diff --git a/asp-review-app/.gitignore b/asp-review-app/.gitignore
index 048c8dd..a2424f7 100644
--- a/asp-review-app/.gitignore
+++ b/asp-review-app/.gitignore
@@ -22,3 +22,5 @@ npm-debug.log*
 yarn-debug.log*
 yarn-error.log*
 **/node_modules
+server/public/
+**/computed/
\ No newline at end of file
diff --git a/asp-review-app/server/package-lock.json b/asp-review-app/server/package-lock.json
index 5d626cf..686b9b1 100644
--- a/asp-review-app/server/package-lock.json
+++ b/asp-review-app/server/package-lock.json
@@ -15,6 +15,7 @@
         "compression": "^1.7.4",
         "concurrently": "^8.0.1",
         "cors": "^2.8.5",
+        "decompress": "^4.2.1",
         "express": "^4.18.2",
         "express-cross": "^1.0.0",
         "express-fileupload": "^1.4.0",
@@ -25,6 +26,7 @@
         "multer": "^1.4.5-lts.1",
         "node-stream-zip": "^1.15.0",
         "nodemon": "^2.0.22",
+        "shelljs": "^0.8.5",
         "ts-node": "^10.9.1"
       },
       "devDependencies": {
@@ -350,6 +352,25 @@
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     },
+    "node_modules/base64-js": {
+      "version": "1.5.1",
+      "resolved": "https://registry.npmjs.org/base64-js/-/base64-js-1.5.1.tgz",
+      "integrity": "sha512-AKpaYlHn8t4SVbOHCy+b5+KKgvR4vrsD8vbvrbiQJps7fKDTkjkDry6ji0rUJjC0kzbNePLwzxq8iypo41qeWA==",
+      "funding": [
+        {
+          "type": "github",
+          "url": "https://github.com/sponsors/feross"
+        },
+        {
+          "type": "patreon",
+          "url": "https://www.patreon.com/feross"
+        },
+        {
+          "type": "consulting",
+          "url": "https://feross.org/support"
+        }
+      ]
+    },
     "node_modules/basic-auth": {
       "version": "2.0.1",
       "resolved": "https://registry.npmjs.org/basic-auth/-/basic-auth-2.0.1.tgz",
@@ -374,6 +395,15 @@
         "node": ">=8"
       }
     },
+    "node_modules/bl": {
+      "version": "1.2.3",
+      "resolved": "https://registry.npmjs.org/bl/-/bl-1.2.3.tgz",
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+      "dependencies": {
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+      }
+    },
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       "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.2.tgz",
@@ -426,6 +456,56 @@
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       }
     },
+    "node_modules/buffer": {
+      "version": "5.7.1",
+      "resolved": "https://registry.npmjs.org/buffer/-/buffer-5.7.1.tgz",
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+      "funding": [
+        {
+          "type": "github",
+          "url": "https://github.com/sponsors/feross"
+        },
+        {
+          "type": "patreon",
+          "url": "https://www.patreon.com/feross"
+        },
+        {
+          "type": "consulting",
+          "url": "https://feross.org/support"
+        }
+      ],
+      "dependencies": {
+        "base64-js": "^1.3.1",
+        "ieee754": "^1.1.13"
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+    "node_modules/buffer-alloc": {
+      "version": "1.2.0",
+      "resolved": "https://registry.npmjs.org/buffer-alloc/-/buffer-alloc-1.2.0.tgz",
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+      "dependencies": {
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+        "buffer-fill": "^1.0.0"
+      }
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+    "node_modules/buffer-alloc-unsafe": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/buffer-alloc-unsafe/-/buffer-alloc-unsafe-1.1.0.tgz",
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+    },
+    "node_modules/buffer-crc32": {
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+      "resolved": "https://registry.npmjs.org/buffer-crc32/-/buffer-crc32-0.2.13.tgz",
+      "integrity": "sha512-VO9Ht/+p3SN7SKWqcrgEzjGbRSJYTx+Q1pTQC0wrWqHx0vpJraQ6GtHx8tvcg1rlK1byhU5gccxgOgj7B0TDkQ==",
+      "engines": {
+        "node": "*"
+      }
+    },
+    "node_modules/buffer-fill": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/buffer-fill/-/buffer-fill-1.0.0.tgz",
+      "integrity": "sha512-T7zexNBwiiaCOGDg9xNX9PBmjrubblRkENuptryuI64URkXDFum9il/JGL8Lm8wYfAXpredVXXZz7eMHilimiQ=="
+    },
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       "resolved": "https://registry.npmjs.org/buffer-from/-/buffer-from-1.1.2.tgz",
@@ -577,6 +657,11 @@
         "node": ">= 0.8"
       }
     },
+    "node_modules/commander": {
+      "version": "2.20.3",
+      "resolved": "https://registry.npmjs.org/commander/-/commander-2.20.3.tgz",
+      "integrity": "sha512-GpVkmM8vF2vQUkj2LvZmD35JxeJOLCwJ9cUkugyk2nuhbv3+mJvpLYYt+0+USMxE+oj+ey/lJEnhZw75x/OMcQ=="
+    },
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       "resolved": "https://registry.npmjs.org/compressible/-/compressible-2.0.18.tgz",
@@ -762,6 +847,95 @@
         "ms": "2.0.0"
       }
     },
+    "node_modules/decompress": {
+      "version": "4.2.1",
+      "resolved": "https://registry.npmjs.org/decompress/-/decompress-4.2.1.tgz",
+      "integrity": "sha512-e48kc2IjU+2Zw8cTb6VZcJQ3lgVbS4uuB1TfCHbiZIP/haNXm+SVyhu+87jts5/3ROpd82GSVCoNs/z8l4ZOaQ==",
+      "dependencies": {
+        "decompress-tar": "^4.0.0",
+        "decompress-tarbz2": "^4.0.0",
+        "decompress-targz": "^4.0.0",
+        "decompress-unzip": "^4.0.1",
+        "graceful-fs": "^4.1.10",
+        "make-dir": "^1.0.0",
+        "pify": "^2.3.0",
+        "strip-dirs": "^2.0.0"
+      },
+      "engines": {
+        "node": ">=4"
+      }
+    },
+    "node_modules/decompress-tar": {
+      "version": "4.1.1",
+      "resolved": "https://registry.npmjs.org/decompress-tar/-/decompress-tar-4.1.1.tgz",
+      "integrity": "sha512-JdJMaCrGpB5fESVyxwpCx4Jdj2AagLmv3y58Qy4GE6HMVjWz1FeVQk1Ct4Kye7PftcdOo/7U7UKzYBJgqnGeUQ==",
+      "dependencies": {
+        "file-type": "^5.2.0",
+        "is-stream": "^1.1.0",
+        "tar-stream": "^1.5.2"
+      },
+      "engines": {
+        "node": ">=4"
+      }
+    },
+    "node_modules/decompress-tarbz2": {
+      "version": "4.1.1",
+      "resolved": "https://registry.npmjs.org/decompress-tarbz2/-/decompress-tarbz2-4.1.1.tgz",
+      "integrity": "sha512-s88xLzf1r81ICXLAVQVzaN6ZmX4A6U4z2nMbOwobxkLoIIfjVMBg7TeguTUXkKeXni795B6y5rnvDw7rxhAq9A==",
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+        "file-type": "^6.1.0",
+        "is-stream": "^1.1.0",
+        "seek-bzip": "^1.0.5",
+        "unbzip2-stream": "^1.0.9"
+      },
+      "engines": {
+        "node": ">=4"
+      }
+    },
+    "node_modules/decompress-tarbz2/node_modules/file-type": {
+      "version": "6.2.0",
+      "resolved": "https://registry.npmjs.org/file-type/-/file-type-6.2.0.tgz",
+      "integrity": "sha512-YPcTBDV+2Tm0VqjybVd32MHdlEGAtuxS3VAYsumFokDSMG+ROT5wawGlnHDoz7bfMcMDt9hxuXvXwoKUx2fkOg==",
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+      "version": "4.1.1",
+      "resolved": "https://registry.npmjs.org/decompress-targz/-/decompress-targz-4.1.1.tgz",
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+        "file-type": "^5.2.0",
+        "is-stream": "^1.1.0"
+      },
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+    },
+    "node_modules/decompress-unzip": {
+      "version": "4.0.1",
+      "resolved": "https://registry.npmjs.org/decompress-unzip/-/decompress-unzip-4.0.1.tgz",
+      "integrity": "sha512-1fqeluvxgnn86MOh66u8FjbtJpAFv5wgCT9Iw8rcBqQcCo5tO8eiJw7NNTrvt9n4CRBVq7CstiS922oPgyGLrw==",
+      "dependencies": {
+        "file-type": "^3.8.0",
+        "get-stream": "^2.2.0",
+        "pify": "^2.3.0",
+        "yauzl": "^2.4.2"
+      },
+      "engines": {
+        "node": ">=4"
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+    },
+    "node_modules/decompress-unzip/node_modules/file-type": {
+      "version": "3.9.0",
+      "resolved": "https://registry.npmjs.org/file-type/-/file-type-3.9.0.tgz",
+      "integrity": "sha512-RLoqTXE8/vPmMuTI88DAzhMYC99I8BWv7zYP4A1puo5HIjEJ5EX48ighy4ZyKMG9EDXxBgW6e++cn7d1xuFghA==",
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       "version": "1.0.0",
       "resolved": "https://registry.npmjs.org/delayed-stream/-/delayed-stream-1.0.0.tgz",
@@ -813,6 +987,14 @@
         "node": ">= 0.8"
       }
     },
+    "node_modules/end-of-stream": {
+      "version": "1.4.4",
+      "resolved": "https://registry.npmjs.org/end-of-stream/-/end-of-stream-1.4.4.tgz",
+      "integrity": "sha512-+uw1inIHVPQoaVuHzRyXd21icM+cnt4CzD5rW+NC1wjOUSTOs+Te7FOv7AhN7vS9x/oIyhLP5PR1H+phQAHu5Q==",
+      "dependencies": {
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+      }
+    },
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@@ -928,6 +1110,22 @@
         "node": ">= 0.8"
       }
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+    "node_modules/fd-slicer": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/fd-slicer/-/fd-slicer-1.1.0.tgz",
+      "integrity": "sha512-cE1qsB/VwyQozZ+q1dGxR8LBYNZeofhEdUNGSMbQD3Gw2lAzX9Zb3uIU6Ebc/Fmyjo9AWWfnn0AUCHqtevs/8g==",
+      "dependencies": {
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+      }
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+      "version": "5.2.0",
+      "resolved": "https://registry.npmjs.org/file-type/-/file-type-5.2.0.tgz",
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+      "engines": {
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+      }
+    },
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@@ -993,6 +1191,16 @@
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+    "node_modules/fs-constants": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/fs-constants/-/fs-constants-1.0.0.tgz",
+      "integrity": "sha512-y6OAwoSIf7FyjMIv94u+b5rdheZEjzR63GTyZJm5qh4Bi+2YgwLCcI/fPFZkL5PSixOt6ZNKm+w+Hfp/Bciwow=="
+    },
+    "node_modules/fs.realpath": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/fs.realpath/-/fs.realpath-1.0.0.tgz",
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@@ -1032,6 +1240,37 @@
         "url": "https://github.com/sponsors/ljharb"
       }
     },
+    "node_modules/get-stream": {
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+      "resolved": "https://registry.npmjs.org/get-stream/-/get-stream-2.3.1.tgz",
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+      "dependencies": {
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+        "pinkie-promise": "^2.0.0"
+      },
+      "engines": {
+        "node": ">=0.10.0"
+      }
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+      "resolved": "https://registry.npmjs.org/glob/-/glob-7.2.3.tgz",
+      "integrity": "sha512-nFR0zLpU2YCaRxwoCJvL6UvCH2JFyFVIvwTLsIf21AuHlMskA1hhTdk+LlYJtOlYt9v6dvszD2BGRqBL+iQK9Q==",
+      "dependencies": {
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+        "inflight": "^1.0.4",
+        "inherits": "2",
+        "minimatch": "^3.1.1",
+        "once": "^1.3.0",
+        "path-is-absolute": "^1.0.0"
+      },
+      "engines": {
+        "node": "*"
+      },
+      "funding": {
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+      }
+    },
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       "resolved": "https://registry.npmjs.org/glob-parent/-/glob-parent-5.1.2.tgz",
@@ -1043,6 +1282,11 @@
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       }
     },
+    "node_modules/graceful-fs": {
+      "version": "4.2.11",
+      "resolved": "https://registry.npmjs.org/graceful-fs/-/graceful-fs-4.2.11.tgz",
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+    },
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       "resolved": "https://registry.npmjs.org/has/-/has-1.0.3.tgz",
@@ -1099,16 +1343,52 @@
         "node": ">=0.10.0"
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+    "node_modules/ieee754": {
+      "version": "1.2.1",
+      "resolved": "https://registry.npmjs.org/ieee754/-/ieee754-1.2.1.tgz",
+      "integrity": "sha512-dcyqhDvX1C46lXZcVqCpK+FtMRQVdIMN6/Df5js2zouUsqG7I6sFxitIC+7KYK29KdXOLHdu9zL4sFnoVQnqaA==",
+      "funding": [
+        {
+          "type": "github",
+          "url": "https://github.com/sponsors/feross"
+        },
+        {
+          "type": "patreon",
+          "url": "https://www.patreon.com/feross"
+        },
+        {
+          "type": "consulting",
+          "url": "https://feross.org/support"
+        }
+      ]
+    },
     "node_modules/ignore-by-default": {
       "version": "1.0.1",
       "resolved": "https://registry.npmjs.org/ignore-by-default/-/ignore-by-default-1.0.1.tgz",
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     },
+    "node_modules/inflight": {
+      "version": "1.0.6",
+      "resolved": "https://registry.npmjs.org/inflight/-/inflight-1.0.6.tgz",
+      "integrity": "sha512-k92I/b08q4wvFscXCLvqfsHCrjrF7yiXsQuIVvVE7N82W3+aqpzuUdBbfhWcy/FZR3/4IgflMgKLOsvPDrGCJA==",
+      "dependencies": {
+        "once": "^1.3.0",
+        "wrappy": "1"
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+    },
     "node_modules/inherits": {
       "version": "2.0.4",
       "resolved": "https://registry.npmjs.org/inherits/-/inherits-2.0.4.tgz",
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+      "resolved": "https://registry.npmjs.org/interpret/-/interpret-1.4.0.tgz",
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+      "engines": {
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       "resolved": "https://registry.npmjs.org/ip/-/ip-2.0.0.tgz",
@@ -1134,6 +1414,17 @@
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+    "node_modules/is-core-module": {
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+      "resolved": "https://registry.npmjs.org/is-core-module/-/is-core-module-2.12.1.tgz",
+      "integrity": "sha512-Q4ZuBAe2FUsKtyQJoQHlvP8OvBERxO3jEmy1I7hcRXcJBGGHFh/aJBswbXuS9sgrDH2QUO8ilkwNPHvHMd8clg==",
+      "dependencies": {
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+      },
+      "funding": {
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@@ -1161,6 +1452,11 @@
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+    },
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@@ -1169,6 +1465,14 @@
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+    "node_modules/is-stream": {
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+      "resolved": "https://registry.npmjs.org/is-stream/-/is-stream-1.1.0.tgz",
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@@ -1193,6 +1497,25 @@
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+    "node_modules/make-dir": {
+      "version": "1.3.0",
+      "resolved": "https://registry.npmjs.org/make-dir/-/make-dir-1.3.0.tgz",
+      "integrity": "sha512-2w31R7SJtieJJnQtGc7RVL2StM2vGYVfqUOvUDxH6bC6aJTxPxTF0GnIgCyu7tjockiUWAYQRbxa7vKn34s5sQ==",
+      "dependencies": {
+        "pify": "^3.0.0"
+      },
+      "engines": {
+        "node": ">=4"
+      }
+    },
+    "node_modules/make-dir/node_modules/pify": {
+      "version": "3.0.0",
+      "resolved": "https://registry.npmjs.org/pify/-/pify-3.0.0.tgz",
+      "integrity": "sha512-C3FsVNH1udSEX48gGX1xfvwTWfsYWj5U+8/uK15BGzIGrKoUpghX8hWZwa/OFnakBiiVNmBvemTJR5mcy7iPcg==",
+      "engines": {
+        "node": ">=4"
+      }
+    },
     "node_modules/make-error": {
       "version": "1.3.6",
       "resolved": "https://registry.npmjs.org/make-error/-/make-error-1.3.6.tgz",
@@ -1566,6 +1889,14 @@
         "node": ">= 0.8"
       }
     },
+    "node_modules/once": {
+      "version": "1.4.0",
+      "resolved": "https://registry.npmjs.org/once/-/once-1.4.0.tgz",
+      "integrity": "sha512-lNaJgI+2Q5URQBkccEKHTQOPaXdUxnZZElQTZY0MFUAuaEqe1E+Nyvgdz/aIyNi6Z9MzO5dv1H8n58/GELp3+w==",
+      "dependencies": {
+        "wrappy": "1"
+      }
+    },
     "node_modules/parseurl": {
       "version": "1.3.3",
       "resolved": "https://registry.npmjs.org/parseurl/-/parseurl-1.3.3.tgz",
@@ -1574,11 +1905,29 @@
         "node": ">= 0.8"
       }
     },
+    "node_modules/path-is-absolute": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/path-is-absolute/-/path-is-absolute-1.0.1.tgz",
+      "integrity": "sha512-AVbw3UJ2e9bq64vSaS9Am0fje1Pa8pbGqTTsmXfaIiMpnr5DlDhfJOuLj9Sf95ZPVDAUerDfEk88MPmPe7UCQg==",
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
+    "node_modules/path-parse": {
+      "version": "1.0.7",
+      "resolved": "https://registry.npmjs.org/path-parse/-/path-parse-1.0.7.tgz",
+      "integrity": "sha512-LDJzPVEEEPR+y48z93A0Ed0yXb8pAByGWo/k5YYdYgpY2/2EsOsksJrq7lOHxryrVOn1ejG6oAp8ahvOIQD8sw=="
+    },
     "node_modules/path-to-regexp": {
       "version": "0.1.7",
       "resolved": "https://registry.npmjs.org/path-to-regexp/-/path-to-regexp-0.1.7.tgz",
       "integrity": "sha512-5DFkuoqlv1uYQKxy8omFBeJPQcdoE07Kv2sferDCrAq1ohOU+MSDswDIbnx3YAM60qIOnYa53wBhXW0EbMonrQ=="
     },
+    "node_modules/pend": {
+      "version": "1.2.0",
+      "resolved": "https://registry.npmjs.org/pend/-/pend-1.2.0.tgz",
+      "integrity": "sha512-F3asv42UuXchdzt+xXqfW1OGlVBe+mxa2mqI0pg5yAHZPvFmY3Y6drSf/GQ1A86WgWEN9Kzh/WrgKa6iGcHXLg=="
+    },
     "node_modules/picomatch": {
       "version": "2.3.1",
       "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-2.3.1.tgz",
@@ -1590,6 +1939,33 @@
         "url": "https://github.com/sponsors/jonschlinkert"
       }
     },
+    "node_modules/pify": {
+      "version": "2.3.0",
+      "resolved": "https://registry.npmjs.org/pify/-/pify-2.3.0.tgz",
+      "integrity": "sha512-udgsAY+fTnvv7kI7aaxbqwWNb0AHiB0qBO89PZKPkoTmGOgdbrHDKD+0B2X4uTfJ/FT1R09r9gTsjUjNJotuog==",
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
+    "node_modules/pinkie": {
+      "version": "2.0.4",
+      "resolved": "https://registry.npmjs.org/pinkie/-/pinkie-2.0.4.tgz",
+      "integrity": "sha512-MnUuEycAemtSaeFSjXKW/aroV7akBbY+Sv+RkyqFjgAe73F+MR0TBWKBRDkmfWq/HiFmdavfZ1G7h4SPZXaCSg==",
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
+    "node_modules/pinkie-promise": {
+      "version": "2.0.1",
+      "resolved": "https://registry.npmjs.org/pinkie-promise/-/pinkie-promise-2.0.1.tgz",
+      "integrity": "sha512-0Gni6D4UcLTbv9c57DfxDGdr41XfgUjqWZu492f0cIGr16zDU06BWP/RAEvOuo7CQ0CNjHaLlM59YJJFm3NWlw==",
+      "dependencies": {
+        "pinkie": "^2.0.0"
+      },
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
     "node_modules/process-nextick-args": {
       "version": "2.0.1",
       "resolved": "https://registry.npmjs.org/process-nextick-args/-/process-nextick-args-2.0.1.tgz",
@@ -1687,6 +2063,17 @@
         "node": ">=8.10.0"
       }
     },
+    "node_modules/rechoir": {
+      "version": "0.6.2",
+      "resolved": "https://registry.npmjs.org/rechoir/-/rechoir-0.6.2.tgz",
+      "integrity": "sha512-HFM8rkZ+i3zrV+4LQjwQ0W+ez98pApMGM3HUrN04j3CqzPOzl9nmP15Y8YXNm8QHGv/eacOVEjqhmWpkRV0NAw==",
+      "dependencies": {
+        "resolve": "^1.1.6"
+      },
+      "engines": {
+        "node": ">= 0.10"
+      }
+    },
     "node_modules/reflect-metadata": {
       "version": "0.1.13",
       "resolved": "https://registry.npmjs.org/reflect-metadata/-/reflect-metadata-0.1.13.tgz",
@@ -1706,6 +2093,22 @@
         "node": ">=0.10.0"
       }
     },
+    "node_modules/resolve": {
+      "version": "1.22.2",
+      "resolved": "https://registry.npmjs.org/resolve/-/resolve-1.22.2.tgz",
+      "integrity": "sha512-Sb+mjNHOULsBv818T40qSPeRiuWLyaGMa5ewydRLFimneixmVy2zdivRl+AF6jaYPC8ERxGDmFSiqui6SfPd+g==",
+      "dependencies": {
+        "is-core-module": "^2.11.0",
+        "path-parse": "^1.0.7",
+        "supports-preserve-symlinks-flag": "^1.0.0"
+      },
+      "bin": {
+        "resolve": "bin/resolve"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
     "node_modules/rxjs": {
       "version": "7.8.1",
       "resolved": "https://registry.npmjs.org/rxjs/-/rxjs-7.8.1.tgz",
@@ -1751,6 +2154,18 @@
         "node": ">=6"
       }
     },
+    "node_modules/seek-bzip": {
+      "version": "1.0.6",
+      "resolved": "https://registry.npmjs.org/seek-bzip/-/seek-bzip-1.0.6.tgz",
+      "integrity": "sha512-e1QtP3YL5tWww8uKaOCQ18UxIT2laNBXHjV/S2WYCiK4udiv8lkG89KRIoCjUagnAmCBurjF4zEVX2ByBbnCjQ==",
+      "dependencies": {
+        "commander": "^2.8.1"
+      },
+      "bin": {
+        "seek-bunzip": "bin/seek-bunzip",
+        "seek-table": "bin/seek-bzip-table"
+      }
+    },
     "node_modules/semver": {
       "version": "5.7.1",
       "resolved": "https://registry.npmjs.org/semver/-/semver-5.7.1.tgz",
@@ -1814,6 +2229,22 @@
         "url": "https://github.com/sponsors/ljharb"
       }
     },
+    "node_modules/shelljs": {
+      "version": "0.8.5",
+      "resolved": "https://registry.npmjs.org/shelljs/-/shelljs-0.8.5.tgz",
+      "integrity": "sha512-TiwcRcrkhHvbrZbnRcFYMLl30Dfov3HKqzp5tO5b4pt6G/SezKcYhmDg15zXVBswHmctSAQKznqNW2LO5tTDow==",
+      "dependencies": {
+        "glob": "^7.0.0",
+        "interpret": "^1.0.0",
+        "rechoir": "^0.6.2"
+      },
+      "bin": {
+        "shjs": "bin/shjs"
+      },
+      "engines": {
+        "node": ">=4"
+      }
+    },
     "node_modules/side-channel": {
       "version": "1.0.4",
       "resolved": "https://registry.npmjs.org/side-channel/-/side-channel-1.0.4.tgz",
@@ -1944,6 +2375,14 @@
         "node": ">=8"
       }
     },
+    "node_modules/strip-dirs": {
+      "version": "2.1.0",
+      "resolved": "https://registry.npmjs.org/strip-dirs/-/strip-dirs-2.1.0.tgz",
+      "integrity": "sha512-JOCxOeKLm2CAS73y/U4ZeZPTkE+gNVCzKt7Eox84Iej1LT/2pTWYpZKJuxwQpvX1LiZb1xokNR7RLfuBAa7T3g==",
+      "dependencies": {
+        "is-natural-number": "^4.0.1"
+      }
+    },
     "node_modules/supports-color": {
       "version": "5.5.0",
       "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-5.5.0.tgz",
@@ -1955,6 +2394,44 @@
         "node": ">=4"
       }
     },
+    "node_modules/supports-preserve-symlinks-flag": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/supports-preserve-symlinks-flag/-/supports-preserve-symlinks-flag-1.0.0.tgz",
+      "integrity": "sha512-ot0WnXS9fgdkgIcePe6RHNk1WA8+muPa6cSjeR3V8K27q9BB1rTE3R1p7Hv0z1ZyAc8s6Vvv8DIyWf681MAt0w==",
+      "engines": {
+        "node": ">= 0.4"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
+    "node_modules/tar-stream": {
+      "version": "1.6.2",
+      "resolved": "https://registry.npmjs.org/tar-stream/-/tar-stream-1.6.2.tgz",
+      "integrity": "sha512-rzS0heiNf8Xn7/mpdSVVSMAWAoy9bfb1WOTYC78Z0UQKeKa/CWS8FOq0lKGNa8DWKAn9gxjCvMLYc5PGXYlK2A==",
+      "dependencies": {
+        "bl": "^1.0.0",
+        "buffer-alloc": "^1.2.0",
+        "end-of-stream": "^1.0.0",
+        "fs-constants": "^1.0.0",
+        "readable-stream": "^2.3.0",
+        "to-buffer": "^1.1.1",
+        "xtend": "^4.0.0"
+      },
+      "engines": {
+        "node": ">= 0.8.0"
+      }
+    },
+    "node_modules/through": {
+      "version": "2.3.8",
+      "resolved": "https://registry.npmjs.org/through/-/through-2.3.8.tgz",
+      "integrity": "sha512-w89qg7PI8wAdvX60bMDP+bFoD5Dvhm9oLheFp5O4a2QF0cSBGsBX4qZmadPMvVqlLJBBci+WqGGOAPvcDeNSVg=="
+    },
+    "node_modules/to-buffer": {
+      "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/to-buffer/-/to-buffer-1.1.1.tgz",
+      "integrity": "sha512-lx9B5iv7msuFYE3dytT+KE5tap+rNYw+K4jVkb9R/asAb+pbBSM17jtunHplhBe6RRJdZx3Pn2Jph24O32mOVg=="
+    },
     "node_modules/to-regex-range": {
       "version": "5.0.1",
       "resolved": "https://registry.npmjs.org/to-regex-range/-/to-regex-range-5.0.1.tgz",
@@ -2081,6 +2558,15 @@
         "node": ">=4.2.0"
       }
     },
+    "node_modules/unbzip2-stream": {
+      "version": "1.4.3",
+      "resolved": "https://registry.npmjs.org/unbzip2-stream/-/unbzip2-stream-1.4.3.tgz",
+      "integrity": "sha512-mlExGW4w71ebDJviH16lQLtZS32VKqsSfk80GCfUlwT/4/hNRFsoscrF/c++9xinkMzECL1uL9DDwXqFWkruPg==",
+      "dependencies": {
+        "buffer": "^5.2.1",
+        "through": "^2.3.8"
+      }
+    },
     "node_modules/undefsafe": {
       "version": "2.0.5",
       "resolved": "https://registry.npmjs.org/undefsafe/-/undefsafe-2.0.5.tgz",
@@ -2166,6 +2652,11 @@
         "url": "https://github.com/chalk/wrap-ansi?sponsor=1"
       }
     },
+    "node_modules/wrappy": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
+      "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ=="
+    },
     "node_modules/xtend": {
       "version": "4.0.2",
       "resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.2.tgz",
@@ -2207,6 +2698,15 @@
         "node": ">=12"
       }
     },
+    "node_modules/yauzl": {
+      "version": "2.10.0",
+      "resolved": "https://registry.npmjs.org/yauzl/-/yauzl-2.10.0.tgz",
+      "integrity": "sha512-p4a9I6X6nu6IhoGmBqAcbJy1mlC4j27vEPZX9F4L4/vZT3Lyq1VkFHw/V/PUcB9Buo+DG3iHkT0x3Qya58zc3g==",
+      "dependencies": {
+        "buffer-crc32": "~0.2.3",
+        "fd-slicer": "~1.1.0"
+      }
+    },
     "node_modules/yn": {
       "version": "3.1.1",
       "resolved": "https://registry.npmjs.org/yn/-/yn-3.1.1.tgz",
diff --git a/asp-review-app/server/package.json b/asp-review-app/server/package.json
index 48cfdf5..9f67de8 100644
--- a/asp-review-app/server/package.json
+++ b/asp-review-app/server/package.json
@@ -6,7 +6,7 @@
   "type": "module",
   "scripts": {
     "build": "npx tsc",
-    "start": "node dist/index.js",
+    "start": "npx tsc && node --experimental-specifier-resolution=node dist/server.js",
     "dev": "nodemon --exec ts-node --esm   --transpileOnly  ./src/server.ts"
   },
   "keywords": [],
@@ -28,6 +28,7 @@
     "compression": "^1.7.4",
     "concurrently": "^8.0.1",
     "cors": "^2.8.5",
+    "decompress": "^4.2.1",
     "express": "^4.18.2",
     "express-cross": "^1.0.0",
     "express-fileupload": "^1.4.0",
@@ -38,6 +39,7 @@
     "multer": "^1.4.5-lts.1",
     "node-stream-zip": "^1.15.0",
     "nodemon": "^2.0.22",
+    "shelljs": "^0.8.5",
     "ts-node": "^10.9.1"
   }
 }
diff --git a/asp-review-app/server/src/app.ts b/asp-review-app/server/src/app.ts
index 9d8dfda..cf8e430 100644
--- a/asp-review-app/server/src/app.ts
+++ b/asp-review-app/server/src/app.ts
@@ -17,8 +17,11 @@ const corsOptions = {
 };
 export class App {
     public app: express.Application;
+
     public port: string | number;
+    
     public env: string;
+    
     constructor(routes: Routes[], port) {
         this.app = express();
         this.port = port;
@@ -50,7 +53,6 @@ export class App {
         this.app.use(express.urlencoded({ extended: true }));
         this.app.use(bodyParser.json());
         this.app.use(bodyParser.urlencoded({ extended: true }));
-        console.log(dirname + '/public/')
         this.app.use(express.static(dirname + '/public/'));
         this.app.use(fileUpload({
             createParentPath: true
@@ -62,8 +64,8 @@ export class App {
             this.app.use("/", route.router);
         });
     }
+    
     loadAppDependencies() {
-
         locator(new DevEnv());
     }
 }
\ No newline at end of file
diff --git a/asp-review-app/server/src/core/di/register_di.ts b/asp-review-app/server/src/core/di/register_di.ts
index ad79975..77f2abe 100644
--- a/asp-review-app/server/src/core/di/register_di.ts
+++ b/asp-review-app/server/src/core/di/register_di.ts
@@ -5,20 +5,24 @@ import { AssemblyController } from "../../features/assembly_create/assembly_crea
 import { AssemblyPreviewsController } from "../../features/assembly_previews/assembly_previews_controller";
 import { EntityRepository } from "../repository/entity_repository";
 import { ZipRepository } from "../repository/zip_repository";
+import { ComputeRepository } from "../repository/compute_repository";
  
