diff --git a/.vscode/settings.json b/.vscode/settings.json
index 2793cf8..58a804b 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -20,6 +20,7 @@
     "GLTF",
     "grau",
     "idontsudo",
+    "Pids",
     "raycaster",
     "skils",
     "typedataset",
diff --git a/flake.lock b/flake.lock
deleted file mode 100644
index 5444c1a..0000000
--- a/flake.lock
+++ /dev/null
@@ -1,61 +0,0 @@
-{
-  "nodes": {
-    "flake-utils": {
-      "inputs": {
-        "systems": "systems"
-      },
-      "locked": {
-        "lastModified": 1731533236,
-        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
-        "owner": "numtide",
-        "repo": "flake-utils",
-        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
-        "type": "github"
-      },
-      "original": {
-        "owner": "numtide",
-        "repo": "flake-utils",
-        "type": "github"
-      }
-    },
-    "nixpkgs": {
-      "locked": {
-        "lastModified": 1733935512,
-        "narHash": "sha256-beDnPaHubnwcsbVPC3rIVtQM3QVFDMmc0dtfHCW5UrA=",
-        "owner": "NixOS",
-        "repo": "nixpkgs",
-        "rev": "d55cc4608dae1b42a0ef5c0cf701b501fc7bae58",
-        "type": "github"
-      },
-      "original": {
-        "owner": "NixOS",
-        "ref": "master",
-        "repo": "nixpkgs",
-        "type": "github"
-      }
-    },
-    "root": {
-      "inputs": {
-        "flake-utils": "flake-utils",
-        "nixpkgs": "nixpkgs"
-      }
-    },
-    "systems": {
-      "locked": {
-        "lastModified": 1681028828,
-        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
-        "owner": "nix-systems",
-        "repo": "default",
-        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
-        "type": "github"
-      },
-      "original": {
-        "owner": "nix-systems",
-        "repo": "default",
-        "type": "github"
-      }
-    }
-  },
-  "root": "root",
-  "version": 7
-}
diff --git a/flake.nix b/flake.nix
deleted file mode 100644
index 8f0a918..0000000
--- a/flake.nix
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  description = "Robossembler Development Environments on Nix";
-  inputs = {
-    nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
-    flake-utils.url = "github:numtide/flake-utils";
-  };
-
-  outputs = { self, nixpkgs, flake-utils }:
-    flake-utils.lib.eachDefaultSystem
-      (system:
-        let
-          pkgs = import nixpkgs { inherit system; overlays = []; };
-        in
-        {
-          packages = {
-            frontend = pkgs.writeShellApplication {
-              name = "frontend";
-              runtimeInputs = [ pkgs.nodejs ];
-              text = ''
-                cd ui && npm i && npm run dev
-              '';
-            };
-            backend = pkgs.writeShellApplication {
-              name = "frontend";
-              runtimeInputs = [ pkgs.nodejs ];
-              text = ''
-                cd server && npm i && npm run dev
-              '';
-            };
-          };
-
-          devShells = {
-            default = pkgs.mkShell { packages = with pkgs; [ nodejs ]; };
-          }; 
-        }
-      );
-}
diff --git a/p.json b/p.json
new file mode 100644
index 0000000..0844c5e
--- /dev/null
+++ b/p.json
@@ -0,0 +1,82 @@
+{
+    "process": {
+        "type": "OBJECT_DETECTION",
+        "selectProcess": {
+            "value": {
+                "_id": "675db885429ef25f8d2efaa2",
+                "script": "ls -l -a",
+                "formBuilder": {
+                    "result": "",
+                    "context": "",
+                    "form": [],
+                    "output": "",
+                    "type": "formBuilder"
+                },
+                "type": "OBJECT_DETECTION",
+                "instanceName": "ls -l -a",
+                "name": "ls",
+                "isEnd": true,
+                "createDate": "1734195300981",
+                "card": "pose_estimate",
+                "path": "/Users/idontsudo/webservice/server/build/public//process/ls",
+                "instancePath": "/Users/idontsudo/webservice/server/build/public//process/ls/ls -l -a",
+                "project": {
+                    "_id": "675eb125281cf9253681efa3",
+                    "description": "e1wq",
+                    "rootDir": "/Users/idontsudo/webservice/server/build/public/f49f8f47-5427-48aa-8aff-c5e7ae4e6efe",
+                    "isActive": true,
+                    "__v": 0
+                },
+                "__v": 0,
+                "lastProcessExecCommand": "ls -l -a --path /Users/idontsudo/webservice/server/build/public/process/ls/ls -l -a --form /Users/idontsudo/webservice/server/build/public/process/ls/ls -l -a/form.json",
+                "processStatus": "endError",
+                "lastProcessLogs": "ls: unrecognized option `--path'nnusage: ls [-@ABCFGHILOPRSTUWabcdefghiklmnopqrstuvwxy1%,] [--color=when] [-D format] [file ...]n"
+            }
+        }
+    },
+    "datasetObjects": {
+        "details": []
+    },
+    "typedataset": "ObjectDetection",
+    "models_randomization": {
+        "loc_range_low": [
+            -1,
+            -1,
+            0
+        ],
+        "loc_range_high": [
+            1,
+            1,
+            2
+        ]
+    },
+    "scene": {
+        "objects": [],
+        "lights": []
+    },
+    "camera_position": {
+        "center_shell": [
+            0,
+            0,
+            0
+        ],
+        "radius_range": [
+            1,
+            1.4
+        ],
+        "elevation_range": [
+            10,
+            90
+        ]
+    },
+    "generation": {
+        "n_cam_pose": 5,
+        "n_sample_on_pose": 3,
+        "n_series": 100,
+        "image_format": "JPEG",
+        "image_size_wh": [
+            640,
+            480
+        ]
+    }
+}
\ No newline at end of file
diff --git a/server/README.md b/server/README.md
index cb0043a..6a3cc96 100644
--- a/server/README.md
+++ b/server/README.md
@@ -1 +1,14 @@
-Веб-сервис для отладки Robossembler Framework
\ No newline at end of file
+Веб-сервис для отладки Robossembler Framework
+
+### Миграция данных веб-сервиса
+
+Имеется ввиду перенос данных, хранящихся в БД MongoDB.
+
+Для этого вначале создаётся копия БД с именем `dev` в папке `my_copy`:
+```sh
+mongodump --host localhost --port 27017 --db dev --out my_copy
+```
+Затем папка `my_copy` переносится в нужное место (например, на другой сервер). И запускается её восстановление в новом месте (копия БД с именем `dev`):
+```sh
+mongorestore --host localhost --port 27017 --db dev my_copy/dev
+```
diff --git a/server/command.json b/server/command.json
index 468f1fe..8762c7e 100644
--- a/server/command.json
+++ b/server/command.json
@@ -15,12 +15,12 @@
         "checkCommand": null,
         "filter": null
     },
-    "btBuilderProcess": {
-        "execCommand": "nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${dir_path}",
+    "btRuntimeProcess": {
+        "execCommand": "cd ~/robossembler-ws && source ./install/local_setup.bash; ros2 launch rbs_bt_executor rbs_bt_web.launch.py bt_path:=${bt_path}",
         "date": null,
         "status": null,
         "delay": 0,
         "checkCommand": null,
         "filter": null
     }
-}
\ No newline at end of file
+}
diff --git a/server/src/core/controllers/app.ts b/server/src/core/controllers/app.ts
index 41a52e7..c1dca95 100644
--- a/server/src/core/controllers/app.ts
+++ b/server/src/core/controllers/app.ts
@@ -9,6 +9,9 @@ import { dirname } from "path";
 import { CheckAndCreateStaticFilesFolderUseCase } from "../usecases/check_and_create_static_files_folder_usecase";
 import { DataBaseConnectUseCase } from "../usecases/database_connect_usecase";
 import { TypedEvent } from "../helpers/typed_event";
+import { CalculationInstanceDBModel } from "../../features/calculations_instance/models/calculations_instance_database_model";
+import * as fs from "fs";
+import { WriteFileSystemFileUseCase } from "../usecases/write_file_system_file_usecase";
 
