diff --git a/cg/blender/import_fcstd/import_coordinate_point.py b/cg/blender/import_fcstd/import_coordinate_point.py
index f78119d..a880e38 100644
--- a/cg/blender/import_fcstd/import_coordinate_point.py
+++ b/cg/blender/import_fcstd/import_coordinate_point.py
@@ -28,19 +28,24 @@ def empty_importer(path_json):
         data = json.load(f)
 
     pivot_name = data['label']
+    pivot_parent_name = data['parent_label']
     pivot_pose = data['placement']
     loc = tuple(pivot_pose['position'].values())
     fori = tuple(pivot_pose['orientation'].values())
     bori = (fori[3],)+fori[:3]
 
     bpy.ops.object.empty_add(
-        type='ARROWS', radius=0.01, align='WORLD',
+        type='ARROWS', radius=0.1, align='WORLD',
         location=(0, 0, 0), rotation=(0, 0, 0))
     pivot_obj = bpy.context.active_object  # or bpy.context.object
     pivot_obj.name = pivot_name
     pivot_obj.rotation_mode = 'QUATERNION'
     pivot_obj.location = loc
     pivot_obj.rotation_quaternion = bori
+    pivot_obj.rotation_mode = 'XYZ'
+
+    if pivot_parent_name:
+        pivot_obj.parent = bpy.data.objects[pivot_parent_name]
 
     f.close()
     logger.info('Point %s imported without errors', pivot_name)
diff --git a/cg/freecad/Frames/InitGui.py b/cg/freecad/Frames/InitGui.py
index bd7b0d9..536ec0a 100644
--- a/cg/freecad/Frames/InitGui.py
+++ b/cg/freecad/Frames/InitGui.py
@@ -37,13 +37,12 @@ class Frames(Workbench):
         import Frames
         self.framecommands = [
             "FrameCommand",
-            "ASM4StructureParsing",
             "SelectedPartFrameCommand",
             "AllPartFramesCommand",
             "FeatureFrameCommand"
             ]
         self.toolcommands = [
-            "ExportPartInfoAndFeaturesDialogueCommand",
+            "ExportPlacementAndPropertiesCommand",
             "ExportGazeboModels",
             "InsertGraspPose"
             ]
diff --git a/cg/freecad/Frames/Tools.py b/cg/freecad/Frames/Tools.py
index 5c8d9c3..484706d 100644
--- a/cg/freecad/Frames/Tools.py
+++ b/cg/freecad/Frames/Tools.py
@@ -174,10 +174,14 @@ def spawnClassCommand(classname, function, resources):
 
 def getLocalPartProps(obj):
     old_placement = obj.Placement
+    obj_parent_label = ''
+    if obj.getParentGeoFeatureGroup():
+        obj_parent_label = obj.getParentGeoFeatureGroup().Label
     # obj.Placement = FreeCAD.Placement()
     """ Part properties """
     partprops = {
         "label": obj.Label,
+        "parent_label": obj_parent_label,
         "placement": placement2pose(old_placement),
         # "boundingbox": boundingBox2list(obj.Shape.BoundBox),
         # "volume": obj.Shape.Volume*1e-9,
@@ -465,7 +469,7 @@ def exportFeatureFramesDialogue():
     FreeCAD.Console.PrintMessage("Feature frames of " + str(unique_selected[0].Label) + " exported to " + str(ofile) + "\n")
 
 
-def exportPartInfoAndFeaturesDialogue():
+def exportPlacementAndProperties():
     """Spawns a dialogue window for exporting both."""
     import Frames
     s = FreeCADGui.Selection.getSelection()
@@ -534,11 +538,11 @@ uidir = os.path.join(FreeCAD.getUserAppDataDir(),
                      "Mod", __workbenchname__, "UI")
 icondir = os.path.join(uidir, "icons")
 
-spawnClassCommand("ExportPartInfoAndFeaturesDialogueCommand",
-                  exportPartInfoAndFeaturesDialogue,
+spawnClassCommand("ExportPlacementAndPropertiesCommand",
+                  exportPlacementAndProperties,
                   {"Pixmap": str(os.path.join(icondir, "parttojson.svg")),
-                   "MenuText": "Export info and featureframes",
-                   "ToolTip": "Export part properties (placement, C.O.M) and feature frames"})
+                   "MenuText": "Export placement and properties",
+                   "ToolTip": "Export object placement and properties and feature frames"})
 
 spawnClassCommand("ExportGazeboModels",
                   exportGazeboModels,
diff --git a/cg/pipeline/freecad_to_asset.py b/cg/pipeline/freecad_to_asset.py
index ffddd79..138a0eb 100644
--- a/cg/pipeline/freecad_to_asset.py
+++ b/cg/pipeline/freecad_to_asset.py
@@ -4,7 +4,7 @@ DESCRIPTION.
 Convert and setup FreeCAD solid objects to 3d assets mesh files.
 Support Blender compiled as a Python Module only!
 """
-__version__ = "0.2"
+__version__ = "0.3"
 
 import logging
 import os
@@ -33,21 +33,32 @@ def freecad_asset_pipeline(fcstd_path,
                            blend_path=None,
                            sdf_path=None):
     """ Setup FreeCAD scene to CG asset """
+    # prepare blend file
     remove_collections()
     cleanup_orphan_data()
+
+    # import objects
     obj_importer(fcstd_path, tessellation)
 
-    if json_path is not None:
-        for point in os.listdir(json_path):
-            if point.endswith('.json'):
-                empty_importer(point)
+    # import lcs
+    if json_path is None:
+        json_path = os.path.dirname(fcstd_path)
+    for f in os.listdir(os.path.dirname(fcstd_path)):
+        if f.endswith('.json'):
+            json_file = os.path.join(json_path, f)
+            empty_importer(json_file)
 
+    # sdf setup WIP
     if sdf_path is not None:
         sdf_mesh_selector(sdf_path)
 
+    # retopo
     asset_setup()
 
+    # save blender scene
     if blend_path is not None:
+        if not os.path.isdir(os.path.dirname(blend_path)):
+            os.makedirs(os.path.dirname(blend_path))
         bpy.ops.wm.save_as_mainfile(filepath=blend_path)
 
     # export all objects