  
 export const locator = (env: Env) => {
   // override(Env, env)
-  registerRepository(env)
   registerController(env)
+  registerRepository(env)
+ 
 };
 const registerRepository  = (env:Env) => {
+  
   override(ZipRepository, ZipRepository);
-  override(EntityRepository, EntityRepository)
+  override(EntityRepository, EntityRepository);
+  override(ComputeRepository,ComputeRepository);
  
 }
 const registerController = (env: Env) => {
   override(AssemblyController,AssemblyController)
-  override(AssemblyPreviewsController, AssemblyController)
+  override(AssemblyPreviewsController, AssemblyPreviewsController)
 
 }
\ No newline at end of file
diff --git a/asp-review-app/server/src/core/helper/memorization.ts b/asp-review-app/server/src/core/helper/memorization.ts
index 0d5e87a..b936460 100644
--- a/asp-review-app/server/src/core/helper/memorization.ts
+++ b/asp-review-app/server/src/core/helper/memorization.ts
@@ -1,8 +1,4 @@
 interface MemoOptions<F extends Fn, S extends unknown[] = unknown[]> {
-    /**
-     * Serialize the function call arguments
-     * This is used to identify cache key
-     */
     serialize?: (...args: Parameters<F>) => S;
 }
 interface MemoAsyncOptions<F extends Fn> extends MemoOptions<F> {
@@ -22,16 +18,12 @@ type Fn = (...params: any[]) => any;
 type AsyncFn = (...params: any[]) => Promise<any>;
 
 interface MemoFunc<F extends Fn> {
-    // Call the target function, if cache is valid, return cache
     (...args: Parameters<F>): ReturnType<F>;
 
-    // Same with this function
     get(...args: Parameters<F>): ReturnType<F>;
 
-    // Call the raw function and skip cache
     raw(...args: Parameters<F>): ReturnType<F>;
 
-    // Clear cache
     clear(...args: Parameters<F> | []): void | Promise<void>;
 }
 
@@ -126,7 +118,6 @@ export function memoAsync<F extends AsyncFn>(
     const root = makeNode<F>();
 
     const memoFunc = async function (...args: Parameters<F>) {
-        // Serialize args
         const path = options.serialize ? options.serialize(...args) : args;
         const cur = walkAndCreate<F, any[]>(root, path);
 
@@ -155,7 +146,6 @@ export function memoAsync<F extends AsyncFn>(
                     await options.external.set(args, value);
                 }
 
-                // Resolve other waiting callbacks
                 for (const callback of cur.callbacks ?? []) {
                     callback.res(value);
                 }
@@ -165,7 +155,6 @@ export function memoAsync<F extends AsyncFn>(
                 cur.state = State.Error;
                 cur.error = error;
 
-                // Reject other waiting callbacks
                 for (const callback of cur.callbacks ?? []) {
                     callback.rej(error);
                 }
diff --git a/asp-review-app/server/src/core/middlewares/ValidationMiddleware.ts b/asp-review-app/server/src/core/middlewares/ValidationMiddleware.ts
index d9ca9ca..d1ee527 100644
--- a/asp-review-app/server/src/core/middlewares/ValidationMiddleware.ts
+++ b/asp-review-app/server/src/core/middlewares/ValidationMiddleware.ts
@@ -11,7 +11,6 @@ const validationMiddleware = (
   forbidNonWhitelisted = true,
 ): RequestHandler => {
   return (req, res, next) => {
-    console.log(req[value])
     validate(plainToClass(type, req[value]), { skipMissingProperties, whitelist, forbidNonWhitelisted }).then((errors: ValidationError[]) => {
       if (errors.length > 0) {
         const message = errors.map((error: ValidationError) => Object.values(error.constraints)).join(', ');
diff --git a/asp-review-app/server/src/core/repository/compute_repository.ts b/asp-review-app/server/src/core/repository/compute_repository.ts
index eda546b..2b6ac30 100644
--- a/asp-review-app/server/src/core/repository/compute_repository.ts
+++ b/asp-review-app/server/src/core/repository/compute_repository.ts
@@ -1,3 +1,76 @@
-export class ComputeRepository{
-    
-}
\ No newline at end of file
+import { reflection } from 'first-di';
+import "reflect-metadata";
+import { promises as fs } from 'fs';
+import { async } from 'node-stream-zip';
+import * as cp from 'child_process';
+
+import path from 'path';
+
+async function exec(cmd: string, opts: (cp.ExecOptions & { trim?: boolean }) = {}): Promise<string> {
+  return new Promise((c, e) => {
+    cp.exec(cmd, { env: process.env, ...opts }, (err, stdout) => err ? e(err) : c(opts.trim ? stdout.trim() : stdout));
+  });
+}
+
+@reflection
+export class ComputeRepository {
+  public computedAdjaxedMatrix = async (outPath: string, cadEntity: string, entityId: string) => {
+    const envPath = '/home/idontsudo/t/framework/asp-review-app/server/computed/geometric_feasibility_predicate/env.json'
+    const computedScript = '/home/idontsudo/t/framework/asp-review-app/server/computed/geometric_feasibility_predicate/main.py'
+    const computedComand = 'freecadcmd'
+
+    const env = JSON.parse((await fs.readFile(envPath)).toString())
+    env['cadFilePath'] = cadEntity
+    env['outPath'] = outPath
+    await fs.writeFile(envPath, JSON.stringify(env))
+    // console.log(this._computedPath(computedScript))
+    exec(computedComand + ' ' + computedScript, { cwd: this._computedPath(computedScript) }).then((data) => {
+      console.log(data)
+    })
+    this.cadGeneration(cadEntity, entityId, outPath)
+    // if (stderr) {
+    //   console.log(stderr)
+    // }
+    // console.log(stdout)
+  };
+  public computedWriteStability = async (assemblyFolder: string, buildNumber: string, id: string) => {
+    const computedScript = '/home/idontsudo/t/framework/cad_stability_input/main.py'
+    const computedComand = 'freecad'
+    const envPath = '/home/idontsudo/t/framework/cad_stability_input/env.json'
+    const env = JSON.parse((await fs.readFile(envPath)).toString())
+    env.assemblyFolder = assemblyFolder
+    env['projectId'] = id
+    env['buildNumber'] = buildNumber
+    env['assemblyFolder'] = assemblyFolder
+    env['resultURL'] = 'http://localhost:3002/assembly/stabilty/create/?id=' + id + '&' + 'buildNumber=' + buildNumber
+
+    await fs.writeFile(envPath, JSON.stringify(env))
+    await exec(computedComand + ' ' + computedScript, { cwd: this._computedPath(computedScript) })
+  }
+
+  private _computedPath(f: string) {
+
+    const file = path.basename(f);
+    const absolutPath = path.resolve(f)
+    return absolutPath.replace(file, '')
+  }
+
+  public cadGeneration = async (cadEntity, entity: string, outPath: string,) => {
+    const computedScript = '/home/idontsudo/t/framework/cad_generation/main.py'
+    const computedComand = 'freecad'
+    const envPath = '/home/idontsudo/t/framework/cad_generation/env.json'
+
+    const env = JSON.parse((await fs.readFile(envPath)).toString())
+    env.doc = cadEntity
+    env.projectId = entity
+    env.resultURL = "http://localhost:3002/assembly/save/out"
+
+    await fs.writeFile(envPath, JSON.stringify(env))
+    // /stabilty/create
+
+    exec(computedComand + ' ' + computedScript, { cwd: this._computedPath(computedScript) }).then((data) => {
+      console.log(data)
+    })
+  }
+
+}
diff --git a/asp-review-app/server/src/core/repository/entity_repository.ts b/asp-review-app/server/src/core/repository/entity_repository.ts
index 97277e6..cea7376 100644
--- a/asp-review-app/server/src/core/repository/entity_repository.ts
+++ b/asp-review-app/server/src/core/repository/entity_repository.ts
@@ -1,49 +1,86 @@
 import { promises as fs } from 'fs';
 import { dirname } from '../../app';
 import fsSync from "fs";
-import { constants } from 'buffer';
+import { autowired, reflection } from 'first-di';
+import "reflect-metadata";
+import { ComputeRepository } from './compute_repository';
+import { ZipRepository } from './zip_repository';
 
+@reflection
 export class EntityRepository {
-    private path: String = dirname + '/public/'
-    private getFileName(file: String) {
 
+    @autowired()
+    private readonly computedRepository: ComputeRepository;
+    @autowired()
+    private readonly zipRepository: ZipRepository;
+
+    private path: String = dirname + '/public/'
+
+
+    private getFileName(file: String) {
         return file.slice(0, file.indexOf('.'))
     }
-    public async getDir(path){
+
+    public async getDir(path) {
         return this._fullPath(await fs.readdir(path + ''), duplicatedDelete(this.path, path))
     }
-    public isExistDirPath(path:String):boolean{
+
+    public isExistDirPath(path: String): boolean {
         return fsSync.existsSync(path + '')
     }
+
     public async saveRootEntity(buffer: Buffer, name: string) {
         const filePath = this.path + this.getFileName(name) + '/'
-      
+
         if (this.isExistDirPath(filePath)) {
             await fs.rm(filePath, { recursive: true })
         }
         await fs.mkdir(filePath);
         await fs.writeFile(filePath + name, buffer);
+        this.computedRepository.computedAdjaxedMatrix(filePath, filePath + name, this.getFileName(name))
     }
+
     public async getAllRootEntity() {
         return await fs.readdir('' + this.path)
     }
-    public async getEntityStorage(entity: string):Promise<String[]> | undefined  {
-        return this._fullPath(await fs.readdir(this.path + entity),  entity + '/'   )
+
+    public async getEntityStorage(entity: string): Promise<String[]> | undefined {
+        return this._fullPath(await fs.readdir(this.path + entity), entity + '/')
     }
 
-    private _fullPath(folderPath,helpElement = '') {
-        return folderPath.map((el) => this.path + helpElement +  el )
+    private _fullPath(folderPath, helpElement = '') {
+        return folderPath.map((el) => this.path + helpElement + el)
     }
     public async readJson<T>(path) {
-        
         return JSON.parse((await fs.readFile(path)).toString())
     }
+    public async saveGeration(data: Buffer, id: String) {
+        const rootFolderPath = '' + this.path + id + '/'
+        console.log(rootFolderPath)
+        this.zipRepository.archive(rootFolderPath, data)
+    }
+    public computedStability(id: string, buildNumber: string) {
+        const assemblyFolder = this.path + id + '/generation/'
+        this.computedRepository.computedWriteStability(assemblyFolder, buildNumber, id)
+    }
+    public async saveStability(zip: Buffer, id:string, buildNumber:string) {
+        const filePath = await this.zipRepository.archive(this.path as string, zip)
+        // const buildNumber = data['buildNumber']
+        const assemblyFolder = this.path + id + '/generation/stability/'
+
+        if (!this.isExistDirPath(assemblyFolder)) {
+            await fs.mkdir(assemblyFolder);
+        }
+        await this.zipRepository.archive(assemblyFolder as string, zip, buildNumber)
+        fs.rmdir(filePath + '/', { recursive: true})
+
+    }
 }
-function duplicatedDelete(strChild:String,strMain:String){
+function duplicatedDelete(strChild: String, strMain: String) {
     let result = ''
-    for(let i = 0;i < strMain.length; i++){
-        if(!(strMain[i] === strChild[i])){
-            result+=strMain[i]
+    for (let i = 0; i < strMain.length; i++) {
+        if (!(strMain[i] === strChild[i])) {
+            result += strMain[i]
         }
     }
     return result
diff --git a/asp-review-app/server/src/core/repository/zip_repository.ts b/asp-review-app/server/src/core/repository/zip_repository.ts
index c27de1b..25efe1c 100644
--- a/asp-review-app/server/src/core/repository/zip_repository.ts
+++ b/asp-review-app/server/src/core/repository/zip_repository.ts
@@ -1,3 +1,13 @@
+import StreamZip from 'node-stream-zip';
+import { promises as fs } from 'fs';
+import decompress from 'decompress'
+
 export class ZipRepository {
-    
+    public async archive(outhPath: string, zipFile: Buffer, name='generation') {
+        const entry = outhPath + 'archive.zip'
+        await fs.writeFile(entry, zipFile)
+        await decompress(entry, outhPath + name);
+        fs.rm(entry)
+        return outhPath + name
+    }
 }
\ No newline at end of file
diff --git a/asp-review-app/server/src/features/assembly_create/assembly_create_controller.ts b/asp-review-app/server/src/features/assembly_create/assembly_create_controller.ts
index f229694..77e0a8b 100644
--- a/asp-review-app/server/src/features/assembly_create/assembly_create_controller.ts
+++ b/asp-review-app/server/src/features/assembly_create/assembly_create_controller.ts
@@ -1,36 +1,101 @@
-import { NextFunction, Request, Response } from 'express';
-import { autowired } from 'first-di';
-  
-import "reflect-metadata";
-import { dirname } from '../../app';
-import { EntityRepository } from '../../core/repository/entity_repository';
-import { IFile } from './model/zip_files_model';
-
+import { NextFunction, Request, Response } from "express";
+import { autowired } from "first-di";
+import { async } from "node-stream-zip";
+import { EntityRepository } from "../../core/repository/entity_repository";
+import { IFile } from "./model/zip_files_model";
 
 export class AssemblyController {
-  public getAllAssembly = (req: Request, res: Response, next: NextFunction): void => {
-      throw new Error('Method not implemented.');
-  }
-   
-
   @autowired()
-  private readonly fsRepository: EntityRepository;
- 
-  public createAssembly = (req: Request, res: Response, next: NextFunction): void => {
+  private readonly entityRepository: EntityRepository;
+
+  public createRootEntity = (
+    req: Request,
+    res: Response,
+    next: NextFunction
+  ) => {
+    const file = req.files;
+    const cadFile = file["freecad"] as IFile;
+
+    this.entityRepository.saveRootEntity(cadFile.data, cadFile.name);
+
+    res.status(200).json("ok");
+    return;
+  };
+
+  public getAllAssembly = (
+    req: Request,
+    res: Response,
+    next: NextFunction
+  ): void => { };
+
+  public createAssembly = (
+    req: Request,
+    res: Response,
+    next: NextFunction
+  ): void => {
     try {
       const file = req.files.freecad as IFile;
       const buffer = file.data as Buffer;
-      console.log(file.data)
-      // console.log(files.freecad.data)
-      // const filePath = dirname + '/' + files.freecad.name as string;
-      this.fsRepository.saveRootEntity(file.data, file.name)
-      // console.log(filePath)
-      
+      this.entityRepository.saveRootEntity(file.data, file.name);
       res.sendStatus(200);
     } catch (error) {
       next(error);
     }
   };
-}
 
- 
\ No newline at end of file
+
+  public test = (req: Request,
+    res: Response,
+    next: NextFunction) => {
+    try {
+      const file = req.files;
+
+      const generation = file["zip"] as IFile;
+      const id = 'cubes';
+
+      this.entityRepository.saveGeration(generation.data, id)
+      res.sendStatus(200);
+    } catch (error) {
+      next(error);
+    }
+  }
+
+  public stabilityComputed = async (
+    req: Request,
+    res: Response,
+    next: NextFunction
+  ) => {
+    try {
+      // const file = req.files;
+      console.log(req.body)
+      const id = req.body.id;
+      // console.log(req.query.id)
+      const buildNumber = req.body.buildNumber;
+      console.log(buildNumber)
+      console.log(id)
+      // const generation = file["zip"] as IFile;
+      // const id = 'cubes';
+
+      await this.entityRepository.computedStability(id, buildNumber)
+      res.sendStatus(200);
+    } catch (error) {
+      next(error);
+    }
+  }
+
+  public stabilityCreate = (
+    req: Request,
+    res: Response,
+    next: NextFunction
+  ) => {
+    try {
+      const files = req.files;
+      const zip = files['zip'] as IFile
+      const query = req.query as any
+      this.entityRepository.saveStability(zip.data, query.id, query.buildNumber)
+      res.sendStatus(200);
+    } catch (error) {
+      next(error);
+    }
+  }
+}
diff --git a/asp-review-app/server/src/features/assembly_create/assembly_create_route.ts b/asp-review-app/server/src/features/assembly_create/assembly_create_route.ts
index 4449101..43fefe1 100644
--- a/asp-review-app/server/src/features/assembly_create/assembly_create_route.ts
+++ b/asp-review-app/server/src/features/assembly_create/assembly_create_route.ts
@@ -1,26 +1,46 @@
-
-import express, { Router } from 'express';
-import { Routes } from '../../core/interfaces/router';
-import { autowired } from 'first-di';
-import { AssemblyController } from './assembly_create_controller';
-import path from 'path';
-import { dirname } from '../../app';
-import validationMiddleware from '../../core/middlewares/ValidationMiddleware';
-import { CadFilesModel } from './model/zip_files_model';
+import express, { Router } from "express";
+import { Routes } from "../../core/interfaces/router";
+import { autowired } from "first-di";
+import { AssemblyController } from "./assembly_create_controller";
+import validationMiddleware from "../../core/middlewares/ValidationMiddleware";
+import { CadFilesModel } from "./model/zip_files_model";
 
 export class AssemblyRoute implements Routes {
-    public path = '/assembly';
-    public router = Router();
-    @autowired()
-    private readonly assemblyController: AssemblyController;
-    constructor() {
-        this.initializeRoutes();
-    }
+  public path = "/assembly";
+  public router = Router();
+  
+  @autowired()
+  private readonly assemblyController: AssemblyController;
+  
+  constructor() {
+    this.initializeRoutes();
+  }
 