 export enum ServerStatus {
   init = "init",
@@ -85,7 +88,25 @@ export class App extends TypedEvent<ServerStatus> {
     this.app.use(express.json());
     this.app.use(express.urlencoded({ extended: true }));
     this.app.use(express.static(App.staticFilesStoreDir()));
+    this.app.get('/logs', async (req, res) => {
+      const id = req.query.id;
 
+      if (id === undefined) {
+        return res.status(400).json('need req query id?=')
+      }
+
+      const calculationInstanceDBModel = await CalculationInstanceDBModel.findById(id)
+      if (calculationInstanceDBModel === null) {
+        return res.status(400).json("calcultaion db model is null");
+      }
+      const p = App.staticFilesStoreDir() + '/log.txt';
+
+      (await new WriteFileSystemFileUseCase().call(p, calculationInstanceDBModel.lastProcessLogs)).map(() => {
+        return res.sendFile(p);
+      })
+
+
+    })
     this.app.use(
       fileUpload({
         createParentPath: true,
diff --git a/server/src/core/controllers/http_controller.ts b/server/src/core/controllers/http_controller.ts
index 5b61528..9542de1 100644
--- a/server/src/core/controllers/http_controller.ts
+++ b/server/src/core/controllers/http_controller.ts
@@ -65,12 +65,12 @@ interface ISubSetFeatureRouter<A> {
   method: HttpMethodType;
   subUrl: string;
   fn:
-    | CallbackStrategyWithValidationModel<A>
-    | CallbackStrategyWithEmpty
-    | CallbackStrategyWithIdQuery
-    | CallBackStrategyWithQueryPage
-    | CallbackStrategyWithFileUpload
-    | CallbackStrategyWithFilesUploads;
+  | CallbackStrategyWithValidationModel<A>
+  | CallbackStrategyWithEmpty
+  | CallbackStrategyWithIdQuery
+  | CallBackStrategyWithQueryPage
+  | CallbackStrategyWithFileUpload
+  | CallbackStrategyWithFilesUploads;
 }
 
 abstract class ICoreHttpController {
@@ -234,6 +234,7 @@ export class CoreHttpController<V> implements ICoreHttpController {
         return res.json(ok);
       },
       (err) => {
+
         return res.status(400).json({ error: String(err) });
       }
     );
diff --git a/server/src/core/models/skill_model.ts b/server/src/core/models/skill_model.ts
index c22ab7d..57baf8c 100644
--- a/server/src/core/models/skill_model.ts
+++ b/server/src/core/models/skill_model.ts
@@ -18,7 +18,7 @@ export class TopicViewModel {
 
 export interface IParam {
   type: string;
-  dependency: Object;
+  dependency: object;
 }
 export interface Skill {
   SkillPackage: ISkillPackage;
diff --git a/server/src/core/scenarios/create_intance_scenario.ts b/server/src/core/scenarios/create_intance_scenario.ts
index 53b98fe..9df5453 100644
--- a/server/src/core/scenarios/create_intance_scenario.ts
+++ b/server/src/core/scenarios/create_intance_scenario.ts
@@ -7,9 +7,8 @@ export abstract class CreateInstanceScenario<V extends Instance> extends Callbac
   abstract validationModel: V;
   abstract databaseModel: any;
   call = async (model: V): ResponseBase => {
-    model.instancePath = `${model.path}/${model.instanceName}`;
-    console.log("INSTANCE PATh");
-    console.log(model.instancePath)
+    model.instancePath = `${model.path.pathNormalize()}/${model.instanceName}`.pathNormalize();
+    model.path = model.path.pathNormalize();
     return (await new CreateFolderUseCase().call(model.instancePath)).map(
       async () => await new CreateDataBaseModelUseCase(this.databaseModel).call(model)
     );
diff --git a/server/src/core/scenarios/exec_process_scenario_v2.ts b/server/src/core/scenarios/exec_process_scenario_v2.ts
new file mode 100644
index 0000000..cd846d4
--- /dev/null
+++ b/server/src/core/scenarios/exec_process_scenario_v2.ts
@@ -0,0 +1,72 @@
+import { Disposable, Listener, TypedEvent } from "../helpers/typed_event";
+import { GetRootDirUseCase } from "../usecases/get_root_dir_usecase"
+import { exec } from 'child_process';
+
+export const activeProcessPids: { [name: string]: { pid: number, status: ProcessStatus } } = {}
+
+export enum ProcessStatus {
+    run = 'run',
+    endError = 'endError',
+    endOk = 'endOk',
+    userDelete = 'userDelete',
+}
+
+class ExecutorProgramServiceV2 extends TypedEvent<{ [name: string]: { pid: number, status: ProcessStatus } }> {}
+
+export const executorProgramServiceV2 = new ExecutorProgramServiceV2();
+class ProcessData {
+    log: string | undefined;
+    status: ProcessStatus;
+    constructor(log: string | undefined, status: ProcessStatus) {
+
+        if (log !== undefined) {
+            this.log = log;
+        }
+        this.status = status;
+
+    }
+}
+abstract class Watcher {
+}
+export abstract class ExecProcessWatcher extends TypedEvent<ProcessData> implements Watcher {
+    logs: string[] = [];
+    status: ProcessStatus;
+    constructor() {
+        super();
+        this.on((event) => {
+            if (event.log !== undefined) {
+                this.logs.push(event.log);
+            }
+            this.status = event.status;
+            if (event.status.isEqualMany([ProcessStatus.endError, ProcessStatus.endOk])) {
+                this.result()
+            }
+        })
+    }
+    abstract result(): Promise<any>
+
+}
+export class ExecProcessScenarioV2 {
+    call = (command: string, watcher: ExecProcessWatcher, name?: string): void => {
+        const process = exec(command, { cwd: new GetRootDirUseCase().call() });
+        if (process.pid) {
+            activeProcessPids[name ?? command] = { pid: process.pid, status: ProcessStatus.run };
+            executorProgramServiceV2.emit(activeProcessPids);
+        }
+        process.stdout.on('data', (data) => watcher.emit(new ProcessData(data, ProcessStatus.run)))
+        process.stderr.on('data', (data) => watcher.emit(new ProcessData(data, ProcessStatus.run)));
+        process.on('close', (code) => {
+            if (code === 0) {
+                watcher.emit(new ProcessData(undefined, ProcessStatus.endOk))
+                activeProcessPids[name ?? command] = { pid: process.pid ?? 0, status: ProcessStatus.endOk }
+                executorProgramServiceV2.emit(activeProcessPids);
+            } else {
+                watcher.emit(new ProcessData(undefined, ProcessStatus.endError))
+                activeProcessPids[name ?? command] = { pid: process.pid ?? 0, status: ProcessStatus.endError };
+                executorProgramServiceV2.emit(activeProcessPids);
+            }
+        });
+
+        process.on('error', (err) => watcher.emit(new ProcessData(err.message, ProcessStatus.endError)));
+    }
+}
\ No newline at end of file
diff --git a/server/src/core/services/executor_program_service.ts b/server/src/core/services/executor_program_service.ts
index 2f5dc7b..3b1a609 100644
--- a/server/src/core/services/executor_program_service.ts
+++ b/server/src/core/services/executor_program_service.ts
@@ -50,7 +50,6 @@ export class ExecutorProgramService
       };
       worker.send(workerDataExec);
       worker.on("message", (e) => {
-        console.log(JSON.stringify(e));
         const spawnError = SpawnError.isError(e);
 
