
@@ -0,0 +1,36 @@
+# -*- coding: utf-8 -*-
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+__version__ = "0.1"
+
+import logging
+import bpy
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+
+
+def remove_collections(collection_name=None):
+    """Removes all all collection or collection_name only"""
+    if collection_name:
+        collection = bpy.data.collections.get(collection_name)
+        try:
+            for obj in collection.objects:
+                bpy.data.objects.remove(obj, do_unlink=True)
+            bpy.data.collections.remove(collection)
+        except Exception:
+            logger.info(f'There is no collection {collection_name!r} in scene')
+    else:
+        for collection in bpy.data.collections:
+            for obj in collection.objects:
+                bpy.data.objects.remove(obj, do_unlink=True)
+            bpy.data.collections.remove(collection)
diff --git a/cg/blender/utils/shininess_to_roughness.py b/cg/blender/utils/shininess_to_roughness.py
new file mode 100644
index 0000000..6f35a8e
--- /dev/null
+++ b/cg/blender/utils/shininess_to_roughness.py
@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+# original alg from https://github.com/assimp/assimp/issues/4573
+# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+__version__ = "0.1"
+
+import math
+
+
+def shiny_to_rough(shininess):
+    """ convert shiny to roughness """
+    a, b = -1.0, 2.0
+    c = (shininess / 100.0) - 1.0
+    D = math.pow(b,2) - (4 * a * c)
+    roughness = (-b + math.sqrt(D)) / (2 * a)
+    if roughness < 0:
+        roughness = 0
+    return roughness
diff --git a/cg/pipeline/README.md b/cg/pipeline/README.md
new file mode 100644
index 0000000..3912997
--- /dev/null
+++ b/cg/pipeline/README.md
@@ -0,0 +1,12 @@
+## Пакетное производство 3д ассетов из объектов сцены Freecad
+
+Поддерживается работа поверх Blender в качестве модуля!
+
+Сценарий производит:
+- импорт solid объектов в Blender сцену
+- имена solid объектов в mesh объекты
+- тесселяцию solid объектов с заданным уровнем
+- ретопологию mesh объектов с заданным уровнем
+- обработку mesh объектов для использования в качестве ассетов
+- импорт FEM материалов и назначение их для mesh объектов
+- экспорт mesh объектов в требуемые форматы
diff --git a/cg/pipeline/__init__.py b/cg/pipeline/__init__.py
new file mode 100644
index 0000000..b7a1a91
--- /dev/null
+++ b/cg/pipeline/__init__.py
@@ -0,0 +1,2 @@
+# -*- coding: utf-8 -*-
+# to keep this module importable
diff --git a/cg/pipeline/freecad_to_asset.py b/cg/pipeline/freecad_to_asset.py
new file mode 100644
index 0000000..436dc03
--- /dev/null
+++ b/cg/pipeline/freecad_to_asset.py
@@ -0,0 +1,41 @@
+# -*- coding: utf-8 -*-
+"""
+DESCRIPTION.
+Convert and setup FreeCAD solid objects to 3d assets mesh files.
+Support Blender compiled as a Python Module only!
+"""
+__version__ = "0.1"
+
+import logging
+import sys
+sys.path.append('../blender/')
+from import_fcstd.importer import importer
+from utils.remove_collections import remove_collections
+from utils.cleanup_orphan_data import cleanup_orphan_data
+from remesh import asset_setup
+from export.dae import export_dae
+from export.stl import export_stl
+
+sys.path.append('/home/bm/bin/blender-git/blender_bin') # import blender module
+import bpy
+
+logger = logging.getLogger(__name__)
+logging.basicConfig(level=logging.INFO)
+
+
+def freecad_asset_pipeline(fcstd_path, export_path, tessellation=20):
+    """ Setup FreeCAD scene to CG asset """
+    remove_collections()
+    cleanup_orphan_data()
+    importer(fcstd_path, tessellation)
+    asset_setup()
+    bpy.ops.wm.save_as_mainfile(filepath="/home/bm/test.blend")
+    export_dae(export_path)
+    export_stl(export_path)
+
+
+if __name__ == '__main__':
+    fcstd_path = '/media/disk/robossembler/io-import-fcstd/test/solids.FCStd'
+    export_path = 'asset_generator/'
+    freecad_asset_pipeline(fcstd_path, export_path,  tessellation=20)
+    logger.info("Assets setup finished without errors")
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..928e80b
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,21 @@
+# -*- coding: utf-8 -*-
+"""
+Base robossembler module.
+
+"""
+import setuptools
+
+setuptools.setup(
+    name='robossembler_framework',
+    version='9999',
+    #long_description_content_type="text/markdown",
+    #install_requires=[],
+    #extras_require={
+    #    'dev': [
+    #        'flake8',
+    #        'mypy',
+    #    ],
+    #},
+    #python_requires='>=3.10',
+    packages=setuptools.find_packages(),
+)