-    private initializeRoutes() {
-        // this.router.use(`${this.path}`, express.static(path.join(dirname, '../../public')));
-        this.router.post(`${this.path}`, validationMiddleware(CadFilesModel, 'files'), this.assemblyController.createAssembly)
+  private initializeRoutes() {
+    this.router.post(
+      `${this.path}`,
+      validationMiddleware(CadFilesModel, "files"),
+      this.assemblyController.createAssembly
+    );
+    this.router.post(
+      `${this.path}/save/out`,
+      // validationMiddleware(CadFilesModel, "files"),
+      this.assemblyController.test
+    );
 
-        this.router.get(`${this.path}`, this.assemblyController.getAllAssembly)
-    }
-}
\ No newline at end of file
+    this.router.get(`${this.path}`, this.assemblyController.getAllAssembly);
+
+    this.router.post(
+      `${this.path}/create`,
+      this.assemblyController.createRootEntity
+    );
+    this.router.post(
+      `${this.path}/stability/write/computed`,
+      this.assemblyController.stabilityComputed
+    );
+    this.router.post(
+      `${this.path}/stabilty/create/`,
+      this.assemblyController.stabilityCreate
+    );
+  }
+}
diff --git a/asp-review-app/server/src/features/assembly_create/model/zip_files_model.ts b/asp-review-app/server/src/features/assembly_create/model/zip_files_model.ts
index 243f69c..99956e0 100644
--- a/asp-review-app/server/src/features/assembly_create/model/zip_files_model.ts
+++ b/asp-review-app/server/src/features/assembly_create/model/zip_files_model.ts
@@ -1,4 +1,5 @@
 import { IsArray, IsObject } from "class-validator";
+
 export interface IFile {
     name: string,
     data: Buffer,
@@ -9,9 +10,11 @@ export interface IFile {
     mimetype: string,
     md5: string,
 }
+
 interface ICadFileModel {
     freecad: IFile;
 }
+
 export class CadFilesModel implements ICadFileModel {
     @IsObject()
     public freecad: IFile;
diff --git a/asp-review-app/server/src/features/assembly_previews/assembly_previews_controller.ts b/asp-review-app/server/src/features/assembly_previews/assembly_previews_controller.ts
index b071b9f..68429e0 100644
--- a/asp-review-app/server/src/features/assembly_previews/assembly_previews_controller.ts
+++ b/asp-review-app/server/src/features/assembly_previews/assembly_previews_controller.ts
@@ -3,10 +3,7 @@ import { autowired } from "first-di";
 import { EntityRepository } from "../../core/repository/entity_repository";
 import { port } from "../../server";
 import { memoAsync } from "../../core/helper/memorization";
-
-import "reflect-metadata";
-import { async } from "node-stream-zip";
-
+  
 export class AssemblyPreviewsController {
   @autowired()
   private readonly entityRepository: EntityRepository;
@@ -32,8 +29,9 @@ export class AssemblyPreviewsController {
       const entity = await this.entityRepository.getEntityStorage(
         req.params.id
       );
+
       const aspUsage = Number(req.query.count) - 1;
-      console.log(aspUsage);
+      
       if (entity === undefined) {
         res.status(404).json("entity not found");
         return;
@@ -59,10 +57,13 @@ export class AssemblyPreviewsController {
     next: NextFunction
   ) => {
     const entity = await this.entityRepository.getEntityStorage(req.params.id);
+
     const aspUsage = Number(req.query.count);
+    
     const assemblyFolder = entity.find((el) => {
       return el.match("assembly");
     });
+    
     const asmCountFolder = "0000" + aspUsage;
 
     const assemblyDirPath = assemblyFolder + "/" + asmCountFolder;
@@ -70,12 +71,15 @@ export class AssemblyPreviewsController {
     if (!this.entityRepository.isExistDirPath(assemblyDirPath)) {
       return res.status(400).json({ error: "bad request" });
     }
+    
     const assemblyProcessDir = await this.entityRepository.getDir(
       assemblyDirPath + "/process/"
     );
+    
     const firstObj = assemblyProcessDir.find((el) => {
       return el.match("1.obj");
     });
+
     const zeroObj = await assemblyProcessDir.find((el) => {
       return el.match("0.obj");
     });
@@ -148,4 +152,5 @@ export class AssemblyPreviewsController {
       };
     }
   }
+  
 }
diff --git a/asp-review-app/server/src/features/assembly_previews/assembly_previews_route.ts b/asp-review-app/server/src/features/assembly_previews/assembly_previews_route.ts
index ef326cd..c12658c 100644
--- a/asp-review-app/server/src/features/assembly_previews/assembly_previews_route.ts
+++ b/asp-review-app/server/src/features/assembly_previews/assembly_previews_route.ts
@@ -12,16 +12,16 @@ export class AssemblyPreviewsRoute implements Routes {
     public path = '/assembly/preview/';
     public router = Router();
     @autowired()
-    private readonly assemblyController: AssemblyPreviewsController;
+    private readonly assemblyPreviewsController: AssemblyPreviewsController;
     constructor() {
         this.initializeRoutes();
     }
 
     private initializeRoutes() {
-        this.router.get(`${this.path}`, this.assemblyController.getAllAssembly);
+        this.router.get(`${this.path}`, this.assemblyPreviewsController.getAllAssembly);
         // this.router.get(`${this.path}`)
-        this.router.get(`${this.path}subsequence/:id`, this.assemblyController.getAssemblySubsequenceById)
-        this.router.get(`${this.path}insertion_sequence/:id`, this.assemblyController.getAssemblyInsertionSequenceById)
+        this.router.get(`${this.path}subsequence/:id`, this.assemblyPreviewsController.getAssemblySubsequenceById)
+        this.router.get(`${this.path}insertion_sequence/:id`, this.assemblyPreviewsController.getAssemblyInsertionSequenceById)
         // this.router.post(`${this.path}`, validationMiddleware(CadFilesModel, 'files'), this.assemblyController.createAssembly)
 
         // this.router.get(`${this.path}`, this.assemblyController.getAllAssembly)
diff --git a/asp-review-app/ui/package-lock.json b/asp-review-app/ui/package-lock.json
index ab05d8c..519297f 100644
--- a/asp-review-app/ui/package-lock.json
+++ b/asp-review-app/ui/package-lock.json
@@ -17,8 +17,8 @@
         "@testing-library/user-event": "^13.2.1",
         "@types/jest": "^27.0.1",
         "@types/node": "^16.7.13",
-        "@types/react": "^18.0.0",
-        "@types/react-dom": "^18.0.0",
+        "@types/react": "18.0.25",
+        "@types/react-dom": "18.0.9",
         "antd": "^5.5.2",
         "babel-jest": "^27.4.2",
         "babel-loader": "^8.2.3",
@@ -55,16 +55,21 @@
         "postcss-normalize": "^10.0.1",
         "postcss-preset-env": "^7.0.1",
         "prompts": "^2.4.2",
-        "react": "^16.12.0",
+        "react": "18.0.0",
         "react-app-polyfill": "^3.0.0",
         "react-dev-utils": "^12.0.1",
-        "react-dom": "^16.12.0",
+        "react-dom": "18.0.0",
         "react-i18next": "^12.2.0",
         "react-refresh": "^0.11.0",
         "react-router-dom": "^6.11.2",
         "react-three-fiber": "^6.0.13",
         "resolve": "^1.20.0",
         "resolve-url-loader": "^4.0.0",
+        "rete": "2.0.0-beta.9",
+        "rete-area-plugin": "2.0.0-beta.12",
+        "rete-connection-plugin": "2.0.0-beta.16",
+        "rete-react-render-plugin": "2.0.0-beta.22",
+        "rete-render-utils": "2.0.0-beta.12",
         "sass-loader": "^12.3.0",
         "semver": "^7.3.5",
         "sort-by": "^1.2.0",
@@ -110,9 +115,9 @@
       }
     },
     "node_modules/@ant-design/cssinjs": {
-      "version": "1.9.1",
-      "resolved": "https://registry.npmjs.org/@ant-design/cssinjs/-/cssinjs-1.9.1.tgz",
-      "integrity": "sha512-CZt1vCMs/sY7RoacYuIkZwQmb8Bhp99ReNNE9Y8lnUzik8fmCdKAQA7ecvVOFwmNFdcBHga7ye/XIRrsbkiqWw==",
+      "version": "1.10.1",
+      "resolved": "https://registry.npmjs.org/@ant-design/cssinjs/-/cssinjs-1.10.1.tgz",
+      "integrity": "sha512-PSoJS8RMzn95ZRg007dJGr6AU0Zim/O+tTN0xmXmh9CkIl4y3wuOr2Zhehaj7s130wPSYDVvahf3DKT50w/Zhw==",
       "dependencies": {
         "@babel/runtime": "^7.11.1",
         "@emotion/hash": "^0.8.0",
@@ -2370,6 +2375,27 @@
       "resolved": "https://registry.npmjs.org/@emotion/hash/-/hash-0.8.0.tgz",
       "integrity": "sha512-kBJtf7PH6aWwZ6fka3zQ0p6SBYzx4fl1LoZXE2RrnYST9Xljm7WfKJrU4g/Xr3Beg72MLrp1AWNUmuYJTL7Cow=="
     },
+    "node_modules/@emotion/is-prop-valid": {
+      "version": "1.2.1",
+      "resolved": "https://registry.npmjs.org/@emotion/is-prop-valid/-/is-prop-valid-1.2.1.tgz",
+      "integrity": "sha512-61Mf7Ufx4aDxx1xlDeOm8aFFigGHE4z+0sKCa+IHCeZKiyP9RLD0Mmx7m8b9/Cf37f7NAvQOOJAbQQGVr5uERw==",
+      "peer": true,
+      "dependencies": {
+        "@emotion/memoize": "^0.8.1"
+      }
+    },
+    "node_modules/@emotion/memoize": {
+      "version": "0.8.1",
+      "resolved": "https://registry.npmjs.org/@emotion/memoize/-/memoize-0.8.1.tgz",
+      "integrity": "sha512-W2P2c/VRW1/1tLox0mVUalvnWXxavmv/Oum2aPsRcoDJuob75FC3Y8FbpfLwUegRcxINtGUMPq0tFCvYNTBXNA==",
+      "peer": true
+    },
+    "node_modules/@emotion/stylis": {
+      "version": "0.8.5",
+      "resolved": "https://registry.npmjs.org/@emotion/stylis/-/stylis-0.8.5.tgz",
+      "integrity": "sha512-h6KtPihKFn3T9fuIrwvXXUOwlx3rfUvfZIcP5a6rh8Y7zjE3O06hT5Ss4S/YI1AYhuZ1kjaE/5EaOOI2NqSylQ==",
+      "peer": true
+    },
     "node_modules/@emotion/unitless": {
       "version": "0.7.5",
       "resolved": "https://registry.npmjs.org/@emotion/unitless/-/unitless-0.7.5.tgz",
@@ -3048,9 +3074,9 @@
       }
     },
     "node_modules/@rc-component/mini-decimal": {
-      "version": "1.0.1",
-      "resolved": "https://registry.npmjs.org/@rc-component/mini-decimal/-/mini-decimal-1.0.1.tgz",
-      "integrity": "sha512-9N8nRk0oKj1qJzANKl+n9eNSMUGsZtjwNuDCiZ/KA+dt1fE3zq5x2XxclRcAbOIXnZcJ53ozP2Pa60gyELXagA==",
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/@rc-component/mini-decimal/-/mini-decimal-1.1.0.tgz",
+      "integrity": "sha512-jS4E7T9Li2GuYwI6PyiVXmxTiM6b07rlD9Ge8uGZSCz3WlzcG5ZK7g5bbuKNeZ9pgUuPK/5guV781ujdVpm4HQ==",
       "dependencies": {
         "@babel/runtime": "^7.18.0"
       },
@@ -3112,9 +3138,9 @@
       }
     },
     "node_modules/@rc-component/trigger": {
-      "version": "1.13.3",
-      "resolved": "https://registry.npmjs.org/@rc-component/trigger/-/trigger-1.13.3.tgz",
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+      },
+      "funding": {
+        "type": "opencollective",
+        "url": "https://opencollective.com/styled-components"
+      },
+      "peerDependencies": {
+        "react": ">= 16.8.0",
+        "react-dom": ">= 16.8.0",
+        "react-is": ">= 16.8.0"
+      }
+    },
+    "node_modules/styled-components/node_modules/has-flag": {
+      "version": "3.0.0",
+      "resolved": "https://registry.npmjs.org/has-flag/-/has-flag-3.0.0.tgz",
+      "integrity": "sha512-sKJf1+ceQBr4SMkvQnBDNDtf4TXpVhVGateu0t918bl30FnbE2m4vNLX+VWe/dpjlb+HugGYzW7uQXH98HPEYw==",
+      "peer": true,
+      "engines": {
+        "node": ">=4"
+      }
+    },
+    "node_modules/styled-components/node_modules/supports-color": {
+      "version": "5.5.0",
+      "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-5.5.0.tgz",
+      "integrity": "sha512-QjVjwdXIt408MIiAqCX4oUKsgU2EqAGzs2Ppkm4aQYbjm+ZEWEcW4SfFNTr4uMNZma0ey4f5lgLrkB0aX0QMow==",
+      "peer": true,
+      "dependencies": {
+        "has-flag": "^3.0.0"
+      },
+      "engines": {
+        "node": ">=4"
+      }
+    },
     "node_modules/stylehacks": {
       "version": "5.1.1",
       "resolved": "https://registry.npmjs.org/stylehacks/-/stylehacks-5.1.1.tgz",
@@ -15985,6 +16182,19 @@
         "requires-port": "^1.0.0"
       }
     },
+    "node_modules/usehooks-ts": {
+      "version": "2.9.1",
+      "resolved": "https://registry.npmjs.org/usehooks-ts/-/usehooks-ts-2.9.1.tgz",
+      "integrity": "sha512-2FAuSIGHlY+apM9FVlj8/oNhd+1y+Uwv5QNkMQz1oSfdHk4PXo1qoCw9I5M7j0vpH8CSWFJwXbVPeYDjLCx9PA==",
+      "engines": {
+        "node": ">=16.15.0",
+        "npm": ">=8"
+      },
+      "peerDependencies": {
+        "react": "^16.8.0  || ^17.0.0 || ^18.0.0",
+        "react-dom": "^16.8.0  || ^17.0.0 || ^18.0.0"
+      }
+    },
     "node_modules/util-deprecate": {
       "version": "1.0.2",
       "resolved": "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz",
diff --git a/asp-review-app/ui/package.json b/asp-review-app/ui/package.json
index 20ac1dd..cff1c44 100644
--- a/asp-review-app/ui/package.json
+++ b/asp-review-app/ui/package.json
@@ -12,8 +12,8 @@
     "@testing-library/user-event": "^13.2.1",
     "@types/jest": "^27.0.1",
     "@types/node": "^16.7.13",
-    "@types/react": "^18.0.0",
-    "@types/react-dom": "^18.0.0",
+    "@types/react": "18.0.25",
+    "@types/react-dom": "18.0.9",
     "antd": "^5.5.2",
     "babel-jest": "^27.4.2",
     "babel-loader": "^8.2.3",
@@ -50,16 +50,21 @@
     "postcss-normalize": "^10.0.1",
     "postcss-preset-env": "^7.0.1",
     "prompts": "^2.4.2",
-    "react": "^16.12.0",
+    "react": "18.0.0",
     "react-app-polyfill": "^3.0.0",
     "react-dev-utils": "^12.0.1",
-    "react-dom": "^16.12.0",
+    "react-dom": "18.0.0",
     "react-i18next": "^12.2.0",
     "react-refresh": "^0.11.0",
     "react-router-dom": "^6.11.2",
     "react-three-fiber": "^6.0.13",
     "resolve": "^1.20.0",
     "resolve-url-loader": "^4.0.0",
+    "rete": "2.0.0-beta.9",
+    "rete-area-plugin": "2.0.0-beta.12",
+    "rete-connection-plugin": "2.0.0-beta.16",
+    "rete-react-render-plugin": "2.0.0-beta.22",
+    "rete-render-utils": "2.0.0-beta.12",
     "sass-loader": "^12.3.0",
     "semver": "^7.3.5",
     "sort-by": "^1.2.0",
diff --git a/asp-review-app/ui/src/App.css b/asp-review-app/ui/src/App.css
index 8e01787..3991e48 100644
--- a/asp-review-app/ui/src/App.css
+++ b/asp-review-app/ui/src/App.css
@@ -6,7 +6,39 @@
  
 
 .root{
+  overflow-y: hidden;
+}
+.centeredDiv{
+  width: 100vw;
   display: flex;
+  justify-content: center;
+}
+.projects-container{
+  width: 100%;
+  background-color: aliceblue;
+  display: flex;
+  flex-direction: column;
+  justify-content: space-evenly;
+  align-items: center;
+  overflow-y:hidden;
+}
+.centeredContainer{
+  display: flex;
+  flex-direction: column;
+  align-content: center;
+  align-items: center;
+}
+label {
+  background-color: indigo;
+  color: white;
+  padding: 0.5rem;
+  font-family: sans-serif;
+  border-radius: 0.3rem;
+  cursor: pointer;
+  margin-top: 1rem;
 }
 
- 
\ No newline at end of file
+#file-chosen{
+  margin-left: 0.3rem;
+  font-family: sans-serif;
+}
\ No newline at end of file
diff --git a/asp-review-app/ui/src/core/repository/http_repository.ts b/asp-review-app/ui/src/core/repository/http_repository.ts
index 5908cd5..3f2eed3 100644
--- a/asp-review-app/ui/src/core/repository/http_repository.ts
+++ b/asp-review-app/ui/src/core/repository/http_repository.ts
@@ -2,21 +2,34 @@ export enum HttpMethod {
     GET = 'GET',
     POST = 'POST'
 }
-export enum HttpRoute{
+export enum HttpRoute {
     insertionPath = '/assembly/preview/insertion_sequence/',
     assemblyPreviewPath = '/assembly/preview/subsequence/',
-    projects = '/assembly/preview'
+    projects = '/assembly/preview',
+    createProject = '/assembly/create',
+    ajaxMatrix = 'matrix.json'
 }
 export class HttpRepository {
     static server = 'http://localhost:3002'
-    static async jsonRequest<T>(method: HttpMethod, url: string, data?: any):Promise<T> {
+    static async jsonRequest<T>(method: HttpMethod, url: string, data?: any): Promise<T> {
         const reqInit = {
             'body': data,
             'method': method,
+            'headers': { 'Content-Type': 'application/json' },
         }
         if (data !== undefined) {
             reqInit['body'] = JSON.stringify(data)
         }
         return (await fetch(this.server + url, reqInit)).json()
     }
+    static async request<T>(method: HttpMethod, url: string, data?: any): Promise<T> {
+        const reqInit = {
+            'body': data,
+            'method': method,
+        }
+        if (data !== undefined) {
+            reqInit['body'] = data
+        }
+        return (await fetch(this.server + url, reqInit)).json()
+    }
 }
\ No newline at end of file
diff --git a/asp-review-app/ui/src/features/all_project/all_project_screen.tsx b/asp-review-app/ui/src/features/all_project/all_project_screen.tsx
index 3ba25f6..0bf8e16 100644
--- a/asp-review-app/ui/src/features/all_project/all_project_screen.tsx
+++ b/asp-review-app/ui/src/features/all_project/all_project_screen.tsx
@@ -6,9 +6,33 @@ import {
   HttpRoute,
 } from "../../core/repository/http_repository";
 import { Button } from "antd";
-export const ProjectsPath = '/'
+import { Typography } from "antd";
+import { Card } from "antd";
+import { createProjectRoute } from "../create_project/create_project";
+import { useNavigate } from "react-router-dom";
+import { pathAjaxTopologyScreen } from "../topology_ajax_preview/topology_ajax_preview";
+import { pathStabilityScreen } from "../stability_preview/stability_preview";
+
+const { Text, Link, Title } = Typography;
+function LinkCreateProjectPage() {
+  const navigate = useNavigate();
+
+  return (
+    <Link
+      style={{ paddingLeft: "10px" }}
+      onClick={() => {
+        navigate(createProjectRoute);
+      }}
+    >
+      <> add new project?</>
+    </Link>
+  );
+}
+
+export const ProjectsPath = "/";
 export const ProjectScreen: React.FunctionComponent = () => {
   const [projects, setProjects] = useState<Array<String>>([]);
+  const navigate = useNavigate();
 