         if (spawnError instanceof SpawnError) {
diff --git a/server/src/core/usecases/exec_process_usecase.ts b/server/src/core/usecases/exec_process_usecase.ts
index a6899dc..faa140e 100644
--- a/server/src/core/usecases/exec_process_usecase.ts
+++ b/server/src/core/usecases/exec_process_usecase.ts
@@ -7,6 +7,7 @@ import { ExecutorResult } from "../models/executor_result";
 import { ExecutorProgramService } from "../services/executor_program_service";
 
 export const executorProgramService = new ExecutorProgramService("");
+
 export class KillLastProcessUseCase extends CallbackStrategyWithEmpty {
   call = async (): Promise<Result<undefined, string>> => {
     executorProgramService.deleteWorker();
diff --git a/server/src/core/usecases/get_root_dir_usecase.ts b/server/src/core/usecases/get_root_dir_usecase.ts
new file mode 100644
index 0000000..c134d6f
--- /dev/null
+++ b/server/src/core/usecases/get_root_dir_usecase.ts
@@ -0,0 +1,5 @@
+import * as os from 'os';
+
+export class GetRootDirUseCase {
+    call = (): string => os.homedir()
+}
\ No newline at end of file
diff --git a/server/src/features/behavior_trees/behavior_trees_presentation.ts b/server/src/features/behavior_trees/behavior_trees_presentation.ts
index 1ea112a..cff6a73 100644
--- a/server/src/features/behavior_trees/behavior_trees_presentation.ts
+++ b/server/src/features/behavior_trees/behavior_trees_presentation.ts
@@ -8,6 +8,9 @@ import { SaveBtScenario as FillBtScenario } from "./domain/save_bt_scenario";
 import { GetCameraUseCase } from "./domain/get_cameras_usecase";
 import { GetRobotsUseCase } from "./domain/get_robots_usecase";
 import { GetTopicsUseCase } from "./domain/get_topics_usecase";
+import { DeleteBehaviorTreeScenario } from "./domain/delete_behavior_tree_scenario";
+
+
 
 export class BehaviorTreesPresentation extends CrudController<BehaviorTreeValidationModel, typeof BehaviorTreeDBModel> {
   constructor() {
@@ -43,6 +46,11 @@ export class BehaviorTreesPresentation extends CrudController<BehaviorTreeValida
       subUrl: "topics",
       fn: new GetTopicsUseCase()
     })
+    this.subRoutes.push({
+      method: "POST",
+      subUrl: "delete/bt",
+      fn: new DeleteBehaviorTreeScenario(),
+    })
   }
 }
 
diff --git a/server/src/features/behavior_trees/domain/delete_behavior_tree_scenario.ts b/server/src/features/behavior_trees/domain/delete_behavior_tree_scenario.ts
new file mode 100644
index 0000000..5f6f822
--- /dev/null
+++ b/server/src/features/behavior_trees/domain/delete_behavior_tree_scenario.ts
@@ -0,0 +1,16 @@
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller";
+import { StaticFilesProject } from "../../../core/models/static_files";
+import { DeleteDataBaseModelUseCase } from "../../../core/usecases/delete_database_model_usecase";
+import { DeleteRecursiveFolderUseCase } from "../../../core/usecases/delete_recursive_folder_usecase";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
+import { CoreValidation } from "../../../core/validations/core_validation";
+import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
+import { BehaviorTreeDBModel } from "../models/behavior_tree_database_model";
+
+export class DeleteBehaviorTreeScenario extends CallbackStrategyWithIdQuery {
+    idValidationExpression: CoreValidation = new MongoIdValidation();
+    call = async (id: string): ResponseBase => (
+        await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({ isActive: true }, "no active projects")
+    ).map(async (model) => (await (new DeleteRecursiveFolderUseCase().call(`${model.rootDir}/${StaticFilesProject.behaviorTrees}`))).map(async () => (await new DeleteDataBaseModelUseCase(BehaviorTreeDBModel).call(id))));
+}
\ No newline at end of file
diff --git a/server/src/features/behavior_trees/models/behavior_tree_validation_model.ts b/server/src/features/behavior_trees/models/behavior_tree_validation_model.ts
index e729b67..06f103c 100644
--- a/server/src/features/behavior_trees/models/behavior_tree_validation_model.ts
+++ b/server/src/features/behavior_trees/models/behavior_tree_validation_model.ts
@@ -2,12 +2,13 @@ import { IsMongoId, IsNumber, IsString } from "class-validator";
 import { IBehaviorTreeModel } from "./behavior_tree_database_model";
 
 export class BehaviorTreeValidationModel implements IBehaviorTreeModel {
+  _id: string;
   @IsString()
   public name: string;
   @IsMongoId()
-  public project:string;
-  public skills:any;
-  public xml:string;
+  public project: string;
+  public skills: any;
+  public xml: string;
   @IsNumber()
   public unixTime: number
 }
diff --git a/server/src/features/calculations_instance/calculations_instance_presentation.ts b/server/src/features/calculations_instance/calculations_instance_presentation.ts
index 42f8793..d89766d 100644
--- a/server/src/features/calculations_instance/calculations_instance_presentation.ts
+++ b/server/src/features/calculations_instance/calculations_instance_presentation.ts
@@ -4,6 +4,8 @@ import { CalculationInstanceValidationModel } from "./models/calculations_instan
 import { CalculationInstanceDBModel } from "./models/calculations_instance_database_model";
 import { CreateCalculationInstanceScenario } from "./domain/create_calculation_instance_scenario";
 import { DeleteCalculationsInstanceScenario } from "./domain/delete_calculations_instance_scenario";
+import { GetAllEndCalculationsInstanceActiveProjectScenarios } from "./domain/get_all_end_calculations_instance_active_project_scenarios";
+
 
 export class CalculationsInstancesPresentation extends CrudController<
   CalculationInstanceValidationModel,
@@ -18,7 +20,12 @@ export class CalculationsInstancesPresentation extends CrudController<
 
