diff --git a/cg/freecad/Frames/pddl/MillingMachine.FCStd b/cg/freecad/Frames/pddl/MillingMachine.FCStd
new file mode 100644
index 0000000..c324eef
Binary files /dev/null and b/cg/freecad/Frames/pddl/MillingMachine.FCStd differ
diff --git a/cg/freecad/Frames/pddl/PartDesignExample.FCStd b/cg/freecad/Frames/pddl/PartDesignExample.FCStd
new file mode 100644
index 0000000..09f22c4
Binary files /dev/null and b/cg/freecad/Frames/pddl/PartDesignExample.FCStd differ
diff --git a/cg/freecad/Frames/pddl/Printer.FCStd b/cg/freecad/Frames/pddl/Printer.FCStd
index b819cd5..b694cba 100644
Binary files a/cg/freecad/Frames/pddl/Printer.FCStd and b/cg/freecad/Frames/pddl/Printer.FCStd differ
diff --git a/cg/freecad/Frames/pddl/domain.pddl b/cg/freecad/Frames/pddl/domain.pddl
index 044c805..2131814 100644
--- a/cg/freecad/Frames/pddl/domain.pddl
+++ b/cg/freecad/Frames/pddl/domain.pddl
@@ -1,97 +1,86 @@
-(define (domain Printer)
+(define (domain fabrication)
  
 (:requirements :strips :typing :fluents :durative-actions)
 (:types 
-    printer workspace - zone 
+    endmill workspace - zone 
     part 
     arm 
     assembly 
     human 
-    filament 
 )
    (:predicates
-       (arm_available ?a - arm)
+       (endmill_is_ready endmill task observer)
        (part_at ?p - part ?z - zone)
-       (printer_ready ?p - printer)
-       (printer_checked ?p - printer)
-       (printer_at_work ?p - printer)
-       (part_of ?part - part ?whole - assembly)
+       (endmill_ready ?p - printer)
+       (endmill_checked ?p - printer)
+       (endmill_at_work ?p - printer)
        (assembly_order ?prev ?next - assembly)
        (assembled ?whole - assembly ?z - zone)
        (observer_free ?h - human)
-       (filament_at ?f - filament ?z - zone)
    )
    (:functions
        )
-(:durative-action print
-    :parameters ( ?p - part ?pr - printer )
-       :duration ( = ?duration 20)
+(:action predpreparing
+    :parameters ()
     :condition (and 
-       (at start(printer_ready ?pr)) 
+       (not endmill_is_ready) 
   )
     :effect (and 
-       (at start (not (printer_ready ?pr))) 
-       (at start (printer_at_work ?pr )) 
-       (at end(part_at ?p ?pr)) 
-       (at end (not (printer_at_work ?pr ))) 
+       (endmill_is_ready) 
 )
   )
-(:durative-action remove
-    :parameters ( ?p - part ?pr - printer ?z - zone ?a - arm )
-       :duration ( = ?duration 1)
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 157)
     :condition (and 
-       (at start (part_at ?p ?pr)) 
-       (at start (arm_available ?a)) 
+       (endmill_is_ready) 
   )
     :effect (and 
-       (at start (not (arm_available ?a))) 
-       (at end (part_at ?p ?z)) 
-       (at end (arm_available ?a)) 
-       (at end (printer_ready ?pr)) 
 )
   )
-(:durative-action assemble
-    :parameters ( ?p - part ?prev ?next - assembly ?z - zone ?arm - arm ?w - workspace )
-       :duration ( = ?duration 5)
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 170)
     :condition (and 
-       (at start (assembled ?prev ?w)) 
-       (at start (part_at ?p ?w)) 
-       (at start (part_of ?p ?next)) 
-       (at start (arm_available ?arm)) 
-       (at start (assembly_order ?prev ?next)) 
+       (endmill_is_ready) 
   )
     :effect (and 
-       (at start (not (arm_available ?arm))) 
-       (at end (not (part_at ?p ?w))) 