   useEffect(() => {
     async function fetchData() {
@@ -22,18 +46,44 @@ export const ProjectScreen: React.FunctionComponent = () => {
     fetchData();
   }, []);
   return (
-    <div>
-      <div>Projects</div>
+    <>
+      <div className="centeredDiv">
+        <Title>Projects</Title>
+      </div>
       <div>
+        {projects.length === 0 ? (
+          <div className="centeredDiv">
+            <Text>Not found projects</Text>
+
+            <div>
+              <LinkCreateProjectPage />
+            </div>
+          </div>
+        ) : (
+          <div></div>
+        )}
+      </div>
+      <div className="projects-container">
         {projects.map((el) => {
           return (
             <>
-              <div>{el}</div> <Button> Preview insert Path </Button>
-              <Button>Preview assembly logical </Button>{" "}
+              <Card style={{ width: 300 }}>
+                <div>{el}</div>
+                <Button onClick={() => {
+                  navigate(pathAjaxTopologyScreen + el);
+                }} > Preview topology ajax computed </Button>
+                <Button onClick={() => {
+                  navigate(pathStabilityScreen + el);
+                }} > Preview stability computed </Button>
+
+                <Button> Preview insert Path </Button>
+                <Button>Preview assembly logical </Button>
+              </Card>
             </>
           );
         })}
+        <div> {projects.length === 0 ? <></> : <LinkCreateProjectPage />} </div>
       </div>
-    </div>
+    </>
   );
 };
diff --git a/asp-review-app/ui/src/features/create_project/create_project.tsx b/asp-review-app/ui/src/features/create_project/create_project.tsx
new file mode 100644
index 0000000..044701f
--- /dev/null
+++ b/asp-review-app/ui/src/features/create_project/create_project.tsx
@@ -0,0 +1,72 @@
+import { Spin, Typography } from "antd";
+import * as React from "react";
+import { useNavigate } from "react-router-dom";
+import {
+  HttpMethod,
+  HttpRepository,
+  HttpRoute,
+} from "../../core/repository/http_repository";
+import { pathStabilityScreen } from "../stability_preview/stability_preview";
+
+const { Title } = Typography;
+
+export const createProjectRoute = "/new_project";
+ 
+const UploadButton = () => {
+  const navigate = useNavigate();
+  const [isLoading, setLoading] = React.useState<boolean>(false);
+
+  const handleImageChange = function (e: React.ChangeEvent<HTMLInputElement>) {
+    const fileList = e.target.files;
+
+    if (!fileList) return;
+
+    let file = fileList[0] as File;
+    uploadFile(file);
+  };
+ 
+  const uploadFile = async (file: File) => {
+    if (file) {
+      const formData = new FormData();
+      formData.append("freecad", file, file.name);
+      setLoading(true);
+      await HttpRepository.request(
+        HttpMethod.POST,
+        HttpRoute.createProject,
+        formData
+      );
+      setLoading(false);
+      navigate(pathStabilityScreen)
+    }
+  };
+  return isLoading ? (
+    <>
+      <Spin />
+    </>
+  ) : (
+    <label htmlFor="photo">
+      <input
+        accept="*/.FCStd"
+        style={{ display: "none" }}
+        id="photo"
+        name="photo"
+        type="file"
+        multiple={false}
+        onChange={handleImageChange}
+      />
+      Choose Cad file
+    </label>
+  );
+};
+export default function CreateProject() {
+  return (
+    <div className="centeredContainer">
+      <div className="centeredDiv">
+        <Title>Create new project</Title>
+      </div>
+      <div style={{ paddingTop: "10px" }}>
+        <UploadButton />
+      </div>
+    </div>
+  );
+}
diff --git a/asp-review-app/ui/src/features/stability_preview/stability_preview.tsx b/asp-review-app/ui/src/features/stability_preview/stability_preview.tsx
new file mode 100644
index 0000000..f85b80b
--- /dev/null
+++ b/asp-review-app/ui/src/features/stability_preview/stability_preview.tsx
@@ -0,0 +1,57 @@
+
+import { Button } from 'antd';
+import * as React from 'react';
+import { useParams } from 'react-router-dom';
+import { HttpRepository, HttpMethod, HttpRoute } from '../../core/repository/http_repository';
+
+
+export const pathStabilityScreen = '/stability/preview/usecase/'
+
+interface IStabilityCheckResponce {
+    status: "rejected" | "fulfilled";
+    value: undefined | string;
+    index: number;
+}
+interface IStability {
+    status: boolean;
+    detail: string;
+}
+
+export const StabilityPreviewScreen: React.FunctionComponent = () => {
+    const id = useParams().id
+    const [stabilityResult, setStability] = React.useState<IStability[] | null>(null);
+    React.useEffect(() => {
+        const stabilityCheck = async () => {
+            const result = await HttpRepository.jsonRequest<Array<string>>(HttpMethod.GET, '/' + id + '/generation/step-structure.json')
+            const promises = []
+            for (let i = 0; i !== result.length; i++) {
+                const stabilitySubId = i + 1
+                promises.push(HttpRepository.jsonRequest<Array<string>>(HttpMethod.GET, '/' + id + '/generation/stability/' + stabilitySubId + '/geometry.json'))
+            }
+            const stabilityCheck = await (await Promise.allSettled(promises)).map<IStability>((element, index) => {
+                return {
+                    status: element.status === 'fulfilled' ? true : false,
+                    detail: result[index],
+                }
+            })
+            setStability(stabilityCheck)
+        };
+        stabilityCheck()
+    }, []);
+    return (<div>
+        {stabilityResult != null ? (<>
+            {stabilityResult.map((el, index) => {
+                return (<div><div>{el.detail}</div> <div>{el.status ? (<>Sucses</>) : (<><Button onClick={async () => {
+                    await HttpRepository.jsonRequest(HttpMethod.POST, '/assembly/stability/write/computed', {
+                        "id": id,
+                        "buildNumber": (index + 1).toString()
+                    })
+                }}>need input </Button></>)}</div> </div>)
+            })}
+
+        </>) : (<div>loading</div>)}
+
+    </div>);
+};
+
+
diff --git a/asp-review-app/ui/src/features/topology_ajax_preview/topology_ajax_preview.tsx b/asp-review-app/ui/src/features/topology_ajax_preview/topology_ajax_preview.tsx
new file mode 100644
index 0000000..a08435f
--- /dev/null
+++ b/asp-review-app/ui/src/features/topology_ajax_preview/topology_ajax_preview.tsx
@@ -0,0 +1,48 @@
+
+import * as React from 'react';
+import { useParams } from 'react-router-dom';
+import { HttpRepository, HttpMethod, HttpRoute } from '../../core/repository/http_repository';
+
+
+export const pathAjaxTopologyScreen = '/topology/adjax/usecase/'
+export interface IAdjaxMatrix {
+    allPars: string[];
+    firstDetail: string;
+    matrix: StringMap;
+    matrixError: StringMap | null;
+}
+interface StringMap { [key: string]: string; }
+
+
+export const MatrixTopologyAdjaxScreen: React.FunctionComponent = () => {
+    const [matrix, setMatrix] = React.useState<IAdjaxMatrix | null>(null);
+    const param = useParams().id
+    React.useEffect(() => {
+        async function fetchData() {
+            setMatrix(
+                await HttpRepository.jsonRequest<IAdjaxMatrix>(
+                    HttpMethod.GET,
+                    '/' + param + '/' + HttpRoute.ajaxMatrix
+                )
+            );
+        }
+        fetchData();
+    }, []);
+    return (<div>
+        {matrix === null ? (<>loaded</>) : (<>
+            {matrix.matrixError != null ? (<>
+                {Object.keys(matrix.matrixError).map((keyName, i) => {
+                    const m = matrix.matrixError as StringMap;
+                    return (
+                        <div key={i}>
+                            <div>{m[keyName]}</div>
+                        </div>
+                    )
+                })}
+            </>) : (<>Success</>)}
+        </>)}
+
+    </div>);
+};
+
+
diff --git a/asp-review-app/ui/src/index.tsx b/asp-review-app/ui/src/index.tsx
index ddfc042..b340726 100644
--- a/asp-review-app/ui/src/index.tsx
+++ b/asp-review-app/ui/src/index.tsx
@@ -14,7 +14,10 @@ import {
   AssemblyPreviewSubsequence,
   AssemblyPreviewSubsequencePath,
 } from "./features/assembly_preview_subsequence/assembly_preview_subsequence_screen";
-
+import CreateProject, { createProjectRoute } from "./features/create_project/create_project";
+import { pathAjaxTopologyScreen, MatrixTopologyAdjaxScreen } from "./features/topology_ajax_preview/topology_ajax_preview";
+import { pathStabilityScreen, StabilityPreviewScreen } from "./features/stability_preview/stability_preview";
+ 
 const rootElement = document.getElementById("root");
 
 const router = createBrowserRouter([
@@ -22,6 +25,10 @@ const router = createBrowserRouter([
     path: ProjectsPath,
     element: <ProjectScreen />,
   },
+  {
+    path:createProjectRoute,
+    element:<CreateProject/>
+  },
   {
     path: AssemblyPreviewSubsequencePath + ":id",
     element: <AssemblyPreviewSubsequence />,
@@ -30,5 +37,14 @@ const router = createBrowserRouter([
     path: AssemblyPreviewInsertVectorPath + ":id",
     element: <AssemblyPreviewInsertVector />,
   },
+  {
+    path: pathAjaxTopologyScreen + ":id",
+    element:<MatrixTopologyAdjaxScreen/>
+  },
+  {
+    path: pathStabilityScreen + ':id',
+    element:<StabilityPreviewScreen/>
+  }
 ]);
+
 render(<RouterProvider router={router} />, rootElement);
diff --git a/asp-review-app/ui/yarn.lock b/asp-review-app/ui/yarn.lock
index de64e8e..c46e755 100644
--- a/asp-review-app/ui/yarn.lock
+++ b/asp-review-app/ui/yarn.lock
@@ -23,9 +23,9 @@
     "@ctrl/tinycolor" "^3.4.0"
 
 "@ant-design/cssinjs@^1.9.1":
-  version "1.9.1"
-  resolved "https://registry.npmjs.org/@ant-design/cssinjs/-/cssinjs-1.9.1.tgz"
-  integrity sha512-CZt1vCMs/sY7RoacYuIkZwQmb8Bhp99ReNNE9Y8lnUzik8fmCdKAQA7ecvVOFwmNFdcBHga7ye/XIRrsbkiqWw==
+  version "1.10.1"
+  resolved "https://registry.npmjs.org/@ant-design/cssinjs/-/cssinjs-1.10.1.tgz"
+  integrity sha512-PSoJS8RMzn95ZRg007dJGr6AU0Zim/O+tTN0xmXmh9CkIl4y3wuOr2Zhehaj7s130wPSYDVvahf3DKT50w/Zhw==
   dependencies:
     "@babel/runtime" "^7.11.1"
     "@emotion/hash" "^0.8.0"
@@ -217,7 +217,7 @@
   dependencies:
     "@babel/types" "^7.21.0"
 
-"@babel/helper-module-imports@^7.10.4", "@babel/helper-module-imports@^7.18.6", "@babel/helper-module-imports@^7.21.4":
+"@babel/helper-module-imports@^7.0.0", "@babel/helper-module-imports@^7.10.4", "@babel/helper-module-imports@^7.18.6", "@babel/helper-module-imports@^7.21.4":
   version "7.21.4"
   resolved "https://registry.npmjs.org/@babel/helper-module-imports/-/helper-module-imports-7.21.4.tgz"
   integrity sha512-orajc5T2PsRYUN3ZryCEFeMDYwyw09c/pZeaQEZPH0MpKzSvn3e0uXsDBu3k03VI+9DBiRo+l22BfKTpKwa/Wg==
@@ -1101,7 +1101,7 @@
     "@babel/parser" "^7.20.7"
     "@babel/types" "^7.20.7"
 
-"@babel/traverse@^7.20.5", "@babel/traverse@^7.20.7", "@babel/traverse@^7.21.0", "@babel/traverse@^7.21.2", "@babel/traverse@^7.21.4", "@babel/traverse@^7.7.2":
+"@babel/traverse@^7.20.5", "@babel/traverse@^7.20.7", "@babel/traverse@^7.21.0", "@babel/traverse@^7.21.2", "@babel/traverse@^7.21.4", "@babel/traverse@^7.4.5", "@babel/traverse@^7.7.2":
   version "7.21.4"
   resolved "https://registry.npmjs.org/@babel/traverse/-/traverse-7.21.4.tgz"
   integrity sha512-eyKrRHKdyZxqDm+fV1iqL9UAHMoIg0nDaGqfIOd8rKH17m5snv7Gn4qgjBoFfLz9APvjFU/ICT00NVCv1Epp8Q==
@@ -1279,7 +1279,24 @@
   resolved "https://registry.npmjs.org/@emotion/hash/-/hash-0.8.0.tgz"
   integrity sha512-kBJtf7PH6aWwZ6fka3zQ0p6SBYzx4fl1LoZXE2RrnYST9Xljm7WfKJrU4g/Xr3Beg72MLrp1AWNUmuYJTL7Cow==
 
-"@emotion/unitless@^0.7.5":
+"@emotion/is-prop-valid@^1.1.0":
+  version "1.2.1"
+  resolved "https://registry.npmjs.org/@emotion/is-prop-valid/-/is-prop-valid-1.2.1.tgz"
+  integrity sha512-61Mf7Ufx4aDxx1xlDeOm8aFFigGHE4z+0sKCa+IHCeZKiyP9RLD0Mmx7m8b9/Cf37f7NAvQOOJAbQQGVr5uERw==
+  dependencies:
+    "@emotion/memoize" "^0.8.1"
+
+"@emotion/memoize@^0.8.1":
+  version "0.8.1"
+  resolved "https://registry.npmjs.org/@emotion/memoize/-/memoize-0.8.1.tgz"
+  integrity sha512-W2P2c/VRW1/1tLox0mVUalvnWXxavmv/Oum2aPsRcoDJuob75FC3Y8FbpfLwUegRcxINtGUMPq0tFCvYNTBXNA==
+
+"@emotion/stylis@^0.8.4":
+  version "0.8.5"
+  resolved "https://registry.npmjs.org/@emotion/stylis/-/stylis-0.8.5.tgz"
+  integrity sha512-h6KtPihKFn3T9fuIrwvXXUOwlx3rfUvfZIcP5a6rh8Y7zjE3O06hT5Ss4S/YI1AYhuZ1kjaE/5EaOOI2NqSylQ==
+
+"@emotion/unitless@^0.7.4", "@emotion/unitless@^0.7.5":
   version "0.7.5"
   resolved "https://registry.npmjs.org/@emotion/unitless/-/unitless-0.7.5.tgz"
   integrity sha512-OWORNpfjMsSSUBVrRBVGECkhWcULOAJz9ZW8uK9qgxD+87M7jHRcvh/A96XXNhXTLmKcoYSQtBEX7lHMO7YRwg==
@@ -1685,9 +1702,9 @@
     rc-util "^5.27.0"
 
 "@rc-component/mini-decimal@^1.0.1":
-  version "1.0.1"
-  resolved "https://registry.npmjs.org/@rc-component/mini-decimal/-/mini-decimal-1.0.1.tgz"
-  integrity sha512-9N8nRk0oKj1qJzANKl+n9eNSMUGsZtjwNuDCiZ/KA+dt1fE3zq5x2XxclRcAbOIXnZcJ53ozP2Pa60gyELXagA==
+  version "1.1.0"
+  resolved "https://registry.npmjs.org/@rc-component/mini-decimal/-/mini-decimal-1.1.0.tgz"
+  integrity sha512-jS4E7T9Li2GuYwI6PyiVXmxTiM6b07rlD9Ge8uGZSCz3WlzcG5ZK7g5bbuKNeZ9pgUuPK/5guV781ujdVpm4HQ==
   dependencies:
     "@babel/runtime" "^7.18.0"
 
@@ -1721,9 +1738,9 @@
     rc-util "^5.24.4"
 
 "@rc-component/trigger@^1.0.4", "@rc-component/trigger@^1.13.0", "@rc-component/trigger@^1.3.6", "@rc-component/trigger@^1.5.0", "@rc-component/trigger@^1.7.0":
-  version "1.13.3"
-  resolved "https://registry.npmjs.org/@rc-component/trigger/-/trigger-1.13.3.tgz"
-  integrity sha512-CA4s8QGj2kagp8dmYRVcSIW5IErw/YBxSeFEsQmt6SB0oaj9pj+akkB6O0S/Y6ww5JrIDu9Bukq89se1oW9F3w==
+  version "1.13.6"
+  resolved "https://registry.npmjs.org/@rc-component/trigger/-/trigger-1.13.6.tgz"
+  integrity sha512-13aF9SrR5XAd+tyV/zja0A2pbrA/zdTCXRBNIsoLp8OmhVOnqiwjP7XZYPulLsH0ioEfvtXR1yI0anJD0/J7PQ==
   dependencies:
     "@babel/runtime" "^7.18.3"
     "@rc-component/portal" "^1.1.0"
@@ -1731,7 +1748,7 @@
     rc-align "^4.0.0"
     rc-motion "^2.0.0"
     rc-resize-observer "^1.3.1"
-    rc-util "^5.31.1"
+    rc-util "^5.33.0"
 
 "@react-spring/animated@~9.6.1":
   version "9.6.1"
@@ -2286,10 +2303,10 @@
   resolved "https://registry.npmjs.org/@types/range-parser/-/range-parser-1.2.4.tgz"
   integrity sha512-EEhsLsD6UsDM1yFhAvy0Cjr6VwmpMWqFBCb9w07wVugF7w9nfajxLuVmngTIpgS6svCnm6Vaw+MZhoDCKnOfsw==
 
-"@types/react-dom@^18.0.0":
-  version "18.0.11"
-  resolved "https://registry.npmjs.org/@types/react-dom/-/react-dom-18.0.11.tgz"
-  integrity sha512-O38bPbI2CWtgw/OoQoY+BRelw7uysmXbWvw3nLWO21H1HSh+GOlqPuXshJfjmpNlKiiSDG9cc1JZAaMmVdcTlw==
+"@types/react-dom@^18.0.0", "@types/react-dom@18.0.9":
+  version "18.0.9"
+  resolved "https://registry.npmjs.org/@types/react-dom/-/react-dom-18.0.9.tgz"
+  integrity sha512-qnVvHxASt/H7i+XG1U1xMiY5t+IHcPGUK7TDMDzom08xa7e86eCeKOiLZezwCKVxJn6NEiiy2ekgX8aQssjIKg==
   dependencies:
     "@types/react" "*"
 
@@ -2307,10 +2324,10 @@
   dependencies:
     "@types/react" "*"
 
-"@types/react@*", "@types/react@^18.0.0":
-  version "18.0.32"
-  resolved "https://registry.npmjs.org/@types/react/-/react-18.0.32.tgz"
-  integrity sha512-gYGXdtPQ9Cj0w2Fwqg5/ak6BcK3Z15YgjSqtyDizWUfx7mQ8drs0NBUzRRsAdoFVTO8kJ8L2TL8Skm7OFPnLUw==
+"@types/react@*", "@types/react@18.0.25":
+  version "18.0.25"
+  resolved "https://registry.npmjs.org/@types/react/-/react-18.0.25.tgz"
+  integrity sha512-xD6c0KDT4m7n9uD4ZHi02lzskaiqcBxf4zi+tXZY98a04wvc0hi/TcCPC2FOESZi51Nd7tlUeOJY8RofL799/g==
   dependencies:
     "@types/prop-types" "*"
     "@types/scheduler" "*"
@@ -3142,6 +3159,22 @@ babel-plugin-polyfill-regenerator@^0.4.1:
   dependencies:
     "@babel/helper-define-polyfill-provider" "^0.3.3"
 
+"babel-plugin-styled-components@>= 1.12.0":
+  version "2.1.3"
+  resolved "https://registry.npmjs.org/babel-plugin-styled-components/-/babel-plugin-styled-components-2.1.3.tgz"
+  integrity sha512-jBioLwBVHpOMU4NsueH/ADcHrjS0Y/WTpt2eGVmmuSFNEv2DF3XhcMncuZlbbjxQ4vzxg+yEr6E6TNjrIQbsJQ==
+  dependencies:
+    "@babel/helper-annotate-as-pure" "^7.18.6"
+    "@babel/helper-module-imports" "^7.21.4"
+    babel-plugin-syntax-jsx "^6.18.0"
+    lodash "^4.17.21"
+    picomatch "^2.3.1"
+
+babel-plugin-syntax-jsx@^6.18.0:
+  version "6.18.0"
+  resolved "https://registry.npmjs.org/babel-plugin-syntax-jsx/-/babel-plugin-syntax-jsx-6.18.0.tgz"
+  integrity sha512-qrPaCSo9c8RHNRHIotaufGbuOBN8rtdC4QrrFFc43vyWCCz7Kl7GL1PGaXtMGQZUXrkCjNEgxDfmAuAabr/rlw==
+
 babel-plugin-transform-react-remove-prop-types@^0.4.24:
   version "0.4.24"
   resolved "https://registry.npmjs.org/babel-plugin-transform-react-remove-prop-types/-/babel-plugin-transform-react-remove-prop-types-0.4.24.tgz"
@@ -3370,6 +3403,11 @@ camelcase@^6.2.0, camelcase@^6.2.1:
   resolved "https://registry.npmjs.org/camelcase/-/camelcase-6.3.0.tgz"
   integrity sha512-Gmy6FhYlCY7uOElZUSbxo2UCDH8owEk996gkbrpsgGtrJLM3J7jGxl9Ic7Qwwj4ivOE5AWZWRMecDdF7hqGjFA==
 
+camelize@^1.0.0:
+  version "1.0.1"
+  resolved "https://registry.npmjs.org/camelize/-/camelize-1.0.1.tgz"
+  integrity sha512-dU+Tx2fsypxTgtLoE36npi3UqcjSSMNYfkqgmoEhtZrraP5VWq0K7FkWVTYa8eMPtnU/G2txVsfdCJTn9uzpuQ==
+
 camera-controls@^2.3.1:
   version "2.3.4"
   resolved "https://registry.npmjs.org/camera-controls/-/camera-controls-2.3.4.tgz"
@@ -3741,6 +3779,11 @@ css-blank-pseudo@^3.0.3:
   dependencies:
     postcss-selector-parser "^6.0.9"
 
+css-color-keywords@^1.0.0:
+  version "1.0.0"
+  resolved "https://registry.npmjs.org/css-color-keywords/-/css-color-keywords-1.0.0.tgz"
+  integrity sha512-FyyrDHZKEjXDpNJYvVsV960FiqQyXc/LlYmsxl2BcdMb2WPx0OGRVgTg55rPSyLSNMqP52R9r8geSp7apN3Ofg==
+
 css-declaration-sorter@^6.3.1:
   version "6.4.0"
   resolved "https://registry.npmjs.org/css-declaration-sorter/-/css-declaration-sorter-6.4.0.tgz"
@@ -3810,6 +3853,15 @@ css-select@^4.1.3:
     domutils "^2.8.0"
     nth-check "^2.0.1"
 
+css-to-react-native@^3.0.0:
+  version "3.2.0"
+  resolved "https://registry.npmjs.org/css-to-react-native/-/css-to-react-native-3.2.0.tgz"
+  integrity sha512-e8RKaLXMOFii+02mOlqwjbD00KSEKqblnpO9e++1aXS1fPQOpS1YoqdVHBqPjHNoxeF2mimzVqawm2KCbEdtHQ==
+  dependencies:
+    camelize "^1.0.0"
+    css-color-keywords "^1.0.0"
+    postcss-value-parser "^4.0.2"
+
 css-tree@^1.1.2:
   version "1.1.3"
   resolved "https://registry.npmjs.org/css-tree/-/css-tree-1.1.3.tgz"
@@ -5043,11 +5095,6 @@ fs.realpath@^1.0.0:
   resolved "https://registry.npmjs.org/fs.realpath/-/fs.realpath-1.0.0.tgz"
   integrity sha512-OO0pH2lK6a0hZnAdau5ItzHPI6pUlvI7jMVnxUQRtw4owF2wk8lOSabtGDCTP4Ggrg2MbGnWO9X8K1t4+fGMDw==
 
-fsevents@^2.3.2, fsevents@~2.3.2:
-  version "2.3.2"
-  resolved "https://registry.npmjs.org/fsevents/-/fsevents-2.3.2.tgz"
-  integrity sha512-xiqMQR4xAeHTuB9uWm+fFRcIOgKBMiOBP+eXiyT7jsgVCq1bkVygt00oASowB7EdtpOHaaPgKt812P9ab+DDKA==
-
 function-bind@^1.1.1:
   version "1.1.1"
   resolved "https://registry.npmjs.org/function-bind/-/function-bind-1.1.1.tgz"
@@ -5297,6 +5344,13 @@ he@^1.2.0:
   resolved "https://registry.npmjs.org/he/-/he-1.2.0.tgz"
   integrity sha512-F/1DnUGPopORZi0ni+CvrCgHQ5FyEAHRLSApuYWMmrbSwoN2Mn/7k+Gl38gJnR7yyDZk6WLXwiGod1JOWNDKGw==
 
+hoist-non-react-statics@^3.0.0:
+  version "3.3.2"
+  resolved "https://registry.npmjs.org/hoist-non-react-statics/-/hoist-non-react-statics-3.3.2.tgz"
+  integrity sha512-/gGivxi8JPKWNm/W0jSmzcMPpfpPLc3dY/6GxhX2hQ9iGj3aDfklV4ET7NjKpSinLpJ5vafa9iiGIEZg10SfBw==
+  dependencies:
+    react-is "^16.7.0"
+
 hoopy@^0.1.4:
   version "0.1.4"
   resolved "https://registry.npmjs.org/hoopy/-/hoopy-0.1.4.tgz"
@@ -7868,7 +7922,7 @@ postcss-unique-selectors@^5.1.1:
   dependencies:
     postcss-selector-parser "^6.0.5"
 
-postcss-value-parser@^4.0.0, postcss-value-parser@^4.1.0, postcss-value-parser@^4.2.0:
+postcss-value-parser@^4.0.0, postcss-value-parser@^4.0.2, postcss-value-parser@^4.1.0, postcss-value-parser@^4.2.0:
   version "4.2.0"
   resolved "https://registry.npmjs.org/postcss-value-parser/-/postcss-value-parser-4.2.0.tgz"
   integrity sha512-1NNCs6uurfkVbeXG4S8JFT9t19m45ICnif8zWLd5oPSZ50QnwMfK+H3jv408d4jw/7Bttv5axS5IiHoLaVNHeQ==
@@ -7957,7 +8011,7 @@ prompts@^2.0.1, prompts@^2.4.2:
     kleur "^3.0.3"
     sisteransi "^1.0.5"
 