     super.delete(new DeleteCalculationsInstanceScenario().call);
     super.post(new CreateCalculationInstanceScenario().call);
-    
+    this.subRoutes.push({
+      method: "POST",
+      subUrl: "get/all/end/calculations",
+      //@ts-expect-error
+      fn: new GetAllEndCalculationsInstanceActiveProjectScenarios(),
+    })
     this.subRoutes.push({
       method: "GET",
       subUrl: "exec",
diff --git a/server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts b/server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts
index e98afc1..ec28885 100644
--- a/server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts
+++ b/server/src/features/calculations_instance/domain/exec_calculations_instance_process_scenario.ts
@@ -7,7 +7,21 @@ import { ProcessWatcherAndDatabaseUpdateService } from "../../datasets/domain/cr
 import { CalculationInstanceDBModel, ICalculationInstance } from "../models/calculations_instance_database_model";
 import { Result } from "../../../core/helpers/result";
 import { CreateFileUseCase } from "../../../core/usecases/create_file_usecase";
+import { ExecProcessScenarioV2, ExecProcessWatcher } from "../../../core/scenarios/exec_process_scenario_v2";
+class ExecProcess extends ExecProcessWatcher {
+  id: string;
+  constructor(id: string) {
+    super()
+    this.id = id;
+  }
+  result = async (): Promise<any> => (await new ReadByIdDataBaseModelUseCase<ICalculationInstance>(CalculationInstanceDBModel).call(this.id)).map(async (model) => {
+    model.lastProcessLogs = this.logs.join('\n')
+    model.processStatus = this.status;
+    // @ts-ignore
+    await model.save()
+  });
 
+}
 export class ExecCalculationInstanceProcessScenario extends CallbackStrategyWithIdQuery {
   idValidationExpression = new MongoIdValidation();
   call = async (id: string): ResponseBase =>
@@ -17,19 +31,15 @@ export class ExecCalculationInstanceProcessScenario extends CallbackStrategyWith
         return (await new IsHaveActiveProcessUseCase().call()).map(async () => {
           const execCommand = `${model.script
             } --path ${model.instancePath.pathNormalize()} --form ${fileOutPath}`.replace("\n", "");
-      
+
           await new CreateFileUseCase().call(fileOutPath, Buffer.from(JSON.stringify(model.formBuilder)));
           await CalculationInstanceDBModel.findById(id).updateOne({
             processStatus: "RUN",
             lastProcessExecCommand: execCommand,
           });
-          new ExecProcessUseCase().call(
-            // @ts-expect-error
-            `${model.project.rootDir}/`,
-            execCommand,
-            id,
-            new ProcessWatcherAndDatabaseUpdateService(id as unknown as ObjectId, CalculationInstanceDBModel)
-          );
+          
+          new ExecProcessScenarioV2().call(execCommand, new ExecProcess(model._id))
+
           return Result.ok("OK");
         });
       }
diff --git a/server/src/features/calculations_instance/domain/get_all_end_calculations_instance_active_project_scenarios.ts b/server/src/features/calculations_instance/domain/get_all_end_calculations_instance_active_project_scenarios.ts
new file mode 100644
index 0000000..b9eb5f3
--- /dev/null
+++ b/server/src/features/calculations_instance/domain/get_all_end_calculations_instance_active_project_scenarios.ts
@@ -0,0 +1,20 @@
+import { IsString } from "class-validator";
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
+import { SearchManyDataBaseModelUseCase } from "../../../core/usecases/search_many_database_model_usecase";
+import { GetActiveProjectIdScenario } from "../../projects/domain/get_active_project_id_scenario";
+import { ICalculationInstance, CalculationInstanceDBModel } from "../models/calculations_instance_database_model";
+
+
+export class CalculationInstanceType {
+    @IsString()
+    type: string;
+}
+
+export class GetAllEndCalculationsInstanceActiveProjectScenarios extends CallbackStrategyWithValidationModel<CalculationInstanceType> {
+    validationModel: CalculationInstanceType = new CalculationInstanceType();
+    call = async (model: CalculationInstanceType): ResponseBase => (await new GetActiveProjectIdScenario().call()).map(
+        async (activeProjectModel) => await new SearchManyDataBaseModelUseCase<ICalculationInstance>(CalculationInstanceDBModel).call({ project: activeProjectModel.id, isEnd: true, type: model.type }),
+    );
+
+
+}
diff --git a/server/src/features/calculations_instance/domain/log_to_text_proces_usecase.ts b/server/src/features/calculations_instance/domain/log_to_text_proces_usecase.ts
new file mode 100644
index 0000000..bed8aa0
--- /dev/null
+++ b/server/src/features/calculations_instance/domain/log_to_text_proces_usecase.ts
@@ -0,0 +1,11 @@
+import { CallbackStrategyWithIdQuery, ResponseBase } from "../../../core/controllers/http_controller";
+import { ReadByIdDataBaseModelUseCase } from "../../../core/usecases/read_database_model_usecase";
+import { CoreValidation } from "../../../core/validations/core_validation";
+import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
+import { ICalculationInstance, CalculationInstanceDBModel } from "../models/calculations_instance_database_model";
+
+// export class LogToProcessUseCase extends CallbackStrategyWithIdQuery {
+//     idValidationExpression: CoreValidation = new MongoIdValidation();
+//     call = async (id: string): ResponseBase => (await new ReadByIdDataBaseModelUseCase<ICalculationInstance>(CalculationInstanceDBModel).call(id)).map((model) => );
+
+// } 
\ No newline at end of file
diff --git a/server/src/features/calculations_instance/models/calculations_instance_database_model.ts b/server/src/features/calculations_instance/models/calculations_instance_database_model.ts
index 43e13d9..43a091d 100644
--- a/server/src/features/calculations_instance/models/calculations_instance_database_model.ts
+++ b/server/src/features/calculations_instance/models/calculations_instance_database_model.ts
@@ -3,6 +3,7 @@ import { FormBuilderValidationModel } from "../../datasets/models/dataset_valida
 import { IProjectModel, projectSchema } from "../../projects/models/project_model_database_model";
 
 export interface ICalculationInstance {
+  _id: string;
   script: string;
   instancePath: string;
   formBuilder: FormBuilderValidationModel;
@@ -61,6 +62,7 @@ export const CalculationInstanceSchema = new Schema({
   instancePath: {
     type: String,
   },
+
   project: {
     type: Schema.Types.ObjectId,
     ref: projectSchema,
diff --git a/server/src/features/calculations_instance/models/calculations_instance_validation_model.ts b/server/src/features/calculations_instance/models/calculations_instance_validation_model.ts
index 46b993c..eb8e6e2 100644
--- a/server/src/features/calculations_instance/models/calculations_instance_validation_model.ts
+++ b/server/src/features/calculations_instance/models/calculations_instance_validation_model.ts
@@ -4,6 +4,7 @@ import { FormBuilderValidationModel } from "../../datasets/models/dataset_valida
 import { IProjectModel } from "../../projects/models/project_model_database_model";
 
