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+# Пример: проект "Шахматы"
+
+Имеем доску, две модели фигур - коня и пешку, робота, камеру. Задачей будет из фигур в наличии расставить шахматы на доску в начальную позицию.
+
+### Создаём проект
+    * Projects
+```json
+{
+  "sid": 1,
+  "name": "chess",
+  "description": "Robossembler Example"
+}
+```
+
+### Добавляем модели твёрдых тел (фигур и доски) в библиотеку проекта
+Сначала добавляются пакеты:
+
+    * Packages
+```json
+{
+  "sid": 1,
+  "project": 1,
+  "type": "part_model",
+  "description": "Robossembler: chessboard",
+  "command": "python",
+  "package": "",
+  "executable": "chessboard.py",
+  "args": {
+    "blend": \${FILE:string:""},
+    "dae": \${FILE:string:""},rbs_arm/robot1/controller
+    "fbx": \${FILE:string:""},
+    "...": ""
+  }
+}
+```
+```json
+{
+  "sid": 2,
+  "project": 1,
+  "type": "part_model",
+  "description": "Robossembler: chess pieces",
+  "command": "python",
+  "package": "",
+  "executable": "chess_pieces.py",
+  "args": [ // ARRAY of pieces
+    {
+    "name": \${NAME:string:""},
+    "blend": \${FILE:string:""},
+    "dae": \${FILE:string:""},
+    "fbx": \${FILE:string:""},
+    "...": ""
+    }
+  ]
+}
+```
+Затем при запуске "get_interface.py" для каждого пакета, получаем json со структурой:
+```json
+{
+  "parts": [{"properties1": "value1", "propertiesN": "valueN"}],
+  "cameras": [{"properties1": "value1", "propertiesN": "valueN"}],
+  "robots": [{"properties1": "value1", "propertiesN": "valueN"}],
+  "topics": [{"properties1": "value1", "propertiesN": "valueN"}],
+  "datasets": [{"properties1": "value1", "propertiesN": "valueN"}],
+  "weights": [{"properties1": "value1", "propertiesN": "valueN"}],
+  "...": ""
+}
+```
+в которой ключи - это наши сущности из БД.  
+В данном случае будет присутствовать только массив "parts". Web-сервис записывает парсинг результата в соответствующую таблицу.
+
+    * Parts_lib
+```json
+{
+  "sid": 1,
+  "package": 1,
+  "name": "chessboard",
+  "description": "Robossembler: chessboard",
+  "meshs": {
+    "blend": "chessboard.blend",
+    "dae": "chessboard.dae",
+    "fbx": "chessboard.fbx",
+    "...": ""
+  }
+}
+```
+```json
+{
+  "sid": 2,
+  "package": 2,
+  "name": "pawn",
+  "description": "Robossembler: pawn",
+  "meshs": {
+    "blend": "pawn.blend",
+    "dae": "pawn.dae",
+    "fbx": "pawn.fbx",
+    "...": ""
+  }
+}
+```
+```json
+{
+  "sid": 3,
+  "package": 2,
+  "name": "knight",
+  "description": "Robossembler: knight",
+  "meshs": {
+    "blend": "knight.blend",
+    "dae": "knight.dae",
+    "fbx": "knight.fbx",
+    "...": ""
+  }
+}
+```
+Note. Кроме "sid" и "packages" все остальные поля заполняются из массива [{"properties1": "value1", "propertiesN": "valueN"}].
+
+### Добавляем пакет с моделью камеры в библиотеку проекта
+    * Packages
+```json
+{
+  "sid": 3,
+  "project": 1,
+  "type": "digital_twin",
+  "entity": "CAMERA",
+  "description": "ROS Wrapper for Intel RealSense Cameras",
+  "command": "ros2 launch",
+  "package": "realsense2_camera",
+  "executable": "rs_launch.py",
+  "args": {
+    "camera_namespace": \${NAME:string:""},
+    "camera_name": \${NAME:string:""},
+  },
+  "interfaces": {
+    "cmd": "python ros2_topic_to_json.py"
+  }
+}
+```
+### Добавляем экземпляр камеры в сцену (Scene Builder)
+При этом запускаем "get_interface.py" и получаем json со структурой, описанной выше, но в данном случае в результате будет
+```json
+{
+  "cameras": [
+    {
+        "model_name": "Intel RealSense",
+        "model_type": "RGBD",
+        "...": "..."
+    }
+  ],
+  "topics": [
+    {
+        "topic_name": "camera/camera1/image_raw",
+        "msg_type":"sensor_msgs/msg/Image"
+    },
+    {
+        "topic_name": "camera/camera1/camera_info",
+        "msg_type":"sensor_msgs/msg/CameraInfo"
+    }
+  ],
+}
+```
+В БД создаются:
+
+    * Cameras
+```json
+{
+  "sid": 1,
+  "package": 3,
+  "model_name": "Intel RealSense",
+  "model_type": "RGBD",
+  "pose": {}
+}
+```
+    * Topics
+```json
+{
+  "sid": 1,
+  "package": 3,
+  "topic_name": "camera/camera1/image_raw",
+  "msg_type":"sensor_msgs/msg/Image"
+}
+```
+```json
+{
+  "sid": 2,
+  "package": 3,
+  "topic_name": "camera/camera1/camera_info",
+  "msg_type":"sensor_msgs/msg/CameraInfo"
+}
+```
+
+### Робот добавляется аналогично камере.
+
+    * Topics
+```json
+{
+  "sid": 3,
+  "package": 4,
+  "topic_name": "rbs_arm/robot1/controller",
+  "msg_type":"sensor_msgs/msg/JointState"
+}
+```
+```json
+{
+  "sid": 4,
+  "package": 4,
+  "topic_name": "rbs_arm/robot1/controller1",
+  "msg_type":"sensor_msgs/msg/JointState"
+}
+```
+
+### Добавляем пакет навыка Pose Estimation DOPE в библиотеку проекта
+    * Packages
+```json
+{
+  "sid": 5,
+  "project": 1,
+  "type": "skill_server",
+  "description": "Pose Estimation Skill Dope 6D",
+  "command": "ros2 launch",
+  "package": "dope6d",
+  "executable": "dope.py",
+  "args": {
+    "output_topic": \${NAME:string:"bound_box"}
+  },
+  "interfaces": {
+    "cmd": "python ros2_topic_to_json.py"
+  },
+  "bt_param":[
+        {
+          "name": "peConfigure",
+          "description": "configuring lifecycle node ROS 2",
+          "type_action": "action"/"condition",
+          "type": "run",
+          "param": [
+            {
+              "type": "weights",
+              "dependency": { "object_name": "knight", "weights_file": "/home/shalenikol/0_rbs/w_knight.pth", "dimensions": [0.03, 0.026, 0.065] },
+              "sid": "123"
+            }
+          ],
+          "result": ["POSE"]
+        },
+        { "name": "peStop", "type": "stop", "param": [], "result": [] }
+  ]
+}
+```
+
+### Запускаем "get_interfaces.py"
+    * Topics
+```json
+{
+  "sid": 5,
+  "package": 5,
+  "topic_name": "bound_box",
+  "msg_type":"geometry_msgs/msg/BoundBox"
+}
+```
+    * BTrees
+```json
+{
+  "sid": 1,
+  "package": 5,
+  "command_name": "peConfigure",
+  "dependency": {"$FormBuilderTemplate$"}
+}
+```