-prop-types@^15.6.0, prop-types@^15.6.2, prop-types@^15.8.1:
+prop-types@^15.6.0, prop-types@^15.8.1:
   version "15.8.1"
   resolved "https://registry.npmjs.org/prop-types/-/prop-types-15.8.1.tgz"
   integrity sha512-oj87CgZICdulUohogVAR7AjlC0327U4el4L6eAvOqCeudMDVU0NThNaV+b9Df4dXgSP1gXMTnPdhfe/2qDH5cg==
@@ -8120,9 +8174,9 @@ rc-dropdown@~4.1.0:
     rc-util "^5.17.0"
 
 rc-field-form@~1.32.0:
-  version "1.32.0"
-  resolved "https://registry.npmjs.org/rc-field-form/-/rc-field-form-1.32.0.tgz"
-  integrity sha512-vr5pA0/gWiBZf0HKdevQJcWSsAac10Z8Nj1Brs3OOCnExk7l+u8GtsW+4cRSqJLug5fxV11dOGXpxf7+aHT/2A==
+  version "1.32.2"
+  resolved "https://registry.npmjs.org/rc-field-form/-/rc-field-form-1.32.2.tgz"
+  integrity sha512-SzqG1YGyD2P42ztZJ7qoPQp6FV9bD51RUdKGG/5xwybU1wbFdgWTqiMXkS8UR9L4GwXVMKh5PaF2I4EBXd/Rng==
   dependencies:
     "@babel/runtime" "^7.18.0"
     async-validator "^4.1.0"
@@ -8204,9 +8258,9 @@ rc-notification@~5.0.4:
     rc-util "^5.20.1"
 
 rc-overflow@^1.0.0, rc-overflow@^1.2.8:
-  version "1.3.0"
-  resolved "https://registry.npmjs.org/rc-overflow/-/rc-overflow-1.3.0.tgz"
-  integrity sha512-p2Qt4SWPTHAYl4oAao1THy669Fm5q8pYBDBHRaFOekCvcdcrgIx0ByXQMEkyPm8wUDX4BK6aARWecvCRc/7CTA==
+  version "1.3.1"
+  resolved "https://registry.npmjs.org/rc-overflow/-/rc-overflow-1.3.1.tgz"
+  integrity sha512-RY0nVBlfP9CkxrpgaLlGzkSoh9JhjJLu6Icqs9E7CW6Ewh9s0peF9OHIex4OhfoPsR92LR0fN6BlCY9Z4VoUtA==
   dependencies:
     "@babel/runtime" "^7.11.1"
     classnames "^2.2.1"
@@ -8232,9 +8286,9 @@ rc-picker@~3.7.4:
     rc-util "^5.30.0"
 
 rc-progress@~3.4.1:
-  version "3.4.1"
-  resolved "https://registry.npmjs.org/rc-progress/-/rc-progress-3.4.1.tgz"
-  integrity sha512-eAFDHXlk8aWpoXl0llrenPMt9qKHQXphxcVsnKs0FHC6eCSk1ebJtyaVjJUzKe0233ogiLDeEFK1Uihz3s67hw==
+  version "3.4.2"
+  resolved "https://registry.npmjs.org/rc-progress/-/rc-progress-3.4.2.tgz"
+  integrity sha512-iAGhwWU+tsayP+Jkl9T4+6rHeQTG9kDz8JAHZk4XtQOcYN5fj9H34NXNEdRdZx94VUDHMqCb1yOIvi8eJRh67w==
   dependencies:
     "@babel/runtime" "^7.10.1"
     classnames "^2.2.6"
@@ -8270,9 +8324,9 @@ rc-segmented@~2.2.0:
     rc-util "^5.17.0"
 
 rc-select@~14.5.0:
-  version "14.5.1"
-  resolved "https://registry.npmjs.org/rc-select/-/rc-select-14.5.1.tgz"
-  integrity sha512-RQ3yiguq6yJ+kbtip7/6RTq2hOotS/s00nyZL2nxyz5194C6uOtSB8Kgsw3c6ZXII1EDjuJX3zLI1pkxkNWyww==
+  version "14.5.2"
+  resolved "https://registry.npmjs.org/rc-select/-/rc-select-14.5.2.tgz"
+  integrity sha512-Np/lDHvxCnVhVsheQjSV1I/OMJTWJf1n10wq8q1AGy3ytyYLfjNpi6uaz/pmjsbbiSddSWzJnNZCli9LmgBZsA==
   dependencies:
     "@babel/runtime" "^7.10.1"
     "@rc-component/trigger" "^1.5.0"
@@ -8365,9 +8419,9 @@ rc-tree-select@~5.9.0:
     rc-util "^5.16.1"
 
 rc-tree@~5.7.0, rc-tree@~5.7.4:
-  version "5.7.4"
-  resolved "https://registry.npmjs.org/rc-tree/-/rc-tree-5.7.4.tgz"
-  integrity sha512-7VfDq4jma+6fvlzfDXvUJ34SaO2EWkcXGBmPgeFmVKsLNNXcKGl4cRAhs6Ts1zqnX994vu/hb3f1dyTjn43RFg==
+  version "5.7.5"
+  resolved "https://registry.npmjs.org/rc-tree/-/rc-tree-5.7.5.tgz"
+  integrity sha512-iyM60rUdJh+KinxSjtZ40eox/DdjIwCUM4oBUoOLyrSwXsaoVZtpcVgWwZExjgHp4MSsn3FhVSntO/5c3aMbSQ==
   dependencies:
     "@babel/runtime" "^7.10.1"
     classnames "2.x"
@@ -8395,10 +8449,10 @@ rc-upload@~4.3.0:
     classnames "^2.2.5"
     rc-util "^5.2.0"
 
-rc-util@^5.0.1, rc-util@^5.0.6, rc-util@^5.15.0, rc-util@^5.16.0, rc-util@^5.16.1, rc-util@^5.17.0, rc-util@^5.18.1, rc-util@^5.19.2, rc-util@^5.2.0, rc-util@^5.20.1, rc-util@^5.21.0, rc-util@^5.21.2, rc-util@^5.22.5, rc-util@^5.24.4, rc-util@^5.25.2, rc-util@^5.26.0, rc-util@^5.27.0, rc-util@^5.27.1, rc-util@^5.28.0, rc-util@^5.30.0, rc-util@^5.31.1, rc-util@^5.32.0, rc-util@^5.32.2, rc-util@^5.6.1:
-  version "5.32.4"
-  resolved "https://registry.npmjs.org/rc-util/-/rc-util-5.32.4.tgz"
-  integrity sha512-LRQpfPjtLbN9BrNgU/evbQrhTLfHepJPSKbhHF2Nm1cnNeZkSqXCKDTDPjMXa1VavcnJA1iP39O8PB0+Rc216Q==
+rc-util@^5.0.1, rc-util@^5.0.6, rc-util@^5.15.0, rc-util@^5.16.0, rc-util@^5.16.1, rc-util@^5.17.0, rc-util@^5.18.1, rc-util@^5.19.2, rc-util@^5.2.0, rc-util@^5.20.1, rc-util@^5.21.0, rc-util@^5.21.2, rc-util@^5.22.5, rc-util@^5.24.4, rc-util@^5.25.2, rc-util@^5.26.0, rc-util@^5.27.0, rc-util@^5.27.1, rc-util@^5.28.0, rc-util@^5.30.0, rc-util@^5.31.1, rc-util@^5.32.0, rc-util@^5.32.2, rc-util@^5.33.0, rc-util@^5.6.1:
+  version "5.33.1"
+  resolved "https://registry.npmjs.org/rc-util/-/rc-util-5.33.1.tgz"
+  integrity sha512-oMs2OIV/2lUCF8nllevzLccneyxAzdSOaHSs5y91qOLdqaLbIMsuL49C6/DhF/WKMqiAKEKGdVk2F1sB5HQe9A==
   dependencies:
     "@babel/runtime" "^7.18.3"
     react-is "^16.12.0"
@@ -8462,15 +8516,13 @@ react-dev-utils@^12.0.1:
     strip-ansi "^6.0.1"
     text-table "^0.2.0"
 
-react-dom@*, react-dom@^16.12.0, react-dom@^18.0.0, react-dom@>=16.0.0, react-dom@>=16.11.0, react-dom@>=16.13, react-dom@>=16.8, react-dom@>=16.9.0, react-dom@>=17.0, react-dom@>=18.0:
-  version "16.14.0"
-  resolved "https://registry.npmjs.org/react-dom/-/react-dom-16.14.0.tgz"
-  integrity sha512-1gCeQXDLoIqMgqD3IO2Ah9bnf0w9kzhwN5q4FGnHZ67hBm9yePzB5JJAIQCc8x3pFnNlwFq4RidZggNAAkzWWw==
+react-dom@*, "react-dom@^16.8.0  || ^17.0.0 || ^18.0.0", "react-dom@^16.8.6 || ^17 || ^18", react-dom@^18.0.0, "react-dom@>= 16.8.0", react-dom@>=16.0.0, react-dom@>=16.11.0, react-dom@>=16.13, react-dom@>=16.8, react-dom@>=16.9.0, react-dom@>=17.0, react-dom@>=18.0, react-dom@18.0.0:
+  version "18.0.0"
+  resolved "https://registry.npmjs.org/react-dom/-/react-dom-18.0.0.tgz"
+  integrity sha512-XqX7uzmFo0pUceWFCt7Gff6IyIMzFUn7QMZrbrQfGxtaxXZIcGQzoNpRLE3fQLnS4XzLLPMZX2T9TRcSrasicw==
   dependencies:
     loose-envify "^1.1.0"
-    object-assign "^4.1.1"
-    prop-types "^15.6.2"
-    scheduler "^0.19.1"
+    scheduler "^0.21.0"
 
 react-error-overlay@^6.0.11:
   version "6.0.11"
@@ -8495,7 +8547,12 @@ react-is@^16.13.1:
   resolved "https://registry.npmjs.org/react-is/-/react-is-16.13.1.tgz"
   integrity sha512-24e6ynE2H+OKt4kqsOvNd8kBpV65zoxbA4BVsEOB3ARVWQki/DHzaUoC5KuON/BiccDaCCTZBuOcfZs70kR8bQ==
 
-react-is@^17.0.1:
+react-is@^16.7.0:
+  version "16.13.1"
+  resolved "https://registry.npmjs.org/react-is/-/react-is-16.13.1.tgz"
+  integrity sha512-24e6ynE2H+OKt4kqsOvNd8kBpV65zoxbA4BVsEOB3ARVWQki/DHzaUoC5KuON/BiccDaCCTZBuOcfZs70kR8bQ==
+
+react-is@^17.0.1, "react-is@>= 16.8.0":
   version "17.0.2"
   resolved "https://registry.npmjs.org/react-is/-/react-is-17.0.2.tgz"
   integrity sha512-w2GsyukL62IJnlaff/nRegPQR94C/XXamvMWmSHRJ4y7Ts/4ocGRmTHvOs8PSE6pB3dWOrD/nueuU5sduBsQ4w==
@@ -8552,14 +8609,12 @@ react-use-measure@^2.1.1:
   dependencies:
     debounce "^1.2.1"
 
-react@*, "react@^15.0.0 || ^16.0.0 || ^17.0.0 || ^18.0.0", react@^16.12.0, react@^16.14.0, "react@^16.8.0 || ^17 || ^18", "react@^16.8.0 || ^17.0.0 || ^18.0.0", react@^18.0.0, "react@>= 16.8.0", react@>=16.0.0, react@>=16.11.0, react@>=16.13, react@>=16.8, react@>=16.9.0, react@>=17.0, react@>=18.0:
-  version "16.14.0"
-  resolved "https://registry.npmjs.org/react/-/react-16.14.0.tgz"
-  integrity sha512-0X2CImDkJGApiAlcf0ODKIneSwBPhqJawOa5wCtKbu7ZECrmS26NvtSILynQ66cgkT/RJ4LidJOc3bUESwmU8g==
+react@*, "react@^15.0.0 || ^16.0.0 || ^17.0.0 || ^18.0.0", "react@^16.8.0  || ^17.0.0 || ^18.0.0", "react@^16.8.0 || ^17 || ^18", "react@^16.8.0 || ^17.0.0 || ^18.0.0", "react@^16.8.6 || ^17 || ^18", react@^18.0.0, "react@>= 16.8.0", react@>=16.0.0, react@>=16.11.0, react@>=16.13, react@>=16.8, react@>=16.9.0, react@>=17.0, react@>=18.0, react@18.0.0:
+  version "18.0.0"
+  resolved "https://registry.npmjs.org/react/-/react-18.0.0.tgz"
+  integrity sha512-x+VL6wbT4JRVPm7EGxXhZ8w8LTROaxPXOqhlGyVSrv0sB1jkyFGgXxJ8LVoPRLvPR6/CIZGFmfzqUa2NYeMr2A==
   dependencies:
     loose-envify "^1.1.0"
-    object-assign "^4.1.1"
-    prop-types "^15.6.2"
 
 read-cache@^1.0.0:
   version "1.0.0"
@@ -8766,6 +8821,42 @@ resolve@^2.0.0-next.4:
     path-parse "^1.0.7"
     supports-preserve-symlinks-flag "^1.0.0"
 
+rete-area-plugin@^2.0.0-beta.12, rete-area-plugin@2.0.0-beta.12:
+  version "2.0.0-beta.12"
+  resolved "https://registry.npmjs.org/rete-area-plugin/-/rete-area-plugin-2.0.0-beta.12.tgz"
+  integrity sha512-F4JLAmCIKCrPr+HinR651cHfyocALZsF7ORRdOXTBMbsyvlRn0KsOz8HsR8t9+AQbcMb45YXFKO+7QG4WvZQ6w==
+  dependencies:
+    "@babel/runtime" "^7.21.0"
+
+rete-connection-plugin@2.0.0-beta.16:
+  version "2.0.0-beta.16"
+  resolved "https://registry.npmjs.org/rete-connection-plugin/-/rete-connection-plugin-2.0.0-beta.16.tgz"
+  integrity sha512-jniCW/Mt4gPey46eK9or5aguHf8DSbSZa7fUzzRxpnnmO3MpMXoDj8AKjfoKSR24PXK3Xz1prjAg8OEP7YXRDQ==
+  dependencies:
+    "@babel/runtime" "^7.21.0"
+
+rete-react-render-plugin@2.0.0-beta.22:
+  version "2.0.0-beta.22"
+  resolved "https://registry.npmjs.org/rete-react-render-plugin/-/rete-react-render-plugin-2.0.0-beta.22.tgz"
+  integrity sha512-Tcqk6sQMqD8p6+bssarNczZT+MnLv9M1WngmZrfsJ36C1jFckR2A1rmJhqSmXiIE00wcmvBeXblKTHqdFln/Kw==
+  dependencies:
+    "@babel/runtime" "^7.21.0"
+    usehooks-ts "^2.9.1"
+
+rete-render-utils@^2.0.0-beta.12, rete-render-utils@2.0.0-beta.12:
+  version "2.0.0-beta.12"
+  resolved "https://registry.npmjs.org/rete-render-utils/-/rete-render-utils-2.0.0-beta.12.tgz"
+  integrity sha512-aRXyGQbF9Y9zIg/TuXFXrz+AVj74FLGGONdF/12okPqwm30aUXA3YakdHONfiaxRi/Ibvmrq7nLI+3wU64K4Xw==
+  dependencies:
+    "@babel/runtime" "^7.21.0"
+
+rete@^2.0.0-beta.9, rete@2.0.0-beta.9:
+  version "2.0.0-beta.9"
+  resolved "https://registry.npmjs.org/rete/-/rete-2.0.0-beta.9.tgz"
+  integrity sha512-tmQk0UIjG2qmCamT58Kg8kQQq30/Nal1zr2uqX4mH2L9rZKCUBAL2dWZ160FoRbfTzWr0oFP/7PYhWrYwhkWDA==
+  dependencies:
+    "@babel/runtime" "^7.21.0"
+
 retry@^0.13.1:
   version "0.13.1"
   resolved "https://registry.npmjs.org/retry/-/retry-0.13.1.tgz"
@@ -8861,14 +8952,6 @@ saxes@^5.0.1:
   dependencies:
     xmlchars "^2.2.0"
 
-scheduler@^0.19.1:
-  version "0.19.1"
-  resolved "https://registry.npmjs.org/scheduler/-/scheduler-0.19.1.tgz"
-  integrity sha512-n/zwRWRYSUj0/3g/otKDRPMh6qv2SYMWNq85IEa8iZyAv8od9zDYpGSnpBEjNgcMNq6Scbu5KfIPxNF72R/2EA==
-  dependencies:
-    loose-envify "^1.1.0"
-    object-assign "^4.1.1"
-
 scheduler@^0.21.0:
   version "0.21.0"
   resolved "https://registry.npmjs.org/scheduler/-/scheduler-0.21.0.tgz"
@@ -9025,6 +9108,11 @@ setprototypeof@1.2.0:
   resolved "https://registry.npmjs.org/setprototypeof/-/setprototypeof-1.2.0.tgz"
   integrity sha512-E5LDX7Wrp85Kil5bhZv46j8jOeboKq5JMmYM3gVGdGH8xFpPWXUMsNrlODCrkoxMEeNi/XZIwuRvY4XNwYMJpw==
 
+shallowequal@^1.1.0:
+  version "1.1.0"
+  resolved "https://registry.npmjs.org/shallowequal/-/shallowequal-1.1.0.tgz"
+  integrity sha512-y0m1JoUZSlPAjXVtPPW70aZWfIL/dSP7AFkRnniLCrK/8MDKog3TySTBmckD+RObVxH0v4Tox67+F14PdED2oQ==
+
 shebang-command@^2.0.0:
   version "2.0.0"
   resolved "https://registry.npmjs.org/shebang-command/-/shebang-command-2.0.0.tgz"
@@ -9373,6 +9461,22 @@ style-loader@^3.3.1:
   resolved "https://registry.npmjs.org/style-loader/-/style-loader-3.3.2.tgz"
   integrity sha512-RHs/vcrKdQK8wZliteNK4NKzxvLBzpuHMqYmUVWeKa6MkaIQ97ZTOS0b+zapZhy6GcrgWnvWYCMHRirC3FsUmw==
 
+styled-components@^5.3.6, "styled-components@>= 2":
+  version "5.3.11"
+  resolved "https://registry.npmjs.org/styled-components/-/styled-components-5.3.11.tgz"
+  integrity sha512-uuzIIfnVkagcVHv9nE0VPlHPSCmXIUGKfJ42LNjxCCTDTL5sgnJ8Z7GZBq0EnLYGln77tPpEpExt2+qa+cZqSw==
+  dependencies:
+    "@babel/helper-module-imports" "^7.0.0"
+    "@babel/traverse" "^7.4.5"
+    "@emotion/is-prop-valid" "^1.1.0"
+    "@emotion/stylis" "^0.8.4"
+    "@emotion/unitless" "^0.7.4"
+    babel-plugin-styled-components ">= 1.12.0"
+    css-to-react-native "^3.0.0"
+    hoist-non-react-statics "^3.0.0"
+    shallowequal "^1.1.0"
+    supports-color "^5.5.0"
+
 stylehacks@^5.1.1:
   version "5.1.1"
   resolved "https://registry.npmjs.org/stylehacks/-/stylehacks-5.1.1.tgz"
@@ -9405,6 +9509,13 @@ supports-color@^5.3.0:
   dependencies:
     has-flag "^3.0.0"
 
+supports-color@^5.5.0:
+  version "5.5.0"
+  resolved "https://registry.npmjs.org/supports-color/-/supports-color-5.5.0.tgz"
+  integrity sha512-QjVjwdXIt408MIiAqCX4oUKsgU2EqAGzs2Ppkm4aQYbjm+ZEWEcW4SfFNTr4uMNZma0ey4f5lgLrkB0aX0QMow==
+  dependencies:
+    has-flag "^3.0.0"
+
 supports-color@^7.0.0, supports-color@^7.1.0:
   version "7.2.0"
   resolved "https://registry.npmjs.org/supports-color/-/supports-color-7.2.0.tgz"
@@ -9897,6 +10008,11 @@ url-parse@^1.5.3:
     querystringify "^2.1.1"
     requires-port "^1.0.0"
 
+usehooks-ts@^2.9.1:
+  version "2.9.1"
+  resolved "https://registry.npmjs.org/usehooks-ts/-/usehooks-ts-2.9.1.tgz"
+  integrity sha512-2FAuSIGHlY+apM9FVlj8/oNhd+1y+Uwv5QNkMQz1oSfdHk4PXo1qoCw9I5M7j0vpH8CSWFJwXbVPeYDjLCx9PA==
+
 util-deprecate@^1.0.1, util-deprecate@^1.0.2, util-deprecate@~1.0.1:
   version "1.0.2"
   resolved "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz"
diff --git a/asp/.gitignore b/asp/.gitignore
new file mode 100644
index 0000000..c585e19
--- /dev/null
+++ b/asp/.gitignore
@@ -0,0 +1 @@
+out
\ No newline at end of file
diff --git a/asp/main.py b/asp/main.py
index 893c97d..48240cd 100644
--- a/asp/main.py
+++ b/asp/main.py
@@ -1,17 +1,14 @@
 import argparse
 import shutil
 from helper.fs import FS
-from src.usecases.stability_check_usecase import StabilityCheckUseCase
 from src.usecases.urdf_sub_assembly_usecase import UrdfSubAssemblyUseCase
-from src.usecases.sdf_generate_world_usecase import SdfGenerateWorldUseCase
+# from src.usecases.sdf_generate_world_usecase import SdfGenerateWorldUseCase
 from src.model.sdf_geometry import GeometryModel
 from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase
 
 import os
 
 
-# python3 main.py  --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true --format 'urdf' --stabilityCheck 'true'
-# python3 main.py  --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true --format 'sdf'
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
@@ -19,8 +16,6 @@ if __name__ == "__main__":
     parser.add_argument('--outPath', help='save SDF path')
     parser.add_argument('--world', help='adding sdf world')
     parser.add_argument('--format', help='urdf,sdf,mujoco')
-    parser.add_argument('--stabilityCheck',
-                        help='do i need to check the stability?')
     args = parser.parse_args()
 
     if args.generationFolder == None or args.outPath == None:
@@ -44,13 +39,10 @@ if __name__ == "__main__":
             generationFolder=args.generationFolder,
             outPath=args.outPath
         )
-    if (args.format == 'urdf' and args.stabilityCheck != None):
+    if (args.format == 'urdf'):
         UrdfSubAssemblyUseCase().call(
             geometryModels=geometryModels, assembly=assemblyStructure,
             world=args.world,
             generationFolder=args.generationFolder,
             outPath=args.outPath
         )
-        StabilityCheckUseCase().call(
-        args.outPath
-        )
diff --git a/asp/src/usecases/formatter_usecase.py b/asp/src/usecases/formatter_usecase.py
index fa0de3f..9efa2e8 100644
--- a/asp/src/usecases/formatter_usecase.py
+++ b/asp/src/usecases/formatter_usecase.py
@@ -1,11 +1,10 @@
 from src.model.enum import Enum
-import xmlformatter
 from helper.fs import FS
-
+import xmlformatter 
 
 class FormatterUseCase:
     def call(outPath: str,   format: str):
-        formatter = xmlformatter.Formatter(
+        formatter = xmlformatter(
             indent="1", indent_char="\t", encoding_output="ISO-8859-1", preserve=["literal"])
 
         files = FS.readFilesTypeFolder(
diff --git a/asp/src/usecases/stability_check_usecase.py b/asp/src/usecases/stability_check_usecase.py
deleted file mode 100644
index c55b092..0000000
--- a/asp/src/usecases/stability_check_usecase.py
+++ /dev/null
@@ -1,36 +0,0 @@
-import numpy as np
-import pybullet as p
-import time
-import pybullet_data
-from helper.fs import FS
-from src.usecases.urdf_sub_assembly_usecase import URDF_GENERATOR_FILE
-import json
-
-from src.model.enum import Enum
-
-
-class StabilityCheckUseCase:
-    def call(self, outPath: str):
-        dirPath = outPath + Enum.folderPath
-        DURATION = 10000
-        asm = json.loads(FS.readFile(dirPath + URDF_GENERATOR_FILE))
-        inc = 0
-        for el in asm['asm2']:
-            FS.writeFile(data=el, filePath=dirPath,
-                         fileName=str(inc) + '.urdf')
-            inc += 1
-        assemblyURDFS = list(
-            map(lambda el: dirPath+el, FS.readFilesTypeFolder(dirPath, '.urdf')))
-        physicsClient = p.connect(p.GUI)
-
-        p.setGravity(0, 0, -10)
-        
-        for el in assemblyURDFS:
-            p.loadURDF(el)
-      
-
-        for i in range(DURATION):
-            p.stepSimulation()
-            time.sleep(1./240.)
-           
-        p.disconnect()
diff --git a/asp/src/usecases/urdf_sub_assembly_usecase.py b/asp/src/usecases/urdf_sub_assembly_usecase.py
index 0c82827..907662e 100644
--- a/asp/src/usecases/urdf_sub_assembly_usecase.py
+++ b/asp/src/usecases/urdf_sub_assembly_usecase.py
@@ -5,6 +5,7 @@ from src.model.asm import Assembly
 from src.model.sdf_geometry import GeometryModel
 from helper.fs import filterModels, listGetFirstValue
 import json
+import re
 