 export class CalculationInstanceValidationModel implements ICalculationInstance {
+  _id: string;
   @IsNotEmpty()
   @IsString()
   instanceName: string;
diff --git a/server/src/features/datasets/models/dataset_validation_model.ts b/server/src/features/datasets/models/dataset_validation_model.ts
index 5486ace..abd6e84 100644
--- a/server/src/features/datasets/models/dataset_validation_model.ts
+++ b/server/src/features/datasets/models/dataset_validation_model.ts
@@ -15,6 +15,7 @@ export enum ProcessStatus {
   END = "END",
   ERROR = "ERROR",
   NEW = "NEW",
+  
 }
 export interface IDatasetModel {
   _id?: string;
diff --git a/server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts b/server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts
index f4ec799..5171e07 100644
--- a/server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts
+++ b/server/src/features/digital_twins_instance/domain/exec_instance_scenario.ts
@@ -21,8 +21,7 @@ export class ExecInstanceScenario extends CallbackStrategyWithIdQuery {
       await new ReadByIdDataBaseModelUseCase<IDigitalTwinsInstanceModel>(DigitalTwinsInstanceDatabaseModel).call(id)
     ).map(
       (document) => (
-        console.log('DOCUMeNT PATH'),
-        console.log(document.instancePath.pathNormalize()),
+
         new ExecProcessUseCase().call(
           document.instancePath,
           `python3 $GET_INTERFACES --path ${document.instancePath.pathNormalize()} --package '${JSON.stringify(
diff --git a/server/src/features/projects/domain/get_active_project_id_scenario.ts b/server/src/features/projects/domain/get_active_project_id_scenario.ts
index 0e06a58..74267b3 100644
--- a/server/src/features/projects/domain/get_active_project_id_scenario.ts
+++ b/server/src/features/projects/domain/get_active_project_id_scenario.ts
@@ -4,9 +4,8 @@ import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_dat
 import { IProjectModel, ProjectDBModel } from "../models/project_model_database_model";
 
 export class GetActiveProjectIdScenario extends CallbackStrategyWithEmpty {
-  async call(): Promise<Result<any, { id: string }>> {
-    return (
-      await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({ isActive: true }, "no active projects")
-    ).map((model) => Result.ok({ id: model._id }));
-  }
+  call = async (): Promise<Result<any, { id: string }>> => (
+    await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call({ isActive: true }, "no active projects")
+  ).map((model) => Result.ok({ id: model._id }));
 }
+
diff --git a/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts b/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts
index 8b24b30..368b00b 100644
--- a/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts
+++ b/server/src/features/projects/domain/robossembler_assets_network_mapper_scenario.ts
@@ -35,7 +35,6 @@ export class RobossemblerAssetsNetworkMapperScenario extends CallbackStrategyWit
             "/assets/";
           model.map((el) => {
             const assetLibsAddress = assetAddress + "/libs/objects/" + el.name;
-            console.log(assetLibsAddress);
             el.stlUrl = `${assetAddress}${el.part_path}`;
             el.glUrl = `${assetLibsAddress}.glb`;
             el.daeUrl = `${assetLibsAddress}.dae`;
diff --git a/server/src/features/runtime/domain/exec_bt_builder_usecase.ts b/server/src/features/runtime/domain/exec_bt_builder_usecase.ts
index 66ea474..dd243ec 100644
--- a/server/src/features/runtime/domain/exec_bt_builder_usecase.ts
+++ b/server/src/features/runtime/domain/exec_bt_builder_usecase.ts
@@ -1,7 +1,53 @@
-import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import {
+  CallbackStrategyWithIdQuery,
+  CallbackStrategyWithValidationModel,
+  ResponseBase,
+} from "../../../core/controllers/http_controller";
+import { StaticFilesProject } from "../../../core/models/static_files";
+import {
+  ExecProcessScenarioV2,
+  ExecProcessWatcher,
+  activeProcessPids,
+} from "../../../core/scenarios/exec_process_scenario_v2";
+import { ReadByIdDataBaseModelScenario } from "../../../core/scenarios/read_by_id_database_model_scenario";
+import { SearchOneDataBaseModelUseCase } from "../../../core/usecases/search_database_model_usecase";
+import { CoreValidation } from "../../../core/validations/core_validation";
+import { MongoIdValidation } from "../../../core/validations/mongo_id_validation";
+import { BehaviorTreeDBModel } from "../../behavior_trees/models/behavior_tree_database_model";
+import { BehaviorTreeValidationModel } from "../../behavior_trees/models/behavior_tree_validation_model";
+import { IProjectModel, ProjectDBModel } from "../../projects/models/project_model_database_model";
+import { GetCommandScenario } from "./get_command_scenario";
 