-       (at end (arm_available ?arm)) 
-       (at end (assembled ?next ?w)) 
 )
   )
-(:durative-action printer_check
-    :parameters ( ?p - printer ?h - human )
-       :duration ( = ?duration 1)
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 78)
     :condition (and 
-       (at start ( observer_free ?h )) 
+       (endmill_is_ready) 
   )
     :effect (and 
-       (at start (not (observer_free ?h))) 
-       (at end (observer_free ?h)) 
-       (at end (printer_checked ?p)) 
 )
   )
-(:durative-action printer_filament_load
-    :parameters ( ?p - printer ?h - human ?f - filament ?z - zone )
-       :duration ( = ?duration 5)
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 157)
     :condition (and 
-       (at start (printer_checked ?p)) 
-       (at start (observer_free ?h)) 
-       (at start (filament_at ?f ?z)) 
+       (endmill_is_ready) 
+  )
+    :effect (and 
+)
+  )
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 170)
+    :condition (and 
+       (endmill_is_ready) 
+  )
+    :effect (and 
+)
+  )
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 78)
+    :condition (and 
+       (endmill_is_ready) 
   )
     :effect (and 
-       (at start (not(observer_free ?h))) 
-       (at end (observer_free ?h)) 
-       (at end (printer_ready ?p)) 
-       (at end (not (filament_at ?f ?z))) 
 )
   )
  )
diff --git a/cg/freecad/Frames/pddl/etalon_domain.pddl b/cg/freecad/Frames/pddl/etalon_domain.pddl
new file mode 100644
index 0000000..9262be7
--- /dev/null
+++ b/cg/freecad/Frames/pddl/etalon_domain.pddl
@@ -0,0 +1,97 @@
+(define (domain Printer)
+ 
+(:requirements :strips :typing :fluents :durative-actions)
+(:types 
+    printer workspace - zone 
+    part 
+    arm 
+    assembly 
+    human 
+    filament 
+)
+   (:predicates
+       (arm_available ?a - arm)
+       (part_at ?p - part ?z - zone)
+       (printer_ready ?p - printer)
+       (printer_checked ?p - printer)
+       (printer_at_work ?p - printer)
+       (part_of ?part - part ?whole - assembly)
+       (assembly_order ?prev ?next - assembly)
+       (assembled ?whole - assembly ?z - zone)
+       (observer_free ?h - human)
+       (filament_at ?f - filament ?z - zone)
+   )
+   (:functions
+       )
+(:durative-action print
+    :parameters ( ?p - part ?pr - printer )
+       :duration ( = ?duration 20)
+    :condition (and 
+       (at start(printer_ready ?pr)) 
+  )
+    :effect (and 
+       (at start (not (printer_ready ?pr))) 
+       (at start (printer_at_work ?pr )) 
+       (at end(part_at ?p ?pr)) 
+       (at end (not (printer_at_work ?pr ))) 
+)
+  )
+(:durative-action remove
+    :parameters ( ?p - part ?pr - printer ?z - zone ?a - arm )
+       :duration ( = ?duration 1)
+    :condition (and 
+       (at start (part_at ?p ?pr)) 
+       (at start (arm_available ?a)) 
+  )
+    :effect (and 
+       (at start (not (arm_available ?a))) 
+       (at end (part_at ?p ?z)) 
+       (at end (arm_available ?a)) 
+       (at end (printer_ready ?pr)) 
+)
+  )
+(:durative-action assemble
+    :parameters ( ?p - part ?prev ?next - assembly ?arm - arm ?w - workspace )
+       :duration ( = ?duration 5)
+    :condition (and 
+       (at start (assembled ?prev ?w)) 
+       (at start (part_at ?p ?w)) 
+       (at start (part_of ?p ?next)) 
+       (at start (arm_available ?arm)) 