 
 def toUrdf(el: GeometryModel):
@@ -21,6 +22,7 @@ class UrdfSubAssemblyUseCase(Assembly):
         generateSubAssemblyModels = self.generateSubAssembly(assembly)
         inc = 0
         for key, value in generateSubAssemblyModels.items():
+            keyAsm = int(re.findall(r'\d', key)[0])
             inc += 1
             if value['assembly'].__len__() != 0:
                 model: Optional[GeometryModel] = listGetFirstValue(
@@ -32,11 +34,9 @@ class UrdfSubAssemblyUseCase(Assembly):
                         geometryModels,  value['assembly'])))
                     urdfs.append(listGetFirstValue(
                         geometryModels, None, lambda x:  x.name == value['part']) .toUrdf())
-                    asm[key] = urdfs
+                    asm[keyAsm] = urdfs
 
         self.copy(generationFolder=generationFolder,
                   format='/sdf', outPath=outPath)
-
         FS.writeFile(data=json.dumps(asm),
                      fileName=URDF_GENERATOR_FILE, filePath=dirPath)
-        # for el in asm.keys():
diff --git a/cad_generation/env.json b/cad_generation/env.json
new file mode 100644
index 0000000..3945e7a
--- /dev/null
+++ b/cad_generation/env.json
@@ -0,0 +1,6 @@
+{
+    "doc": "/home/idontsudo/t/framework/asp-review-app/server/public/cubes/cubes.FCStd",
+    "out": "/home/idontsudo/t/framework/cad_generation",
+    "resultURL": "http://localhost:3002/assembly/save/out",
+    "projectId": "cubes"
+}
\ No newline at end of file
diff --git a/cad_generation/helper/fs.py b/cad_generation/helper/fs.py
new file mode 100644
index 0000000..3026bb4
--- /dev/null
+++ b/cad_generation/helper/fs.py
@@ -0,0 +1,15 @@
+import os
+import json
+
+
+class FS:
+    def readJSON(path: str):
+        return json.loads((open(path)).read())
+
+    def writeFile(data, filePath, fileName):
+        file_to_open = filePath + fileName
+
+        f = open(file_to_open, 'w', encoding='utf-8',
+                 errors='ignore')
+        f.write(data)
+        f.close()
diff --git a/cad_generation/helper/is_solid.py b/cad_generation/helper/is_solid.py
new file mode 100644
index 0000000..431c814
--- /dev/null
+++ b/cad_generation/helper/is_solid.py
@@ -0,0 +1,18 @@
+import FreeCAD
+
+
+def is_object_solid(obj):
+    """If obj is solid return True"""
+    if not isinstance(obj, FreeCAD.DocumentObject):
+        return False
+
+    if not hasattr(obj, 'Shape'):
+        return False
+
+    if not hasattr(obj.Shape, 'Solids'):
+        return False
+
+    if len(obj.Shape.Solids) == 0:
+        return False
+
+    return True
diff --git a/cad_generation/main.py b/cad_generation/main.py
new file mode 100644
index 0000000..83ddba7
--- /dev/null
+++ b/cad_generation/main.py
@@ -0,0 +1,19 @@
+import requests
+import FreeCAD as App
+from helper.fs import FS
+from scenarios.robossembler_freecad_export_scenario import RobossemblerFreeCadExportScenario
+import shutil
+import os
+import FreeCADGui as Gui
+
+
+def main():
+    env = FS.readJSON('./env.json')
+    App.openDocument(env.get('doc'))
+    RobossemblerFreeCadExportScenario().call(env.get('out'))
+    # requests.post(url=env.get('resultURL'),  files={'zip': open(env.get('out') + '/' + 'generation.zip', "rb"), 'id':env.get('projectId')})
+    # os.remove('./generation.zip')
+    App.closeDocument(App.ActiveDocument.Name)
+    freecadQTWindow  = Gui.getMainWindow()
+    freecadQTWindow.close()
+main()
diff --git a/cad_generation/model/files_generator.py b/cad_generation/model/files_generator.py
new file mode 100644
index 0000000..68b4a0b
--- /dev/null
+++ b/cad_generation/model/files_generator.py
@@ -0,0 +1,13 @@
+from enum import Enum
+
+
+class FilesGenerator(Enum):
+    DETAIL = 'detail.json'
+    ASSEMBLY = 'assembly.json'
+
+
+class FolderGenerator(Enum):
+    MESHES = 'meshes'
+    ASSETS = 'assets'
+    SDF = 'sdf'
+    ASSEMBlY = 'assembly'
diff --git a/cad_generation/model/geometry_part.py b/cad_generation/model/geometry_part.py
new file mode 100644
index 0000000..f63f055
--- /dev/null
+++ b/cad_generation/model/geometry_part.py
@@ -0,0 +1,86 @@
+from typing import Any, TypeVar, Type, cast
+
+
+T = TypeVar("T")
+
+
+def from_float(x: Any) -> float:
+    assert isinstance(x, (float, int)) and not isinstance(x, bool)
+    return float(x)
+
+
+def to_float(x: Any) -> float:
+    assert isinstance(x, float)
+    return x
+
+
+def to_class(c: Type[T], x: Any) -> dict:
+    assert isinstance(x, c)
+    return cast(Any, x).to_dict()
+
+
+class Axis:
+    x: float
+    y: float
+    z: float
+
+    def __init__(self, x: float, y: float, z: float) -> None:
+        self.x = x
+        self.y = y
+        self.z = z
+
+    @staticmethod
+    def from_dict(obj: Any) -> 'Axis':
+        assert isinstance(obj, dict)
+        x = from_float(obj.get("x"))
+        y = from_float(obj.get("y"))
+        z = from_float(obj.get("z"))
+        return Axis(x, y, z)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        result["x"] = to_float(self.x)
+        result["y"] = to_float(self.y)
+        result["z"] = to_float(self.z)
+        return result
+
+
+class GeometryPart:
+    euler: Axis
+    position: Axis
+    rotation: Axis
+    center: Axis
+
+    def __init__(self, euler: Axis, position: Axis, rotation: Axis, center: Axis) -> None:
+        self.euler = euler
+        self.position = position
+        self.rotation = rotation
+        self.center = center
+
+    @staticmethod
+    def from_dict(obj: Any) -> 'GeometryPart':
+        assert isinstance(obj, dict)
+        euler = Axis.from_dict(obj.get("euler"))
+        position = Axis.from_dict(obj.get("position"))
+        rotation = Axis.from_dict(obj.get("rotation"))
+        center = Axis.from_dict(obj.get("center"))
+        return GeometryPart(euler, position, rotation, center)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        result["euler"] = to_class(Axis, self.euler)
+        result["position"] = to_class(Axis, self.position)
+        result["rotation"] = to_class(Axis, self.rotation)
+        result["center"] = to_class(Axis, self.center)
+        return result
+
+    def toJson(self) -> str:
+        return str(self.to_dict()).replace('\'', '"')
+
+
+def geometry_part_from_dict(s: Any) -> GeometryPart:
+    return GeometryPart.from_dict(s)
+
+
+def geometry_part_to_dict(x: GeometryPart) -> Any:
+    return to_class(GeometryPart, x)
diff --git a/cad_generation/model/join_mesh_model.py b/cad_generation/model/join_mesh_model.py
new file mode 100644
index 0000000..52ca96b
--- /dev/null
+++ b/cad_generation/model/join_mesh_model.py
@@ -0,0 +1,33 @@
+import FreeCAD
+import Mesh
+import FreeCAD as App
+from model.mesh_part_model import MeshPartModel
+
+
+class JoinMeshModel:
+    id = None
+    mesh = None
+
+    def __init__(self, meshesPartModels: list['MeshPartModel']) -> None:
+        meshes = []
+        import Mesh
+        from random import randrange
+        for el in meshesPartModels:
+            meshes.append(el.mesh.Mesh)
+
+        self.id = 'MergedMesh' + str(randrange(1000000))
+        document = App.ActiveDocument
+        merged_mesh = Mesh.Mesh()
+        for el in meshes:
+            merged_mesh.addMesh(el)
+
+        new_obj = App.activeDocument().addObject("Mesh::Feature", self.id)
+        new_obj.Mesh = merged_mesh
+        new_obj.ViewObject.DisplayMode = "Flat Lines"  # Set display mode to flat lines
+        self.mesh = new_obj
+
+    def remove(self):
+        try:
+            App.ActiveDocument.removeObject(self.id)
+        except Exception as e:
+            print(e)
diff --git a/cad_generation/model/mesh_part_model.py b/cad_generation/model/mesh_part_model.py
new file mode 100644
index 0000000..dc77871
--- /dev/null
+++ b/cad_generation/model/mesh_part_model.py
@@ -0,0 +1,32 @@
+import FreeCAD as App
+import uuid
+import Mesh
+import Part
+# import PartGui
+import MeshPart
+
+
+class MeshPartModel:
+    id = None
+    mesh = None
+
+    def __init__(self, part) -> None:
+        try:
+            from random import randrange
+            self.id = 'mesh' + str(randrange(1000000))
+            document = App.ActiveDocument
+            mesh = document.addObject("Mesh::Feature", self.id)
+            shape = Part.getShape(part, "")
+            mesh.Mesh = MeshPart.meshFromShape(
+                Shape=shape, LinearDeflection=20, AngularDeflection=0.1, Relative=False)
+            mesh.Label = self.id
+            self.mesh = mesh
+        except Exception as e:
+            print(e)
+        pass
+
+    def remove(self):
+        try:
+            App.ActiveDocument.removeObject(self.mesh.Label)
+        except Exception as e:
+            print(e)
diff --git a/cad_generation/model/sdf_geometry_model.py b/cad_generation/model/sdf_geometry_model.py
new file mode 100644
index 0000000..dca815d
--- /dev/null
+++ b/cad_generation/model/sdf_geometry_model.py
@@ -0,0 +1,107 @@
+import json
+
+
+def from_str(x):
+    assert isinstance(x, str)
+    return x
+
+
+def from_none(x):
+    assert x is None
+    return x
+
+
+def from_union(fs, x):
+    for f in fs:
+        try:
+            return f(x)
+        except:
+            pass
+    assert False
+
+
+def to_class(c, x):
+    assert isinstance(x, c)
+    return x.to_dict()
+
+
+class SdfGeometryModel:
+    def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, friction):
+        self.name = name
+        self.ixx = ixx
+        self.ixy = ixy
+        self.ixz = ixz
+        self.iyy = iyy
+        self.izz = izz
+        self.massSDF = massSDF
+        self.posX = posX
+        self.posY = posY
+        self.posZ = posZ
+        self.eulerX = eulerX
+        self.eulerY = eulerY
+        self.eulerZ = eulerZ
+        self.iyz = iyz
+        self.stl = stl
+        self.friction = friction
+
+    @staticmethod
+    def from_dict(obj):
+        assert isinstance(obj, dict)
+        name = from_union([from_str, from_none], obj.get("name"))
+        ixx = from_union([from_str, from_none], obj.get("ixx"))
+        ixy = from_union([from_str, from_none], obj.get("ixy"))
+        ixz = from_union([from_str, from_none], obj.get("ixz"))
+        iyy = from_union([from_str, from_none], obj.get("iyy"))
+        izz = from_union([from_str, from_none], obj.get("izz"))
+        massSDF = from_union([from_str, from_none], obj.get("massSDF"))
+        posX = from_union([from_str, from_none], obj.get("posX"))
+        posY = from_union([from_str, from_none], obj.get("posY"))
+        posZ = from_union([from_str, from_none], obj.get("posZ"))
+        eulerX = from_union([from_str, from_none], obj.get("eulerX"))
+        eulerY = from_union([from_str, from_none], obj.get("eulerY"))
+        eulerZ = from_union([from_str, from_none], obj.get("eulerZ"))
+        iyz = from_union([from_str, from_none], obj.get("iyz"))
+        stl = from_union([from_str, from_none], obj.get("stl") )
+        friction = from_union([from_str, from_none], obj.get("friction"))
+        return SdfGeometryModel(name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz,stl,friction)
+
+    def to_dict(self):
+        result = {}
+        if self.name is not None:
+            result["name"] = from_union([from_str, from_none], self.name)
+        if self.ixx is not None:
+            result["ixx"] = from_union([from_str, from_none], self.ixx)
+        if self.ixy is not None:
+            result["ixy"] = from_union([from_str, from_none], self.ixy)
+        if self.ixz is not None:
+            result["ixz"] = from_union([from_str, from_none], self.ixz)
+        if self.iyy is not None:
+            result["iyy"] = from_union([from_str, from_none], self.iyy)
+        if self.izz is not None:
+            result["izz"] = from_union([from_str, from_none], self.izz)
+        if self.massSDF is not None:
+            result["massSDF"] = from_union([from_str, from_none], self.massSDF)
+        if self.posX is not None:
+            result["posX"] = from_union([from_str, from_none], self.posX)
+        if self.posY is not None:
+            result["posY"] = from_union([from_str, from_none], self.posY)
+        if self.posZ is not None:
+            result["posZ"] = from_union([from_str, from_none], self.posZ)
+        if self.eulerX is not None:
+            result["eulerX"] = from_union([from_str, from_none], self.eulerX)
+        if self.eulerY is not None:
+            result["eulerY"] = from_union([from_str, from_none], self.eulerY)
+        if self.eulerZ is not None:
+            result["eulerZ"] = from_union([from_str, from_none], self.eulerZ)
+        if self.iyz is not None:
+            result["iyz"] = from_union([from_str, from_none], self.iyz)
+        if self.stl is not None:
+            result["stl"] = from_union([from_str, from_none], self.stl)
+        if self.friction is not None:
+            result["friction"] = from_union([from_str, from_none], self.eulerZ)
+        return result
+
+    def toJSON(self) -> str:
+        return str(self.to_dict()).replace('\'', '"')
+
+ 
\ No newline at end of file
diff --git a/cad_generation/model/simple_copy_part_model.py b/cad_generation/model/simple_copy_part_model.py
new file mode 100644
index 0000000..05c54f0
--- /dev/null
+++ b/cad_generation/model/simple_copy_part_model.py
@@ -0,0 +1,30 @@
+import FreeCAD as App
+import Part
+ 
+
+class SimpleCopyPartModel:
+    id = None
+    copyLink = None
+    label = None
+    part = None
+
+    def getPart(self):
+        return self.part
+
+    def __init__(self, part) -> None:
+        try:
+            from random import randrange
+            self.id = str(randrange(1000000))
+            childObj = part
+            __shape = Part.getShape(
+                childObj, '', needSubElement=False, refine=False)
+            obj = App.ActiveDocument.addObject('Part::Feature', self.id)
+            obj.Shape = __shape
+            self.part = obj
+            self.label = obj.Label
+            App.ActiveDocument.recompute()
+        except Exception as e:
+            print(e)
+
+    def remove(self):
+        App.ActiveDocument.removeObject(self.label)
diff --git a/cad_generation/scenarios/robossembler_freecad_export_scenario.py b/cad_generation/scenarios/robossembler_freecad_export_scenario.py
new file mode 100644
index 0000000..c834efb
--- /dev/null
+++ b/cad_generation/scenarios/robossembler_freecad_export_scenario.py
@@ -0,0 +1,54 @@
+ 
+from usecases.export_assembly_them_all_usecase import ExportAssemblyThemAllUseCase 
+import FreeCAD
+ 
+from usecases.export_usecase import EXPORT_TYPES, ExportUseCase
+from usecases.get_sdf_geometry_usecase import SdfGeometryUseCase
+from usecases.assembly_parse_usecase import AssemblyParseUseCase
+from usecases.geometry_usecase import GeometryUseCase
+from model.geometry_part import GeometryPart
+from model.files_generator import FolderGenerator
+from helper.fs import FS
+import os
+# import ImportGui
+import shutil
+
+
+class RobossemblerFreeCadExportScenario:
+
+    def call(self, path):
+        
+         
+        directory = path + '/' + 'generation'
+        if os.path.exists(directory):
+            shutil.rmtree(directory)
+        if not os.path.exists(directory):
+            os.makedirs(directory)
+            
+        __objs__ = FreeCAD.ActiveDocument.RootObjects
+        directoryExport = directory + '/'
+        os.makedirs(directoryExport + FolderGenerator.ASSETS.value)
+        
+        os.makedirs(directoryExport + FolderGenerator.SDF.value)
+        os.makedirs(directoryExport + FolderGenerator.SDF.value + '/' + FolderGenerator.MESHES.value)
+        os.makedirs(directoryExport + FolderGenerator.ASSEMBlY.value)
+        f = open(directory + "/step-structure.json", "w")
+        f.write(AssemblyParseUseCase().toJson())
+        f.close()
+        self.geometry(directory)
+        ExportAssemblyThemAllUseCase().call(directoryExport)         
+        
+        shutil.make_archive(directory, 'zip', directory)
+
+        shutil.rmtree(directory)
+        return True
+
+    def geometry(self, outPutsPath: str):
+        exportUseCase = ExportUseCase.call(outPutsPath,EXPORT_TYPES.OBJ)
+        for el in SdfGeometryUseCase().call(exportUseCase):
+            FS.writeFile(el.toJSON(),   outPutsPath + '/' + FolderGenerator.ASSETS.value + '/', el.name + '.json',)
+     
+
+ 
+
+ 
\ No newline at end of file
diff --git a/cad_generation/usecases/asm4parser_usecase.py b/cad_generation/usecases/asm4parser_usecase.py
new file mode 100644
index 0000000..f732d1b
--- /dev/null
+++ b/cad_generation/usecases/asm4parser_usecase.py
@@ -0,0 +1,53 @@
+import FreeCAD as App
+
+class Asm4StructureParseUseCase:
+    _parts = []
+    _label = []
+
+    def getSubPartsLabel(self, group):
+        groupLabel = []
+        for el in group:
+            if str(el) == '<Part::PartFeature>':
+                groupLabel.append(el.Label)
+        return groupLabel
+
+    def parseLabel(self, nextGroup, label, level=2, nextGroupParse=0):
+        if nextGroup.__len__() == nextGroupParse:
+            return
+        else:
+            groupParts = []
+
+            for el in nextGroup:
+                if str(el) == '<App::Link object>':
+                    groupParts.append(el)
+
+            for el in groupParts:
+                if str(el) == '<App::Link object>':
+                    label.append({
+                        "level": level,
+                        "attachedTo": el.AttachedTo.split('#'),
+                        "label": el.Label,
+                        "axis": self.getSubPartsLabel(el.Group)
+                    })
+
+    def initParse(self):
+
+        model = App.ActiveDocument.RootObjects[1]
+        self._label.append({
+            "level": 1,
+            "attachedTo": "Parent Assembly",
+            "label": model.Label,
+            "axis": self.getSubPartsLabel(model.Group)
+        })
+        for parent in model.Group:
+            if str(parent) == '<App::Link object>':
+                self._label.append({
+                    "level": 1,
+                    "attachedTo": parent.AttachedTo.split('#'),
+                    "label": parent.Label,
+                    "axis": self.getSubPartsLabel(parent.Group)
+                })
+        print(self._label)
+
+
+ 
\ No newline at end of file
diff --git a/cad_generation/usecases/assembly_parse_usecase.py b/cad_generation/usecases/assembly_parse_usecase.py
new file mode 100644
index 0000000..e3b4e0d
--- /dev/null
+++ b/cad_generation/usecases/assembly_parse_usecase.py
@@ -0,0 +1,58 @@
+import FreeCAD as App
+def is_object_solid(obj):
+    """If obj is solid return True"""
+    if not isinstance(obj, App.DocumentObject):
+        return False
+    if hasattr(obj, 'Group'):
+        return False
+    
+    if not hasattr(obj, 'Shape'):
+        return False
+    # if not hasattr(obj.Shape, 'Mass'):
+    #     return False
+    if not hasattr(obj.Shape, 'Solids'):
+        return False
+
+    if len(obj.Shape.Solids) == 0:
+        return False
+
+    return True
+
+
+class AssemblyParseUseCase:
+    _parts = []
+
+    _asm = []
+
+    def getAsm(self):
+        return self._asm
+
+    def __init__(self) -> None:
+        if (self._asm.__len__() == 0):
+            self.initParse()
+        pass
+
+    def initParse(self):
+        for el in App.ActiveDocument.Objects:
+            if (is_object_solid(el)):
+                self._asm.append(el.Label)
+
+    def toJson(self):
+        return str(self._asm).replace('\'', "\"")
+
+    def getSubPartsLink(self, group):
+        groupLink = {}
+        for el in group:
+            if (is_object_solid(el)):
+                if str(el.Shape).find('Solid') != -1:
+                    if groupLink.get(el.Label) == None:
+                        groupLink[el.Label] = []
+                    for i in el.Group:
+                        if str(i).find('Pad') != -1:
+                            groupLink[el.Label].append(i)
+        if groupLink.__len__() == 0:
+            return None
+        return groupLink
+
+    def getLinkedProperty(self):
+        return self._asm
diff --git a/cad_generation/usecases/export_assembly_them_all_usecase.py b/cad_generation/usecases/export_assembly_them_all_usecase.py
new file mode 100644
index 0000000..b8f0a57
--- /dev/null
+++ b/cad_generation/usecases/export_assembly_them_all_usecase.py
@@ -0,0 +1,92 @@
+
+
+from typing import List
+import FreeCAD as App
+import Part
+from model.join_mesh_model import JoinMeshModel
+from model.mesh_part_model import MeshPartModel
+from helper.fs import FS
+from helper.is_solid import is_object_solid
+from model.simple_copy_part_model import SimpleCopyPartModel
+from model.files_generator import FolderGenerator
+from usecases.assembly_parse_usecase import AssemblyParseUseCase
+import os
+import json
+
+
+class ExportAssemblyThemAllUseCase:
+
+    def call(self, path):
+        assembly = AssemblyParseUseCase().getAsm()
+        asmStructure = {}
+        inc = 0
+        for el in assembly:
+            if (inc != 0):
+                asmStructure[inc] = {
+                    "child": el,
+                    "parents": assembly[0:inc]
+                }
+            inc += 1
+        objectsFreeCad = App.ActiveDocument.Objects
+        asmSolids = {}
+        for k, v in asmStructure.items():
+            assemblyParentList = v['parents']
+            assemblyChild = v['child']
+            for el in assemblyParentList:
+                for solid in objectsFreeCad:
+                    if (el == solid.Label):
+                        if (asmSolids.get(k) is None):
+
+                            asmSolids[k] = {'parents': [], 'child': list(
+                                filter(lambda x: x.Label == assemblyChild, objectsFreeCad))[0]}
+
+                        asmSolids[k]['parents'].append(solid)
+
+        inc = 0
+        for k, v in asmSolids.items():
+            geometry = {"0": [], "1": []}
+            if (k != 0):
+                App.activeDocument().addObject("Part::Compound", "Compound")
+
+                copyLinks = list(
+                    map(lambda el:  SimpleCopyPartModel(el), v['parents']))
+
+                if copyLinks != None:
+                    App.activeDocument().Compound.Links = list(
+                        map(lambda el: el.getPart(), copyLinks))
+
+                    object = App.activeDocument().getObject('Compound')
+                    boundBox = object.Shape.BoundBox
+                    geometry['0'].append(boundBox.XMax)
+                    geometry['0'].append(boundBox.YMax)
+                    geometry['0'].append(boundBox.ZMax)
+
+                    os.makedirs(
+                        path + FolderGenerator.ASSEMBlY.value + '/' + '0000' + str(k))
+                    boundBoxChild = v['child'].Shape.BoundBox
+                    geometry['1'].append(boundBoxChild.XMax)
+                    geometry['1'].append(boundBoxChild.YMax)
+                    geometry['1'].append(boundBoxChild.ZMax)
+                    meshParents = []
+                    
+                    for el in v['parents']:
+                        meshParents.append(MeshPartModel(el))
+                    joinMesh = JoinMeshModel(meshParents)
+                    for el in meshParents:
+                        el.remove()
+                    import importOBJ
+                    importOBJ.export(joinMesh.mesh, path + FolderGenerator.ASSEMBlY.value +
+                                     '/' + '0000' + str(k) + '/' + str(1) + '.obj')
+                    joinMesh.remove()
+                    importOBJ.export(v['child'], path + FolderGenerator.ASSEMBlY.value +
+                                     '/' + '0000' + str(k) + '/' + str(0) + '.obj')