-export class ExecBtBuilderUseCase extends CallbackStrategyWithEmpty {
-  call(): ResponseBase {
-    throw new Error("Method not implemented.");
+class ProcessWatcher extends ExecProcessWatcher {
+  async result(): Promise<any> {
+    console.log(this);
   }
 }
+
+export enum Proceed {
+  EXEC_BT = "EXEC_BT",
+}
+export class ExecBtScenario extends CallbackStrategyWithIdQuery {
+  idValidationExpression: CoreValidation = new MongoIdValidation();
+  call = async (id: string): ResponseBase =>
+    (await new ReadByIdDataBaseModelScenario<BehaviorTreeValidationModel>(BehaviorTreeDBModel).call(id)).map(
+      async (behaviorTreeValidationModel) =>
+        (
+          await new SearchOneDataBaseModelUseCase<IProjectModel>(ProjectDBModel).call(
+            { isActive: true },
+            "no active projects"
+          )
+        ).map(async (model) =>
+          (await new GetCommandScenario().call("btRuntimeProcess")).map((execProcessData) =>
+            new ExecProcessScenarioV2().call(
+              execProcessData.execCommand.replace(
+                "${bt_path}",
+                `${model.rootDir}/${StaticFilesProject.behaviorTrees}/${behaviorTreeValidationModel.name}/bt.xml`
+              ),
+              new ProcessWatcher(),
+              Proceed.EXEC_BT
+            )
+          )
+        )
+    );
+}
diff --git a/server/src/features/runtime/domain/get_run_time_statuses_usecase.ts b/server/src/features/runtime/domain/get_run_time_statuses_usecase.ts
new file mode 100644
index 0000000..2967c31
--- /dev/null
+++ b/server/src/features/runtime/domain/get_run_time_statuses_usecase.ts
@@ -0,0 +1,7 @@
+import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
+import { Result } from "../../../core/helpers/result";
+import { activeProcessPids } from "../../../core/scenarios/exec_process_scenario_v2";
+
+export class GetRunTimeStatuses extends CallbackStrategyWithEmpty {
+    call = async (): ResponseBase => Result.ok(activeProcessPids);
+}
\ No newline at end of file
diff --git a/server/src/features/runtime/domain/get_simulation_state_usecase.ts b/server/src/features/runtime/domain/get_simulation_state_usecase.ts
deleted file mode 100644
index 4658739..0000000
--- a/server/src/features/runtime/domain/get_simulation_state_usecase.ts
+++ /dev/null
@@ -1,10 +0,0 @@
-import { CallbackStrategyWithEmpty, ResponseBase } from "../../../core/controllers/http_controller";
-import { Result } from "../../../core/helpers/result";
-import { SpawnProcessUseCase } from "../../../core/usecases/exec_process_usecase";
-import { GetCommandScenario } from "./get_command_scenario";
-import { ProcessWatcher } from "../service/process_watcher";
-import { App } from "../../../core/controllers/app";
-
-export class GetSimulationStateScenario extends CallbackStrategyWithEmpty {
-  call = async (): ResponseBase => Result.ok("");
-}
diff --git a/server/src/features/runtime/domain/stop_process_usecase.ts b/server/src/features/runtime/domain/stop_process_usecase.ts
new file mode 100644
index 0000000..4e52d90
--- /dev/null
+++ b/server/src/features/runtime/domain/stop_process_usecase.ts
@@ -0,0 +1,51 @@
+import { IsString } from "class-validator";
+import { CallbackStrategyWithValidationModel, ResponseBase } from "../../../core/controllers/http_controller";
+import { ProcessStatus, activeProcessPids } from "../../../core/scenarios/exec_process_scenario_v2";
+import { Result } from "../../../core/helpers/result";
+import { GetRootDirUseCase } from "../../../core/usecases/get_root_dir_usecase";
+import { exec } from 'child_process';
+
+
+export class StopProcessModel {
+    @IsString()
+    pid: string
+}
+
+export class StopProcessUseCase extends CallbackStrategyWithValidationModel<StopProcessModel> {
+    validationModel: StopProcessModel = new StopProcessModel();
+    call = async (model: StopProcessModel): ResponseBase => {
+        try {
+            if (activeProcessPids[model.pid] === undefined) {
+                return Result.error('missing pid');
+            }
+            const processKillStatus = await new Promise<string>((resolve, reject) => {
+                try {
+                    exec(`kill ${activeProcessPids[model.pid].pid}`, { cwd: new GetRootDirUseCase().call() }, (error, stdout, stderr) => {
+                        if (error) {
+                            reject(`Ошибка: ${stderr}`); return;
+                        }
+                        if (stderr) {
+                            reject(`Ошибка: ${stderr}`);
+                            return;
+                        }
+
+                        resolve('Process kill')
+
+                    });
+                } catch (e) {
+                    resolve('Process kill')
+                }
+
+            })
+            if (processKillStatus == 'Process kill') {
+                activeProcessPids[model.pid].status = ProcessStatus.userDelete;
+            }
+            return Result.ok(processKillStatus);
+        } catch (error) {
+            return Result.ok(error)
+        }
+
+
+    }
+
+}
\ No newline at end of file
diff --git a/server/src/features/runtime/model/command.ts b/server/src/features/runtime/model/command.ts
index 863d14e..3334f20 100644
--- a/server/src/features/runtime/model/command.ts
+++ b/server/src/features/runtime/model/command.ts
@@ -11,4 +11,4 @@ export interface ExecProcess {
   delay: number;
   checkCommand: null;
   filter: null;
-}
+}
\ No newline at end of file
diff --git a/server/src/features/runtime/runtime_presentation.ts b/server/src/features/runtime/runtime_presentation.ts
index 335deee..9804b39 100644
--- a/server/src/features/runtime/runtime_presentation.ts
+++ b/server/src/features/runtime/runtime_presentation.ts
@@ -1,42 +1,19 @@
-import { CrudController } from "../../core/controllers/crud_controller";
+
 import { ExecRunTimeCommandValidationModel } from "./model/run_time_validation_model";
-import { ExecRuntimeDatabaseModel } from "./model/run_time_database_model";
-import { CoreHttpController, SubRouter, HttpMethodType, CallbackStrategyWithIdQuery, ResponseBase } from "../../core/controllers/http_controller";
-import { ExecBtBuilderUseCase } from "./domain/exec_bt_builder_usecase";
-import { ExecSimulationUseCase } from "./domain/exec_simulation_usecase";
-import { GetBtBuilderStateUseCase } from "./domain/get_bt_builder_status_usecase";
-import { GetSimulationStateScenario } from "./domain/get_simulation_state_usecase";
-import { MongoIdValidation } from "../../core/validations/mongo_id_validation";
-import { CoreValidation } from "../../core/validations/core_validation";
-import { ReadByIdDataBaseModelUseCase } from "../../core/usecases/read_by_id_database_model_usecase";
-import { ICalculationInstance, CalculationInstanceDBModel } from "../calculations_instance/models/calculations_instance_database_model";
-import { Result } from "../../core/helpers/result";
-import { SpawnProcessUseCase } from "../../core/usecases/exec_process_usecase";
-import { ProcessWatcher } from "./service/process_watcher";
+import { CoreHttpController, SubRouter, CallbackStrategyWithIdQuery } from "../../core/controllers/http_controller";
+import { ExecBtScenario } from "./domain/exec_bt_builder_usecase";
+import { GetRunTimeStatuses } from "./domain/get_run_time_statuses_usecase";
+import { StopProcessUseCase } from "./domain/stop_process_usecase";
 
-class ExecAnalyzeScenario extends CallbackStrategyWithIdQuery {
 
-  idValidationExpression: CoreValidation = new MongoIdValidation()
-  call = async (id: string) =>
-    (await new ReadByIdDataBaseModelUseCase<ICalculationInstance>(CalculationInstanceDBModel).call(id)).map(async (model) =>
-      (await new SpawnProcessUseCase().call('/Users/idontsudo/webservice', `nix run github:nixos/nixpkgs#python312Packages.tensorboard -- --logdir ${model.instancePath}`, "", new ProcessWatcher())).map(() => Result.ok('ok'),),
-    )
-}
-
-export class RunTimePresentation extends CrudController<ExecRunTimeCommandValidationModel, any> {
+export class RunTimePresentation extends CoreHttpController<ExecRunTimeCommandValidationModel> {
   constructor() {
     super({
       url: "run_time",
     });
 
-    this.subRoutes.push(new SubRouter("POST", "/exec/bt/builder", new ExecBtBuilderUseCase()));
-    this.subRoutes.push(new SubRouter("POST", "/get/bt/builder/state", new GetBtBuilderStateUseCase()));
-    this.subRoutes.push(new SubRouter("POST", "/get/simulator/state", new GetSimulationStateScenario()));
-    this.subRoutes.push(new SubRouter('POST', "exec/analyze", new ExecAnalyzeScenario()))
-    this.subRoutes.push({
-      method: "POST",
-      subUrl: "/exec/simulation/",
-      fn: new ExecSimulationUseCase(),
-    });
+    this.subRoutes.push(new SubRouter<any>("POST", "exec/bt", new ExecBtScenario()));
+    this.subRoutes.push(new SubRouter("GET", "status", new GetRunTimeStatuses()));
+    this.subRoutes.push(new SubRouter<any>("POST", "kill", new StopProcessUseCase()))
   }
 }
diff --git a/server/src/main.ts b/server/src/main.ts
index 31d168e..d88e058 100644
--- a/server/src/main.ts
+++ b/server/src/main.ts
@@ -3,11 +3,11 @@ import { App } from "./core/controllers/app";
 import { SocketSubscriber } from "./core/controllers/socket_controller";
 import { extensions } from "./core/extensions/extensions";
 import { httpRoutes } from "./core/controllers/routes";
-import { SpawnProcessUseCase, executorProgramService } from "./core/usecases/exec_process_usecase";
-import { ProcessWatcher } from "./features/runtime/service/process_watcher";
+import { executorProgramService } from "./core/usecases/exec_process_usecase";
+import { executorProgramServiceV2 } from "./core/scenarios/exec_process_scenario_v2";
 
 extensions();
 