+       (at start (assembly_order ?prev ?next)) 
+  )
+    :effect (and 
+       (at start (not (arm_available ?arm))) 
+       (at end (not (part_at ?p ?w))) 
+       (at end (arm_available ?arm)) 
+       (at end (assembled ?next ?w)) 
+)
+  )
+(:durative-action printer_check
+    :parameters ( ?p - printer ?h - human )
+       :duration ( = ?duration 1)
+    :condition (and 
+       (at start ( observer_free ?h )) 
+  )
+    :effect (and 
+       (at start (not (observer_free ?h))) 
+       (at end (observer_free ?h)) 
+       (at end (printer_checked ?p)) 
+)
+  )
+(:durative-action printer_filament_load
+    :parameters ( ?p - printer ?h - human ?f - filament ?z - zone )
+       :duration ( = ?duration 5)
+    :condition (and 
+       (at start (printer_checked ?p)) 
+       (at start (observer_free ?h)) 
+       (at start (filament_at ?f ?z)) 
+  )
+    :effect (and 
+       (at start (not(observer_free ?h))) 
+       (at end (observer_free ?h)) 
+       (at end (printer_ready ?p)) 
+       (at end (not (filament_at ?f ?z))) 
+)
+  )
+ )
diff --git a/cg/freecad/Frames/pddl/problem.pddl b/cg/freecad/Frames/pddl/etalon_problem.pddl
similarity index 100%
rename from cg/freecad/Frames/pddl/problem.pddl
rename to cg/freecad/Frames/pddl/etalon_problem.pddl
diff --git a/cg/freecad/Frames/pddl/test_asm.FCStd b/cg/freecad/Frames/pddl/test_asm.FCStd
new file mode 100644
index 0000000..5c2ca5f
Binary files /dev/null and b/cg/freecad/Frames/pddl/test_asm.FCStd differ
diff --git a/cg/freecad/Frames/pddldomain.pddl b/cg/freecad/Frames/pddldomain.pddl
new file mode 100644
index 0000000..b9b1da6
--- /dev/null
+++ b/cg/freecad/Frames/pddldomain.pddl
@@ -0,0 +1,82 @@
+(define (domain fabrication)
+ 
+(:requirements :strips :typing :fluents :durative-actions)
+(:types 
+    ['endmill workspace - zone', 'part', 'arm', 'assembly', 'human', ''] 
+)
+   (:predicates
+       (endmill_is_ready endmill task observer)
+       (part_at [?p - part ?z - zone])
+       (endmill_ready ?p - printer)
+       (endmill_checked ?p - printer)
+       (endmill_at_work ?p - printer)
+       (assembly_order ?prev ?next - assembly)
+       (assembled ?whole - assembly ?z - zone)
+       (observer_free ?h - human)
+   )
+   (:functions
+       )
+(:action predpreparing
+    :parameters ()
+    :condition (and 
+       (not endmill_is_ready) 
+  )
+    :effect (and 
+       (endmill_is_ready) 
+)
+  )
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 00:02:37)
+    :condition (and 
+       (endmill_is_ready) 
+  )
+    :effect (and 
+)
+  )
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 00:02:50)
+    :condition (and 
+       (endmill_is_ready) 
+  )
+    :effect (and 
+)
+  )
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 00:01:18)
+    :condition (and 
+       (endmill_is_ready) 
+  )
+    :effect (and 
+)
+  )
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 00:02:37)
+    :condition (and 
+       (endmill_is_ready) 
+  )
+    :effect (and 
+)
+  )
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 00:02:50)
+    :condition (and 
+       (endmill_is_ready) 
+  )
+    :effect (and 
+)
+  )
+(:durative-action PartDesignExample_TC: Default Tool
+    :parameters ( )
+       :duration ( = ?duration 00:01:18)
+    :condition (and 
+       (endmill_is_ready) 
+  )
+    :effect (and 
+)
+  )
+ )