+                    FS.writeFile(json.dumps(geometry), path + FolderGenerator.ASSEMBlY.value +
+                                 '/' + '0000' + str(k) + '/', 'translation.json')
+
+                    App.ActiveDocument.removeObject("Compound")
+                    for el in copyLinks:
+                        el.remove()
+                    App.activeDocument().recompute()
+            inc += 1
+            
+ 
diff --git a/cad_generation/usecases/export_usecase.py b/cad_generation/usecases/export_usecase.py
new file mode 100644
index 0000000..fed67fa
--- /dev/null
+++ b/cad_generation/usecases/export_usecase.py
@@ -0,0 +1,36 @@
+# import importDAE
+import Mesh
+import FreeCAD as App
+from model.files_generator import FolderGenerator
+from helper.is_solid import is_object_solid
+from enum import Enum
+ 
+class EXPORT_TYPES(Enum):
+    STL = 'STL'
+    DAO = 'DAO'
+    OBJ = 'OBJ'
+ 
+
+class ExportUseCase:
+    def call(path: str, type: EXPORT_TYPES):
+        meshes = {}
+        for el in App.ActiveDocument.Objects:
+            if (is_object_solid(el)):
+                match type.value:
+                    case EXPORT_TYPES.STL.value:
+                        Mesh.export([el], path + '/' + FolderGenerator.SDF.value +
+                                    '/' + FolderGenerator.MESHES.value + '/' + el.Label + '.stl')
+                        meshes[el.Label] = '/' + FolderGenerator.MESHES.value + \
+                            '/' + el.Label + '.stl'
+
+                    # case EXPORT_TYPES.DAO.value:
+                    #     importDAE.export([el], path + '/' + FolderGenerator.SDF.value +
+                    #                 '/' + FolderGenerator.MESHES.value + '/' + el.Label + '.dae')
+                    case EXPORT_TYPES.OBJ.value:
+                        import importOBJ
+                        importOBJ.export([el], path + '/' + FolderGenerator.SDF.value +
+                                    '/' + FolderGenerator.MESHES.value + '/' + el.Label + '.obj')
+                        meshes[el.Label] = '/' + FolderGenerator.MESHES.value + \
+                            '/' + el.Label + '.obj'
+        print(300)    
+        return meshes
diff --git a/cad_generation/usecases/geometry_usecase.py b/cad_generation/usecases/geometry_usecase.py
new file mode 100644
index 0000000..13ebfd2
--- /dev/null
+++ b/cad_generation/usecases/geometry_usecase.py
@@ -0,0 +1,58 @@
+
+import FreeCAD as App
+from helper.is_solid import is_object_solid
+
+
+class GeometryUseCase:
+    def call() -> dict:
+        labels = []
+        Error = False
+        for el in App.ActiveDocument.Objects:
+            try:
+                    
+                if is_object_solid(el):
+                    labels.append(el.Label)
+                    
+                    geometry = {
+                        "euler": {
+                            "x": None,
+                            "y": None,
+                            "z": None
+                        },
+                        "position": {
+                            "x": None,
+                            "y": None,
+                            "z": None
+                        },
+                        "rotation": {
+                            "x": None,
+                            "y": None,
+                            "z": None
+                        },
+                        "center": {
+                            "x": None,
+                            "y": None,
+                            "z": None
+                        },
+                        
+                    }
+
+                    boundBox = el.Shape.BoundBox
+                    geometry["center"]["x"] = boundBox.Center.x
+                    geometry["center"]["y"] = boundBox.Center.y
+                    geometry["center"]["z"] = boundBox.Center.z
+                    geometry["position"]['x'] = boundBox.XMax
+                    geometry["position"]['y'] = boundBox.YMax
+                    geometry["position"]['z'] = boundBox.ZMax
+                    rotation = el.Placement.Rotation
+                    geometry["rotation"]['x'] = rotation.Axis.z
+                    geometry["rotation"]['y'] = rotation.Axis.y
+                    geometry["rotation"]['z'] = rotation.Axis.z
+                    euler = el.Placement.Rotation.toEuler()
+                    geometry["euler"]['x'] = euler[0]
+                    geometry["euler"]['y'] = euler[1]
+                    geometry["euler"]['z'] = euler[2]
+            except Exception as e:
+                print(e)
+                #  App.Console.PrintMessage("Clicked on position: ("+str(pos[0])+", "+str(pos[1])+")\n")
+        return {"geometry": geometry, "labels": labels, "label": el.Label}
diff --git a/cad_generation/usecases/get_sdf_geometry_usecase.py b/cad_generation/usecases/get_sdf_geometry_usecase.py
new file mode 100644
index 0000000..45869c5
--- /dev/null
+++ b/cad_generation/usecases/get_sdf_geometry_usecase.py
@@ -0,0 +1,68 @@
+import FreeCAD as App
+from model.sdf_geometry_model import SdfGeometryModel
+ 
+from helper.is_solid import is_object_solid
+
+
+class SdfGeometryUseCase:
+    ShapePropertyCheck = ['Mass','MatrixOfInertia','Placement', ]
+    PartPropertyCheck = ['Shape']
+    def call(self, stlPaths:dict) -> list[SdfGeometryModel]:
+        materialSolid = {}
+        for el in App.ActiveDocument.Objects:
+            if str(el) == '<App::MaterialObjectPython object>':   
+                friction = el.Material.get('SlidingFriction')
+                for i in el.References:
+                    materialSolid[i[0].Label] = friction
+        geometry = []
+        try:
+            for el in App.ActiveDocument.Objects:
+                if is_object_solid(el):
+                    mass = el.Shape.Mass
+                    inertia = el.Shape.MatrixOfInertia
+                    pos = el.Shape.Placement
+                    inertia = el.Shape.MatrixOfInertia
+                    name = el.Label
+                    ixx = str(inertia.A11 / 1000000)
+                    ixy = str(inertia.A12 / 1000000)
+                    ixz = str(inertia.A13 / 1000000)
+                    iyy = str(inertia.A22 / 1000000)
+                    iyz = str(inertia.A23 / 1000000)
+                    izz = str(inertia.A33 / 1000000)
+                    massSDF = str(mass / 1000000)
+                    posX = str(pos.Base[0] / 1000000)
+                    posY = str(pos.Base[1] / 1000000)
+                    posZ = str(pos.Base[2] / 1000000)
+                    eulerX = str(pos.Rotation.toEuler()[0])
+                    eulerY = str(pos.Rotation.toEuler()[1])
+                    eulerZ = str(pos.Rotation.toEuler()[2])
+
+                    geometry.append(
+                        SdfGeometryModel(
+                            stl=stlPaths.get(el.Label),
+                            name=name, 
+                            ixx=ixx,
+                            ixz=ixz, 
+                            ixy=ixy, 
+                            iyy=iyy,
+                            iyz=iyz,
+                            izz=izz,
+                            massSDF=massSDF,
+                            posX=posX,
+                            posY=posY,
+                            posZ=posZ,
+                            eulerX=eulerX, 
+                            eulerY=eulerY, 
+                            eulerZ=eulerZ,
+                            friction=materialSolid.get(el.Label) or '',
+                        )
+                    )
+        except Exception as e:
+            print(200)
+            
+        return geometry
+
+ 
+ 
+
+
diff --git a/cad_stability_check/.gitignore b/cad_stability_check/.gitignore
new file mode 100644
index 0000000..2b2f40c
--- /dev/null
+++ b/cad_stability_check/.gitignore
@@ -0,0 +1,95 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# dotenv
+.env
+
+# virtualenv
+.venv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+
+# Rope project settings
+.ropeproject
+env.json
\ No newline at end of file
diff --git a/cad_stability_check/main.py b/cad_stability_check/main.py
new file mode 100644
index 0000000..b4684e8
--- /dev/null
+++ b/cad_stability_check/main.py
@@ -0,0 +1,79 @@
+import FreeCAD as App
+import json
+import re
+from pyquaternion import Quaternion
+
+def importObjAtPath(path: str):
+    import importOBJ
+    importOBJ.insert(u"" + path, App.ActiveDocument.Label)
+
+    pass
+
+
+def getFullPathObj(assemblyFolder: str, name: str):
+    return assemblyFolder + 'sdf/meshes/' + name + '.obj'
+
+
+def computedStabiliti(refElement, childElement):
+    b = childElement.Shape.BoundBox
+    App.activeDocument().addObject("Part::MultiCommon", "Common")
+    App.activeDocument().Common.Shapes = [refElement, childElement, ]
+    App.ActiveDocument.getObject('Common').ViewObject.ShapeColor = getattr(App.getDocument('cubes').getObject(
+        refElement.Name).getLinkedObject(True).ViewObject, 'ShapeColor', App.getDocument('cubes').getObject('Common').ViewObject.ShapeColor)
+    App.ActiveDocument.getObject('Common').ViewObject.DisplayMode = getattr(App.getDocument('cubes').getObject(
+        childElement.Name).getLinkedObject(True).ViewObject, 'DisplayMode', App.getDocument('cubes').getObject('Common').ViewObject.DisplayMode)
+    App.ActiveDocument.recompute()
+    obj = App.ActiveDocument.getObjectsByLabel('Common')[0]
+
+    shp = obj.Shape
+    bbox = shp.BoundBox
+    if bbox.XLength == b.XLength and bbox.YLength == b.YLength and b.ZLength == bbox.ZLength:
+        return True
+    return False
+
+
+def main():
+    App.newDocument()
+    env = json.loads((open('./env.json')).read())
+    coordinatsFilePath = env.get('pathToTheSimulationCoordinatesFile')
+    assemblyFolder = env.get('generationFolder')
+    buildNumber = int(re.findall(r'\d', coordinatsFilePath)[0])
+
+    assemblyStructure = json.loads(
+        (open(assemblyFolder + 'step-structure.json')).read())
+    assemblyNumber = int(buildNumber)
+    activeDetail = assemblyStructure[assemblyNumber]
+
+    subassemblyNotParticipatingInMarkup = assemblyStructure[0:assemblyNumber - 1]
+    detailOfTheMarkingZoneOfWhich = assemblyStructure[assemblyNumber - 1]
+    importObjAtPath(getFullPathObj(assemblyFolder, activeDetail))
+    importObjAtPath(getFullPathObj(
+        assemblyFolder, detailOfTheMarkingZoneOfWhich))
+    meshMark = App.ActiveDocument.Objects[0]
+    meshDetailOfTheMarkZone = App.ActiveDocument.Objects[1]
+    meshMark.ViewObject.ShapeColor = (0.31, 0.77, 0.87)
+    meshDetailOfTheMarkZone.ViewObject.ShapeColor = (0.68, 0.66, 0.95)
+    for el in list(map(lambda el: getFullPathObj(assemblyFolder, el), subassemblyNotParticipatingInMarkup)):
+        importObjAtPath(el)
+    for el in App.ActiveDocument.Objects[2:App.ActiveDocument.Objects.__len__()]:
+        el.ViewObject.ShapeColor = (0.32, 0.05, 0.38)
+
+    coordinats = json.loads((open(coordinatsFilePath)).read())
+    inc = 1
+    for el in App.ActiveDocument.Objects:
+        pos = coordinats[inc]['position']
+        qua = coordinats[inc]['quaternion']
+        new_quaternion = Quaternion(qua[0], qua[1], qua[2], qua[3])
+        rotation_matrix = new_quaternion.rotation_matrix
+        current_position = el.Placement.Base
+        new_position = App.Vector(current_position.x, current_position.y, current_position.z)
+        new_placement = App.Placement(new_position, rotation_matrix)
+        el.Placement = new_placement
+        App.ActiveDocument.recompute()
+        el.Placement.move(App.Vector(pos[0], pos[1], pos[2]))
+
+    print(computedStabiliti(meshMark, meshDetailOfTheMarkZone))
+    pass
+
+
+main()
diff --git a/cad_stability_input/.gitignore b/cad_stability_input/.gitignore
new file mode 100644
index 0000000..2b2f40c
--- /dev/null
+++ b/cad_stability_input/.gitignore
@@ -0,0 +1,95 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# dotenv
+.env
+
+# virtualenv
+.venv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+
+# Rope project settings
+.ropeproject
+env.json
\ No newline at end of file
diff --git a/cad_stability_input/LICENSE b/cad_stability_input/LICENSE
new file mode 100644
index 0000000..5f2dd7f
--- /dev/null
+++ b/cad_stability_input/LICENSE
@@ -0,0 +1,505 @@
+                  GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 2.1, February 1999
+
+ Copyright (C) 1991, 1999 Free Software Foundation, Inc.
+ 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ Everyone is permitted to copy and distribute verbatim copies
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+SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGES.
+
+                     END OF TERMS AND CONDITIONS
+
+           How to Apply These Terms to Your New Libraries
+
+  If you develop a new library, and you want it to be of the greatest
+possible use to the public, we recommend making it free software that
+everyone can redistribute and change.  You can do so by permitting
+redistribution under these terms (or, alternatively, under the terms of the
+ordinary General Public License).
+
+  To apply these terms, attach the following notices to the library.  It is
+safest to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least the
+"copyright" line and a pointer to where the full notice is found.
+
+    {description}
+    Copyright (C) {year} {fullname}
+
+    This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+    This library 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
+    Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public
+    License along with this library; if not, write to the Free Software
+    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301
+    USA
+
+Also add information on how to contact you by electronic and paper mail.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the library, if
+necessary.  Here is a sample; alter the names:
+
+  Yoyodyne, Inc., hereby disclaims all copyright interest in the
+  library `Frob' (a library for tweaking knobs) written by James Random
+  Hacker.
+
+  {signature of Ty Coon}, 1 April 1990
+  Ty Coon, President of Vice
+
+That's all there is to it!
+
diff --git a/cad_stability_input/README.md b/cad_stability_input/README.md
new file mode 100644
index 0000000..e69de29
diff --git a/cad_stability_input/gui/__init__.py b/cad_stability_input/gui/__init__.py
new file mode 100644
index 0000000..f80dcdc
--- /dev/null
+++ b/cad_stability_input/gui/__init__.py
@@ -0,0 +1,4 @@
+import os
+from .version import __version__
+
+ICONPATH = os.path.join(os.path.dirname(__file__), "resources")
diff --git a/cad_stability_input/gui/init_gui.py b/cad_stability_input/gui/init_gui.py
new file mode 100644
index 0000000..65c0bdb
--- /dev/null
+++ b/cad_stability_input/gui/init_gui.py
@@ -0,0 +1,89 @@
+import os
+import FreeCADGui as Gui
+import FreeCAD as App
+from PySide.QtCore import QT_TRANSLATE_NOOP
+import shutil
+ICONPATH = os.path.join(os.path.dirname(__file__), "resources")
+zone = "StabilityZone"
+import requests
+import importOBJ
+
+
+class AddStabilityZone:
+    def __init__(self):
+        pass
+
+    def GetResources(self):
+        return {'Pixmap': os.path.join(ICONPATH, "stability_zone.svg"),
+                'Accel': "Ctrl+A",
+                'MenuText': QT_TRANSLATE_NOOP("My_Command", "My Command"),
+                'ToolTip': QT_TRANSLATE_NOOP("My_Command", "Runs my command in the active document")}
+
+    def Activated(self):
+        App.ActiveDocument.addObject("Part::Box", "Box")
+        App.ActiveDocument.ActiveObject.Label = zone
+        selected_object = App.ActiveDocument.getObjectsByLabel(zone)[0]
+        selected_object.ViewObject.Transparency = 50
+        selected_object.ViewObject.ShapeColor = (0.15, 0.80, 0.50)
+        pass
+
+    def IsActive(self):
+        return True
+
+
+class SyncServer:
+   
+    httpURL = None
+    def __init__(self, httpURL):
+        self.httpURL = httpURL
+ 
+
+    def GetResources(self):
+        return {'Pixmap': os.path.join(ICONPATH, "server_sync.svg"),
+                'Accel': "Ctrl+A",
+                'MenuText': QT_TRANSLATE_NOOP("My_Command", "My Command"),
+                'ToolTip': QT_TRANSLATE_NOOP("My_Command", "Runs my command in the active document")}
+
+    def Activated(self):
+        StabilityZone = App.ActiveDocument.getObjectsByLabel(zone)
+        dir_path = os.path.dirname(os.path.realpath(__file__))
+        dir_out = dir_path + '/out/'
+        if not os.path.exists(dir_out):
+            os.makedirs(dir_out)
+        importOBJ.export(StabilityZone, u"" + dir_out + 'StabilityZone.obj')
+        shutil.make_archive(dir_out + '/' + 'geometry', 'zip',)
+        zipArch = dir_out +  'geometry.zip'
+        requests.post(url=self.httpURL,  files={'zip': open(zipArch, "rb")})
+        shutil.rmtree(dir_out)
+        pass
+
+    def IsActive(self):
+        return True
+
+
+class StabilityWorkbench(Gui.Workbench):
+
+    MenuText = "stability workbench"
+    ToolTip = "a simple template workbench"
+    Icon = os.path.join(ICONPATH, "template_resource.svg")
+    toolbox = ['AddStabilityZone', 'SyncServer']
+    httpURL = None
+    def __init__(self,httpURL):
+        self.httpURL = httpURL
+ 
+
+    def GetClassName(self):
+        return "Gui::PythonWorkbench"
+
+    def Initialize(self):
+        Gui.addCommand('AddStabilityZone', AddStabilityZone())
+        Gui.addCommand('SyncServer', SyncServer(
+            self.httpURL))
+        self.appendToolbar("Tools", self.toolbox)
+        self.appendMenu("Tools", self.toolbox)
+
+    def Activated(self):
+        pass
+
+    def Deactivated(self):
+        pass
diff --git a/cad_stability_input/gui/my_numpy_function.py b/cad_stability_input/gui/my_numpy_function.py
new file mode 100644
index 0000000..d74c650
--- /dev/null
+++ b/cad_stability_input/gui/my_numpy_function.py
@@ -0,0 +1,4 @@
+import numpy as np
+
+def my_foo(value):
+    return np.sqrt(value)
diff --git a/cad_stability_input/gui/resources/server_sync.svg b/cad_stability_input/gui/resources/server_sync.svg
new file mode 100644
index 0000000..da595a2
--- /dev/null
+++ b/cad_stability_input/gui/resources/server_sync.svg
@@ -0,0 +1,134 @@
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new file mode 100644
index 0000000..3f7686a
--- /dev/null
+++ b/cad_stability_input/gui/resources/stability_zone.svg
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new file mode 100644
index 0000000..509be26
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+           style="fill:none;stroke:#000000;stroke-width:0.80000001;stroke-linecap:round" />
+        <path
+           d="M -3.8048674,4.1775838 0.54352094,0.21974226"
+           id="path4371"
+           style="fill:none;stroke:#000000;stroke-width:0.80000001;stroke-linecap:round" />
+        <path
+           d="M -1.2866832,4.1775838 3.0617053,0.21974226"
+           id="path4373"
+           style="fill:none;stroke:#000000;stroke-width:0.80000001;stroke-linecap:round" />
+        <path
+           d="M 1.3053582,4.1775838 5.6537466,0.21974226"
+           id="path4375"
+           style="fill:none;stroke:#000000;stroke-width:0.80000001;stroke-linecap:round" />
+      </g>
+    </marker>
+    <marker
+       refX="0"
+       refY="0"
+       orient="auto"
+       id="Arrow1Sstart"
+       style="overflow:visible">
+      <path
+         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
+         transform="matrix(0.2,0,0,0.2,1.2,0)"
+         id="path4339"
+         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt" />
+    </marker>
+    <marker
+       refX="0"
+       refY="0"
+       orient="auto"
+       id="Arrow1Lstart"
+       style="overflow:visible">
+      <path
+         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
+         transform="matrix(0.8,0,0,0.8,10,0)"
+         id="path4327"
+         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt" />
+    </marker>
+  </defs>
+  <metadata
+     id="metadata3804">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <rect
+     style="fill:none;stroke:#ff0000;stroke-width:10"
+     id="rect4592"
+     width="43.182667"
+     height="47.440113"
+     x="10.643615"
+     y="8.2324944" />
+  <text
+     xml:space="preserve"
+     style="font-style:normal;font-weight:normal;font-size:40px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+     x="19.766714"
+     y="45.637199"
+     id="text4594"
+     sodipodi:linespacing="125%"><tspan
+       sodipodi:role="line"
+       id="tspan4596"
+       x="19.766714"
+       y="45.637199">T</tspan></text>
+</svg>
diff --git a/cad_stability_input/gui/version.py b/cad_stability_input/gui/version.py
new file mode 100644
index 0000000..3486632
--- /dev/null
+++ b/cad_stability_input/gui/version.py
@@ -0,0 +1 @@
+__version__ = "0.8.1"
\ No newline at end of file
diff --git a/cad_stability_input/main.py b/cad_stability_input/main.py
new file mode 100644
index 0000000..3b646fd
--- /dev/null
+++ b/cad_stability_input/main.py
@@ -0,0 +1,48 @@
+import os
+import FreeCADGui as Gui
+import FreeCAD as App
+from gui.init_gui import StabilityWorkbench
+import json
+
+
+def importObjAtPath(path: str):
+    import importOBJ
+    importOBJ.insert(u"" + path, App.ActiveDocument.Label)
+
+    pass
+
+
+def getFullPathObj(assemblyFolder: str, name: str):
+    return assemblyFolder + 'sdf/meshes/' + name + '.obj'
+
+
+def main():
+    App.newDocument()
+    env = json.loads((open('./env.json')).read())
+    assemblyFolder = env.get('assemblyFolder')
+     
+    assemblyStructure = json.loads(
+        (open(assemblyFolder + 'step-structure.json')).read())
+    assemblyNumber = int(env.get('buildNumber')) - 1
+    activeDetail = assemblyStructure[assemblyNumber]
+
+    subassemblyNotParticipatingInMarkup = assemblyStructure[0:assemblyNumber - 1]
+    detailOfTheMarkingZoneOfWhich = assemblyStructure[assemblyNumber - 1]
+    importObjAtPath(getFullPathObj(assemblyFolder, activeDetail))
+    importObjAtPath(getFullPathObj(
+        assemblyFolder, detailOfTheMarkingZoneOfWhich))
+    meshMark = App.ActiveDocument.Objects[0]
+    meshDetailOfTheMarkZone = App.ActiveDocument.Objects[1]
+    meshMark.ViewObject.ShapeColor = (0.31, 0.77, 0.87)
+    meshDetailOfTheMarkZone.ViewObject.ShapeColor = (0.68, 0.66, 0.95)
+    for el in list(map(lambda el: getFullPathObj(assemblyFolder, el), subassemblyNotParticipatingInMarkup)):
+        importObjAtPath(el)
+    for el in App.ActiveDocument.Objects[2:App.ActiveDocument.Objects.__len__()]:
+        el.ViewObject.ShapeColor = (0.32, 0.05, 0.38)
+    Gui.SendMsgToActiveView("ViewSelection")
+
+    Gui.addWorkbench(StabilityWorkbench(env.get('resultURL')))
+    Gui.activateWorkbench("StabilityWorkbench")
+
+
+main()
diff --git a/cg/blender/import_fcstd/import_cad_objects.py b/cg/blender/import_fcstd/import_cad_objects.py
index c997f8c..49845ff 100644
--- a/cg/blender/import_fcstd/import_cad_objects.py
+++ b/cg/blender/import_fcstd/import_cad_objects.py
@@ -61,14 +61,16 @@ render = '_render'
 
 
 def obj_importer(filename,
-                 linear_deflection,
-                 angular_deflection,
+                 tesselation_method='Standard',
+                 linear_deflection=0.1,
+                 angular_deflection=30.0,
+                 fem_size=5.0,
                  update=False,
                  scene_placement=True,
                  skiphidden=True,
                  scale=0.001,
                  select=True,
-                 nonsolid_property = 'Robossembler_NonSolid'):
+                 nonsolid_property='Robossembler_NonSolid'):
 