-const socketSubscribers = [new SocketSubscriber(executorProgramService, "realtime")];
+const socketSubscribers = [new SocketSubscriber(executorProgramService, "realtime"), new SocketSubscriber(executorProgramServiceV2, 'realtimeV2',)];
 
 new App(httpRoutes, socketSubscribers).listen();
diff --git a/ui/src/core/extensions/array.ts b/ui/src/core/extensions/array.ts
index 33ec3d8..2c4cf2a 100644
--- a/ui/src/core/extensions/array.ts
+++ b/ui/src/core/extensions/array.ts
@@ -1,7 +1,14 @@
+/* eslint-disable no-extend-native */
 import { Result } from "../helper/result";
 
 /* eslint-disable @typescript-eslint/no-this-alias */
 export const ArrayExtensions = () => {
+  if (Array.prototype.plus === undefined) {
+    Array.prototype.plus = function (array) {
+      array.forEach((el) => this.push(el))
+      return this;
+    }
+  }
   if ([].indexOfR === undefined) {
     Array.prototype.indexOfR = function (element) {
       if (this.indexOf(element) === -1) {
@@ -10,6 +17,11 @@ export const ArrayExtensions = () => {
       return Result.ok(this);
     };
   }
+  if ([].whereOne === undefined) {
+    Array.prototype.whereOne = function (predicate) {
+      return this.filter(predicate).atR(0);
+    }
+  }
   if ([].atR === undefined) {
     Array.prototype.atR = function (index) {
       if (index === undefined) {
diff --git a/ui/src/core/extensions/extensions.ts b/ui/src/core/extensions/extensions.ts
index 5afcbed..2eb2ff7 100644
--- a/ui/src/core/extensions/extensions.ts
+++ b/ui/src/core/extensions/extensions.ts
@@ -30,6 +30,8 @@ declare global {
     someR(predicate: (value: T) => boolean): Result<void, Array<T>>;
     updateAll(value: Partial<T>): Array<T>;
     atR(index: number | undefined): Result<void, T>;
+    whereOne(predicate: (value: T) => boolean): Result<void, T>;
+    plus(array: any[]): Array<T>
   }
   interface Date {
     formatDate(): string;
diff --git a/ui/src/core/model/form_builder_validation_model.tsx b/ui/src/core/model/form_builder_validation_model.tsx
index f858f40..4f1837b 100644
--- a/ui/src/core/model/form_builder_validation_model.tsx
+++ b/ui/src/core/model/form_builder_validation_model.tsx
@@ -1,23 +1,15 @@
 import { IsNotEmpty, IsString } from "class-validator";
 import { BehaviorTreeBuilderStore } from "../../features/behavior_tree_builder/presentation/behavior_tree_builder_store";
-import {
-  datasetFormMockContext,
-  datasetFormMockResult,
-  defaultFormValue,
-} from "../../features/dataset/dataset_model";
+import { datasetFormMockContext, datasetFormMockResult, defaultFormValue } from "../../features/dataset/dataset_model";
 import { DependencyViewModel } from "./skill_model";
 import { ValidationModel } from "./validation_model";
 import { FormType } from "./form";
 import makeAutoObservable from "mobx-store-inheritance";
 
-export class FormBuilderValidationModel
-  extends ValidationModel
-  implements DependencyViewModel
-{
+export class FormBuilderValidationModel extends ValidationModel implements DependencyViewModel {
   @IsNotEmpty()
   @IsString()
   public result: string;
-  @IsNotEmpty()
   @IsString()
   public context: string;
   public form: string[];
@@ -36,22 +28,26 @@ export class FormBuilderValidationModel
     formBuilderValidationModel.context.isEmpty() &&
     formBuilderValidationModel.result.isEmpty() &&
     formBuilderValidationModel.form.isEmpty();
-  static test = () =>
-    new FormBuilderValidationModel(ffContext, ff1Result, [], "");
+  static test = () => new FormBuilderValidationModel(ffContext, ff1Result, [], "");
   static datasetEmpty = () =>
-    new FormBuilderValidationModel(
-      datasetFormMockContext,
-      datasetFormMockResult,
-      [],
-      defaultFormValue
-    );
+    new FormBuilderValidationModel(datasetFormMockContext, datasetFormMockResult, [], defaultFormValue);
   static empty = () => new FormBuilderValidationModel("", "", [], "");
-  static emptyTest = () =>
-    new FormBuilderValidationModel(``, ``, [], defaultFormValue);
-  static creteDataSetTest = () =>
-    new FormBuilderValidationModel(``, scene, [], "");
-  static emptySimple = () =>
-    new FormBuilderValidationModel("", simpleFormBuilder, [], "");
+  static emptyTest = () => new FormBuilderValidationModel(``, ``, [], defaultFormValue);
+  static creteDataSetTest = () => new FormBuilderValidationModel(``, scene, [], "");
+  static emptySimple = () => new FormBuilderValidationModel("", simpleFormBuilder, [], "");
+  static eee = () =>
+    new FormBuilderValidationModel(
+      ``,
+      `{
+    "robot_name": \${ROBOT_NAME:string:rbs_arm},
+    "pose": {
+      "position":  { "x": \${X:number:0.1}, "y": \${Y:number:0.1}, "z": \${Z:number:0.7} },
+      "orientation":  { "x": \${X:number:0.1}, "y": \${Y:number:0.1}, "z": \${Z:number:0.7} }
+    }
+  }`,
+      [],
+      ""
+    );
   static vision = () =>
     new FormBuilderValidationModel(
       `
@@ -96,6 +92,7 @@ export class FormBuilderValidationModel
       };`,
       `
       {
+        "process":\${<SelectProcess/>:OBJECT:{"type": "OBJECT_DETECTION"},
         "datasetObjects":\${<SelectDetail/>:OBJECT:{"details": []},
         "typedataset": \${typedataset:Enum<T>:ObjectDetection},
         "models_randomization":{
@@ -142,3 +139,6 @@ export const ff1Result = `{
   "empty":\${NAME:string:default},
   "params": \${ITEM:Array<ITEM>:[]}
 }`;
+// {
+//   "process":\${<SelectProcess/>:OBJECT:{"type": "OBJECT_DETECTION"}
+// }
\ No newline at end of file
diff --git a/ui/src/core/model/skill_model.ts b/ui/src/core/model/skill_model.ts
index d9e3a40..cbc311d 100644
--- a/ui/src/core/model/skill_model.ts
+++ b/ui/src/core/model/skill_model.ts
@@ -36,7 +36,7 @@ export interface IWeightsDependency {
 export interface IDeviceDependency {
   sid: string;
 }
-export interface IDependency {}
+export interface IDependency { }
 export interface IParam {
   isFilled: boolean;
   type: string;
@@ -276,7 +276,7 @@ export class SkillModel extends ValidationModel implements ISkill {
 }
 
 export class SkillDependency implements IDependency {
-  constructor(public skills: ISkillDependency[]) {}
+  constructor(public skills: ISkillDependency[]) { }
   static empty() {
     return new SkillDependency([]);
   }
@@ -424,24 +424,27 @@ export class Skills {
       .flat(1)
       .filter((el) => el !== "");
 
-  getDependencyBySkillLabelAndType = (skillType: string, sid: string): DependencyViewModel =>
-    this.skills
-      .reduce<DependencyViewModel[]>((acc, skill) => {
-        if (skill.sid?.isEqual(sid)) {
-          skill.BTAction.map((action) => {
-            action.param.map((param) => {
-              if (param.type.isEqualR(skillType)) {
-                acc.push(param?.dependency ?? DependencyViewModel.empty());
-              }
-              return param;
-            });
-            return action;
-          });
-        }
+  getDependencyBySkillLabelAndType = (skillType: string, sid: string): DependencyViewModel => this.skills
+    .reduce<DependencyViewModel[]>((acc, skill) => {
+      if (skill.sid?.isEqual(sid)) {
+        skill.BTAction.map((action) => {
+          action.param.map((param) => {
 