     ''' Reads a FreeCAD .FCStd file and creates Blender objects '''
 
@@ -124,11 +126,20 @@ def obj_importer(filename,
                     shape = obj.Shape.copy()
                     shape.Placement = obj.Placement.inverse().multiply(shape.Placement)
                 meshfromshape = doc.addObject('Mesh::Feature','Mesh')
-                meshfromshape.Mesh = MeshPart.meshFromShape(
-                    Shape=shape,
-                    LinearDeflection=linear_deflection,
-                    AngularDeflection=math.radians(angular_deflection),
-                    Relative=False)
+                if tesselation_method == 'Standard':
+                    meshfromshape.Mesh = MeshPart.meshFromShape(
+                        Shape=shape,
+                        LinearDeflection=linear_deflection,
+                        AngularDeflection=math.radians(angular_deflection),
+                        Relative=False)
+                elif tesselation_method == 'FEM':
+                    meshfromshape.Mesh = MeshPart.meshFromShape(
+                        Shape=shape,
+                        MaxLength=fem_size)
+                else:
+                    raise TypeError('Wrong tesselation method! '
+                                    'Standard and FEM methods are supported only!')
+                    break
                 t = meshfromshape.Mesh.Topology
                 verts = [[v.x,v.y,v.z] for v in t[0]]
                 faces = t[1]
@@ -185,17 +196,18 @@ def obj_importer(filename,
 
     # losted root lcs inlet workaround
     lcs_objects = lcs_collection.objects
-    root_lcs = [lcs for lcs in lcs_objects if lcs.name.endswith(root)][0]
-    root_inlet_name = ('{}{}'.format(root_lcs.name.split(root)[0], inlet))
-    if not bpy.data.objects.get(root_inlet_name):
-        root_inlet = bpy.data.objects.new(root_inlet_name, None)
-        root_inlet.empty_display_type = 'ARROWS'
-        root_inlet.empty_display_size = 0.1
-        root_inlet.show_in_front = True
-        root_inlet.location = root_lcs.location
-        root_inlet.rotation_euler = root_lcs.rotation_euler
-        root_inlet.parent = root_lcs.parent
-        lcs_collection.objects.link(root_inlet)
+    if lcs_objects:
+        root_lcs = [lcs for lcs in lcs_objects if lcs.name.endswith(root)][0]
+        root_inlet_name = ('{}{}'.format(root_lcs.name.split(root)[0], inlet))
+        if not bpy.data.objects.get(root_inlet_name):
+            root_inlet = bpy.data.objects.new(root_inlet_name, None)
+            root_inlet.empty_display_type = 'ARROWS'
+            root_inlet.empty_display_size = 0.1
+            root_inlet.show_in_front = True
+            root_inlet.location = root_lcs.location
+            root_inlet.rotation_euler = root_lcs.rotation_euler
+            root_inlet.parent = root_lcs.parent
+            lcs_collection.objects.link(root_inlet)
 
     FreeCAD.closeDocument(docname)
 
diff --git a/cg/freecad/Frames/scenarios/robossembler_freecad_export_scenario.py b/cg/freecad/Frames/scenarios/robossembler_freecad_export_scenario.py
index 71def3b..eb40dfe 100644
--- a/cg/freecad/Frames/scenarios/robossembler_freecad_export_scenario.py
+++ b/cg/freecad/Frames/scenarios/robossembler_freecad_export_scenario.py
@@ -18,7 +18,7 @@ import shutil
 class RobossemblerFreeCadExportScenario:
 
     def call(self):
-
+        
         path = self.qtGuiFeature()
         if path == None:
             return
diff --git a/cg/pipeline/freecad_to_asset.py b/cg/pipeline/freecad_to_asset.py
index d55e484..96829be 100644
--- a/cg/pipeline/freecad_to_asset.py
+++ b/cg/pipeline/freecad_to_asset.py
@@ -59,9 +59,12 @@ hightpoly = '_hp'
 lowpoly = '_lp'
 render = '_render'
 
+
 def freecad_asset_pipeline(fcstd_path,
+                           tesselation_method,
                            linear_deflection,
                            angular_deflection,
+                           fem_size,
                            mesh_export_path=None,
                            json_path=None,
                            blend_path=None,
@@ -74,8 +77,10 @@ def freecad_asset_pipeline(fcstd_path,
 
     # import objects
     objs_for_render = obj_importer(fcstd_path,
-                                    linear_deflection,
-                                    angular_deflection)
+                                   tesselation_method,
+                                   linear_deflection,
+                                   angular_deflection,
+                                   fem_size)
 
     # restructuring hierarchy by lcs points
     lcs_objects = restruct_hierarchy()
@@ -130,10 +135,14 @@ if __name__ == '__main__':
         description='Convert and setup FreeCAD solid objects to 3d assets mesh files.')
     parser.add_argument(
         '--fcstd_path', type=str, help='Path to source FreeCAD scene', required=True)
+    parser.add_argument(
+        '--tesselation_method', type=str, help='Select tesselation method: Standard or FEM.', default='Standard', required=False)
     parser.add_argument(
         '--linear_deflection', type=float, help='Max linear distance error', default=0.1, required=False)
     parser.add_argument(
         '--angular_deflection', type=float, help='Max angular distance error', default=20.0, required=False)
+    parser.add_argument(
+        '--fem_size', type=float, help='For FEM method only! Finite element size in mm', default=1.0, required=False)
     parser.add_argument(
         '--mesh_export_path', type=str, help='Path for export meshes', required=False)
     parser.add_argument(
@@ -145,8 +154,10 @@ if __name__ == '__main__':
     args = parser.parse_args()
 
     freecad_asset_pipeline(args.fcstd_path,
+                           args.tesselation_method,
                            args.linear_deflection,
                            args.angular_deflection,
+                           args.fem_size,
                            args.mesh_export_path,
                            args.json_path,
                            args.blend_path,
diff --git a/geometric_feasibility_predicate/README.MD b/geometric_feasibility_predicate/README.MD
new file mode 100644
index 0000000..7185164
--- /dev/null
+++ b/geometric_feasibility_predicate/README.MD
@@ -0,0 +1 @@
+freecadcmd main.py
\ No newline at end of file
diff --git a/geometric_feasibility_predicate/env.json b/geometric_feasibility_predicate/env.json
new file mode 100644
index 0000000..2375211
--- /dev/null
+++ b/geometric_feasibility_predicate/env.json
@@ -0,0 +1,4 @@
+{
+    "cadFilePath":"",
+    "outPath":""
+}
\ No newline at end of file
diff --git a/geometric_feasibility_predicate/main.py b/geometric_feasibility_predicate/main.py
new file mode 100644
index 0000000..8623d7c
--- /dev/null
+++ b/geometric_feasibility_predicate/main.py
@@ -0,0 +1,358 @@
+import FreeCAD as App
+import uuid
+import os
+import json
+from typing import List, Dict, Any, TypeVar, Callable, Type, cast
+
+
+class FreeCadRepository:
+    _solids = []
+
+    def getAllSolids(self):
+        if (self._solids.__len__() == 0):
+            for part in App.ActiveDocument.Objects:
+                if (self.is_object_solid(part)):
+                    self._solids.append(part)
+
+        return self._solids
+
+    def is_object_solid(self, obj):
+        if not isinstance(obj, App.DocumentObject):
+            return False
+        if hasattr(obj, 'Group'):
+            return False
+
+        if not hasattr(obj, 'Shape'):
+            return False
+        if not hasattr(obj.Shape, 'Mass'):
+            return False
+        if not hasattr(obj.Shape, 'Solids'):
+            return False
+
+        if len(obj.Shape.Solids) == 0:
+            return False
+
+        return True
+
+
+T = TypeVar("T")
+
+
+def from_list(f: Callable[[Any], T], x: Any) -> List[T]:
+    assert isinstance(x, list)
+    return [f(y) for y in x]
+
+
+def from_str(x: Any) -> str:
+    assert isinstance(x, str)
+    return x
+
+
+def from_dict(f: Callable[[Any], T], x: Any) -> Dict[str, T]:
+    assert isinstance(x, dict)
+    return {k: f(v) for (k, v) in x.items()}
+
+
+def to_class(c: Type[T], x: Any) -> dict:
+    assert isinstance(x, c)
+    return cast(Any, x).to_dict()
+
+
+class AdjacencyMatrix:
+    matrixError: Dict[str,str]  = {}
+    all_parts: List[str]
+    first_detail: str
+    matrix: Dict[str, List[str]]
+
+    def __init__(self, all_parts: List[str], first_detail: str, matrix: Dict[str, List[str]]) -> None:
+        self.all_parts = all_parts
+        self.first_detail = first_detail
+        self.matrix = matrix
+        self.validateMatrix()
+
+    def whatPlaceLeadingPartIndex(self):
+        i = 0
+        for el in self.matrix:
+            if el == self.first_detail:
+                return i
+            i = +1
+    def validateMatrix(self):
+        for el in self.all_parts:
+            if(self.matrix.get(el) == None):
+                self.matrixError[el] = 'Not found adjacency ' + el
+    @staticmethod
+    def from_dict(obj: Any) -> 'AdjacencyMatrix':
+        assert isinstance(obj, dict)
+        all_pars = from_list(from_str, obj.get("allPars"))
+        first_detail = from_str(obj.get("firstDetail"))
+        matrix = from_dict(lambda x: from_list(from_str, x), obj.get("matrix"))
+        
+        return AdjacencyMatrix(all_pars, first_detail, matrix)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        result["allPars"] = from_list(from_str, self.all_parts)
+        result["firstDetail"] = from_str(self.first_detail)
+        result["matrix"] = from_dict(
+            lambda x: from_list(from_str, x), self.matrix)
+        if(self.matrixError.values().__len__() == 0):
+            result['matrixError'] = None
+        else:
+            result['matrixError'] = self.matrixError
+        return result
+
+    def getDictMatrix(self) -> dict:
+        result = {}
+
+        for k, v in self.matrix.items():
+            result[k] = {}
+            for el in v:
+                result[k][el] = el
+
+        return result
+
+
+def adjacency_matrix_from_dict(s: Any) -> AdjacencyMatrix:
+    return AdjacencyMatrix.from_dict(s)
+
+
+def adjacency_matrix_to_dict(x: AdjacencyMatrix) -> Any:
+    return to_class(AdjacencyMatrix, x)
+
+
+class FreeCadMetaModel(object):
+
+    def __init__(self, label, vertex) -> None:
+        self.label = label
+        self.vertex = vertex
+
+
+collision_squares_labels = []
+
+
+class MeshGeometryCoordinateModel(object):
+
+    def __init__(self, x, y, z, label,):
+        self.x = x
+        self.y = y
+        self.z = z
+        self.label = label
+        self.cadLabel = ''
+
+    def initializePrimitivesByCoordinate(self, detailSquares):
+        uuidDoc = str(uuid.uuid1())
+        App.ActiveDocument.addObject("Part::Box", "Box")
+        App.ActiveDocument.ActiveObject.Label = uuidDoc
+        App.ActiveDocument.recompute()
+        part = App.ActiveDocument.getObjectsByLabel(uuidDoc)[0]
+        collision_squares_labels.append(uuidDoc)
+        part.Width = 2
+        part.Height = 2
+        part.Length = 2
+        part.Placement = App.Placement(
+            App.Vector(self.x - 1, self.y - 1, self.z - 1),
+            App.Rotation(App.Vector(0.00, 0.00, 1.00), 0.00))
+        if (detailSquares.get(self.label) is None):
+            detailSquares[self.label] = []
+        detailSquares[self.label].append(self)
+        self.cadLabel = uuidDoc
+        App.ActiveDocument.recompute()
+
+
+class FS:
+    def readJSON(path: str):
+        return json.loads((open(path)).read())
+
+    def writeFile(data, filePath, fileName):
+
+        file_to_open = filePath + fileName
+
+        f = open(file_to_open, 'w',  encoding='utf8')
+
+        f.write(data)
+
+    def readFile(path: str):
+        return open(path).read()
+
+    def readFilesTypeFolder(pathFolder: str, fileType='.json'):
+        filesJson = list(
+            filter(lambda x: x[-fileType.__len__():] == fileType,  os.listdir(pathFolder)))
+        return filesJson
+
+
+class GetAllPartsLabelsUseCase:
+    def call(self):
+        parts = []
+        for part in FreeCadRepository().getAllSolids():
+            parts.append(part.Label)
+        return parts
+
+
+def isUnique(array, element):
+    for i in array:
+        if i == element:
+            return False
+
+    return True
+
+
+class GetCollisionAtPrimitiveUseCase(object):
+
+    def call(self, freeCadMetaModels, detailSquares) -> Dict[str, List[str]]:
+        matrix: Dict[str, List[str]] = {}
+        for model in freeCadMetaModels:
+            activePart = App.ActiveDocument.getObjectsByLabel(model.label)[0]
+            for key in detailSquares:
+                if (model.label != key):
+                    for renderPrimitive in detailSquares[key]:
+                        primitivePart = App.ActiveDocument.getObjectsByLabel(
+                            renderPrimitive.cadLabel)[0]
+                        collisionResult: int = int(
+                            activePart.Shape.distToShape(primitivePart.Shape)[0])
+                        if (collisionResult == 0):
+                            if matrix.get(model.label) == None:
+                                matrix[model.label] = [renderPrimitive.label]
+                            else:
+                                if isUnique(matrix[model.label], renderPrimitive.label):
+                                    matrix[model.label].append(
+                                        renderPrimitive.label
+                                    )
+        return matrix
+
+
+class GetFirstDetailUseCase:
+    def call(self):
+        return FreeCadRepository().getAllSolids()[0].Label
+
+
+class GetPartPrimitiveCoordinatesUseCase(object):
+
+    def call(self, freeCadMetaModels):
+        meshCoordinates: list[MeshGeometryCoordinateModel] = []
+        for model in freeCadMetaModels:
+            vertexesDetail = model.vertex
+            labelDetail = model.label
+            for coords in vertexesDetail:
+                detailVertex = MeshGeometryCoordinateModel(
+                    coords.X,
+                    coords.Y,
+                    coords.Z,
+                    labelDetail,
+                )
+                meshCoordinates.append(detailVertex)
+
+        return meshCoordinates
+
+
+class InitPartsParseUseCase():
+
+    def call(self):
+        product_details = []
+        for part in FreeCadRepository().getAllSolids():
+            if part is not None:
+                model = FreeCadMetaModel(part.Label, part.Shape.Vertexes)
+                if (model is not None):
+                    product_details.append(model)
+        return product_details
+
+
+class RenderPrimitiveUseCase(object):
+
+    def call(self, meshModels: list[MeshGeometryCoordinateModel], detailSquares) -> None:
+        for mesh in meshModels:
+            mesh.initializePrimitivesByCoordinate(detailSquares)
+
+
+class ClearWorkSpaceDocumentUseCase(object):
+    def call(self, detailSquares):
+        for key in detailSquares:
+            for renderPrimitive in detailSquares[key]:
+                primitivePart = App.ActiveDocument.getObjectsByLabel(
+                    renderPrimitive.cadLabel)[0]
+                App.ActiveDocument.removeObject(primitivePart.Name)
+
+
+class RenderPrimitivesScenario(object):
+
+    def __init__(
+        self,
+        initPartsParseUseCase: InitPartsParseUseCase,
+        getPartPrimitiveCoordinatesUseCase: GetPartPrimitiveCoordinatesUseCase,
+        renderPrimitiveUseCase: RenderPrimitiveUseCase,
+        getCollisionAtPrimitives: GetCollisionAtPrimitiveUseCase,
+        clearWorkSpaceDocument: ClearWorkSpaceDocumentUseCase,
+    ) -> None:
+        self.initPartsParseUseCase = initPartsParseUseCase
+        self.getPartPrimitiveCoordinatesUseCase = getPartPrimitiveCoordinatesUseCase
+        self.renderPrimitiveUseCase = renderPrimitiveUseCase
+        self.getCollisionAtPrimitives = getCollisionAtPrimitives
+        self.clearWorkSpaceDocument = clearWorkSpaceDocument
+
+    def call(self) -> None:
+        meshCoordinates = []
+        detailSquares = {}
+        parts = self.initPartsParseUseCase.call()
+        meshCoordinates = self.getPartPrimitiveCoordinatesUseCase.call(parts)
+        self.renderPrimitiveUseCase.call(meshCoordinates, detailSquares)
+        matrix = self.getCollisionAtPrimitives.call(parts, detailSquares)
+        self.clearWorkSpaceDocument.call(detailSquares)
+        return matrix
+
+
+class ClearWorkSpaceDocumentUseCase(object):
+    def call(self, detailSquares):
+        for key in detailSquares:
+            for renderPrimitive in detailSquares[key]:
+                primitivePart = App.ActiveDocument.getObjectsByLabel(
+                    renderPrimitive.cadLabel)[0]
+                App.ActiveDocument.removeObject(primitivePart.Name)
+
+
+class CadAdjacencyMatrix:
+    def primitiveMatrix(self):
+        matrix = RenderPrimitivesScenario(
+            InitPartsParseUseCase(),
+            GetPartPrimitiveCoordinatesUseCase(),
+            RenderPrimitiveUseCase(),
+            GetCollisionAtPrimitiveUseCase(),
+            ClearWorkSpaceDocumentUseCase(),
+        ).call()
+       
+        return AdjacencyMatrix(
+            all_parts=GetAllPartsLabelsUseCase().call(),
+            first_detail=GetFirstDetailUseCase().call(),
+            matrix=matrix,
+        )
+
+    def matrixBySurfaces(self,):
+        adjaxed = {}
+        for part in FreeCadRepository().getAllSolids():
+            adjaxed[part.Label] = []
+            for nextPart in FreeCadRepository().getAllSolids():
+                if part.Label != nextPart.Label:
+                    collisionResult: int = int(
+                        part.Shape.distToShape(nextPart.Shape)[0])
+                    if (collisionResult == 0):
+                        adjaxed[part.Label].append(nextPart.Label)
+
+        return AdjacencyMatrix(all_parts=GetAllPartsLabelsUseCase(
+        ).call(), first_detail=GetFirstDetailUseCase().call(),
+            matrix=adjaxed
+        )
+
+
+def main():
+    env = FS.readJSON('env.json')
+    cadFile = env['cadFilePath']
+    outPath = env['outPath']
+    if (cadFile == None):
+        return TypeError('CadFile not found env.json')
+    App.open(u'' + cadFile)
+ 
+    
+    matrixOut = CadAdjacencyMatrix().primitiveMatrix().to_dict()
+    import json
+    FS.writeFile(json.dumps(matrixOut, ensure_ascii=False, indent=4), outPath,'out.json')
+
+
+main()
diff --git a/pddl/main.py b/pddl/main.py
index 8541124..9c05f1c 100644
--- a/pddl/main.py
+++ b/pddl/main.py
@@ -5,7 +5,7 @@ from src.model.asm4_structure import Asm4Structure
 from src.usecases.assembly_to_pddl_use_case import AssemblyToPddlUseCase
  
  
-# python3 main.py --stepStructurePath /Users/idontsudo/robo/Cube3/step-structure.json --outPath /Users/idontsudo/robo/Cube3/pddl/
+# python3 main.py --stepStructurePath /Users/idontsudo/robo/step-structure.json --outPath /Users/idontsudo/robo/pddl/out/
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
diff --git a/pddl/src/usecases/assembly_to_pddl_use_case.py b/pddl/src/usecases/assembly_to_pddl_use_case.py
index 7583043..a6ba8ef 100644
--- a/pddl/src/usecases/assembly_to_pddl_use_case.py
+++ b/pddl/src/usecases/assembly_to_pddl_use_case.py
@@ -7,13 +7,11 @@ import os
 
 class AssemblyToPddlUseCase:
     def call(assembly: List[str], rootLabel: str):
-        print(assembly)
         partType = UserType("part")
         assemblyType = UserType('assembly')
 
         objectsPartPddl = []
         objectsAsmToPddl = []
-
         i = 0
         for el in assembly:
             objectsPartPddl.append(Object(el, partType))
@@ -30,15 +28,26 @@ class AssemblyToPddlUseCase:
 
         connected = Fluent('part-of', BoolType(),
                            l_from=partType, l_to=assemblyType)
+        assemblyOrder = Fluent('assembly_order', BoolType(),
+                               l_from=assemblyType, l_to=assemblyType)
         i = 0
         for el in objectsPartPddl:
             problem.set_initial_value(connected(el, objectsAsmToPddl[i]), True)
             i = i+1
         goal = Fluent(rootLabel)
+
         problem.add_goal(connected(objectsPartPddl[objectsPartPddl.__len__(
         ) - 1], objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]),)
+        
+        i = 0
+        for el in objectsAsmToPddl:
+            if objectsAsmToPddl[i-1] != objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]:
+                problem.set_initial_value(assemblyOrder(objectsAsmToPddl[i-1], el), True)
+            i = i+1
+        
+        problem.add_goal(assemblyOrder(objectsAsmToPddl[objectsAsmToPddl.__len__(
+        ) - 1], objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]),)
         return {
             "problem": unified_planning.io.PDDLWriter(problem).get_problem(),
             'domain':  FS.readFile(os.path.dirname(os.path.realpath(__file__)) + '/../../mocks' + '/domain.txt'),
         }
- 
diff --git a/stability_process_predicate/main.py b/stability_process_predicate/main.py
new file mode 100644
index 0000000..a4e0304
--- /dev/null
+++ b/stability_process_predicate/main.py
@@ -0,0 +1,16 @@
+import argparse
+
+from usecases.stability_check_usecase import StabilityCheckUseCase
+
+#python3 main.py --aspPath /home/idontsudo/t/framework/asp/out/sdf-generation --buildNumber 3
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--aspPath', help='asp folder generation path')
+    parser.add_argument('--buildNumber', help='FreeCad generation buildNumber')
+    args = parser.parse_args()
+    # args.aspPath
+    # args.buildNumber
+    StabilityCheckUseCase().call( args.aspPath,args.buildNumber )
+
+
+main()
\ No newline at end of file
diff --git a/stability_process_predicate/usecases/stability_check_usecase.py b/stability_process_predicate/usecases/stability_check_usecase.py
new file mode 100644
index 0000000..9d37b53
--- /dev/null
+++ b/stability_process_predicate/usecases/stability_check_usecase.py
@@ -0,0 +1,61 @@
+import numpy as np
+import pybullet as p
+import time
+import pybullet_data
+import os
+import json
+
+
+class StabilityCheckUseCase:
+    def call(self, outPath: str, buildNumber: int, duration=500):
+        DURATION = duration
+        try:
+            assemblyUrdf = json.loads(
+                (open(outPath + 'urdf-generation.json')).read()).get(buildNumber)
+        except:
+            return TypeError('not found urfd file or not found build number')
+        inc = 0
+        urdfs = []
+
+        for el in assemblyUrdf:
+            inc += 1
+            file_to_open = outPath + str(inc) + '.urdf'
+
+            f = open(file_to_open, 'w', encoding='utf-8',
+                     errors='ignore')
+            f.write(el)
+            urdfs.append(os.path.abspath(f.name))
+            f.close()
+
+        p.connect(p.DIRECT)
+
+        p.setGravity(0, 0, -10)
+        p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        bulletIds = []
+        for el in urdfs:
+            bulletIds.append(p.loadURDF(el))
+        p.loadURDF("plane.urdf")
+        resultCoords = []
+        for i in range(DURATION):
+            if (i + 200 == DURATION):
+                inc = 0
+                for el in bulletIds:
+                    inc += 1
+                    pos, rot = p.getBasePositionAndOrientation(el)
+                    resultCoords.append({
+                        'id': inc,
+                        "quaternion": rot,
+                        "position": pos
+                    })
+            p.stepSimulation()
+            time.sleep(1./240.)
+
+        file_to_open = outPath + buildNumber + "_" + 'stability_coords.json'
+
+        f = open(file_to_open, 'w', encoding='utf-8',
+                 errors='ignore')
+        f.write(json.dumps(resultCoords))
+        for el in urdfs:
+            os.remove(el)
+        f.close()
+        p.disconnect()