-        return acc;
-      }, [])
-      .at(0) ?? DependencyViewModel.empty();
+            if (param.type.isEqual(skillType)) {
+
+
+              acc.push(param?.dependency ?? DependencyViewModel.empty());
+            }
+
+            return param;
+          });
+          return action;
+        });
+      }
+
+      return acc;
+    }, [])
+    .at(0) ?? DependencyViewModel.empty()
   static isEmpty(model: Skills): Result<void, void> {
     if (model.skills.isEmpty()) {
       return Result.error(undefined);
diff --git a/ui/src/core/model/validation_model.ts b/ui/src/core/model/validation_model.ts
index 7e41b5e..f28d353 100644
--- a/ui/src/core/model/validation_model.ts
+++ b/ui/src/core/model/validation_model.ts
@@ -1,3 +1,4 @@
+import { message } from "antd";
 import { Result } from "../helper/result";
 import { validate, ValidationError } from "class-validator";
 
@@ -26,4 +27,12 @@ export class ValidationModel {
       return Result.ok(this as unknown as T);
     }
   };
+  validMessage = async<T>(): Promise<Result<string, T>> => {
+    const result = await this.valid<T>();
+
+    if (result.isFailure()) {
+      message.error(result.error);
+    }
+    return result;
+  }
 }
diff --git a/ui/src/core/repository/core_http_repository.ts b/ui/src/core/repository/core_http_repository.ts
index 48eb520..37ed2bb 100644
--- a/ui/src/core/repository/core_http_repository.ts
+++ b/ui/src/core/repository/core_http_repository.ts
@@ -132,7 +132,7 @@ export class CoreHttpRepository extends HttpRepository {
   getAssetsActiveProject = async (): Promise<Result<HttpError, Parts[]>> => {
     return this._jsonRequest<Parts[]>(HttpMethod.GET, "/projects/assets");
   };
-  
+
   getSceneAsset = (id: string) =>
     this._jsonToClassInstanceRequest(HttpMethod.GET, `/scenes/by_id?id=${id}`, SceneAsset) as Promise<
       Result<HttpError, SceneAsset>
@@ -141,5 +141,6 @@ export class CoreHttpRepository extends HttpRepository {
     return this._jsonRequest<UUID>(HttpMethod.GET, "/projects/get/active/project/id");
   }
   getAllScenes = () => this._jsonRequest<SceneModel[]>(HttpMethod.GET, "/scenes");
+  getAllTopics = () => this._jsonRequest(HttpMethod.GET, `/topics`);
+
 }
- 
\ No newline at end of file
diff --git a/ui/src/core/repository/core_socket_repository.ts b/ui/src/core/repository/core_socket_repository.ts
index db8d3eb..acd0e32 100644
--- a/ui/src/core/repository/core_socket_repository.ts
+++ b/ui/src/core/repository/core_socket_repository.ts
@@ -1,23 +1,27 @@
 import { Socket, io } from "socket.io-client";
 import { Result } from "../helper/result";
 import { TypedEvent } from "../helper/typed_event";
+import { RuntimeModel } from "../../features/behavior_tree_builder/presentation/ui/actions/runtime_actions";
 
 export class SocketRepository extends TypedEvent<any> {
   serverURL = "ws://localhost:4001";
   socket: Socket | undefined;
-  
-  async connect():Promise<Result<boolean, boolean>> {
+
+  async connect(): Promise<Result<boolean, boolean>> {
     const socket = io(this.serverURL);
-    
+
     this.socket = socket;
     socket.connect();
-    socket.on('realtime', (d) =>{
+    socketCoreInstances.forEach((el) => {
+      socket.on(el.event, (event) => el.emit(event))
+    })
+    socket.on('realtime', (d) => {
       this.emit({
-        event:"realtime",
-        payload:d
+        event: "realtime",
+        payload: d
       })
     })
-    if(socket.connected){
+    if (socket.connected) {
       return Result.ok(true)
     }
     return Result.error(false)
@@ -25,4 +29,15 @@ export class SocketRepository extends TypedEvent<any> {
 
 }
 
-export const socketRepository = new SocketRepository()
\ No newline at end of file
+export const socketRepository = new SocketRepository()
+
+
+export abstract class SocketCore<T> extends TypedEvent<T> {
+  abstract event: string
+
+}
+export class RunTimeSocketRepository extends SocketCore<RuntimeModel> {
+  event = 'realtimeV2';
+}
+export const runTimeSocketRepository = new RunTimeSocketRepository();
+const socketCoreInstances: SocketCore<any>[] = [runTimeSocketRepository]
\ No newline at end of file
diff --git a/ui/src/core/store/base_store.ts b/ui/src/core/store/base_store.ts
index b9562f6..d9eafaf 100644
--- a/ui/src/core/store/base_store.ts
+++ b/ui/src/core/store/base_store.ts
@@ -17,6 +17,7 @@ interface IMessage {
   errorMessage?: string;
 }
 export abstract class UiLoader {
+  navigate?: NavigateFunction;
   isLoading = false;
   async httpHelper<T>(callBack: Promise<Result<any, T>>) {
     this.isLoading = true;
@@ -75,7 +76,7 @@ export abstract class UiErrorState<T> extends UiLoader {
     console.log(error);
   };
   abstract init(navigate?: NavigateFunction): Promise<any>;
-  dispose() {}
+  dispose() { }
   errors: UiBaseError[] = [];
 }
 
@@ -126,7 +127,17 @@ export abstract class FormState<V, E> extends UiErrorState<E> {
   loadClassInstance = (instance: ClassConstructor<V>, viewModel: V) => {
     this.viewModel = plainToInstance(instance, viewModel);
   };
-}
- 
+  isModalOpen: boolean = false;
+  modalShow = () => {
+    this.isModalOpen = true;
+  };
+
+  modalClickOk = () => {
+    this.isModalOpen = false;
+  };
+
+  modalCancel = () => {
+    this.isModalOpen = false;
+  };
+}
 
- 
\ No newline at end of file
diff --git a/ui/src/core/ui/drawer/drawer.tsx b/ui/src/core/ui/drawer/drawer.tsx
index d825d59..14f9f5d 100644
--- a/ui/src/core/ui/drawer/drawer.tsx
+++ b/ui/src/core/ui/drawer/drawer.tsx
@@ -7,20 +7,20 @@ export const DrawerV2: React.FC<{
   title?: string;
   onClose: () => void;
   children: React.ReactNode;
-}> = ({ isOpen, onClose, children, title }) => {
+  width?: number;
+}> = ({ isOpen, onClose, children, title, width }) => {
   return (
     <div
       style={{
         position: "fixed",
         top: 0,
-        right: isOpen ? 0 : -300,
-        width: 300,
+        right: isOpen ? 0 : (width ?? 300) * -1,
+        width: width ?? 300,
         height: "100%",
-        backgroundColor: themeStore.theme.darkSurface,
+        backgroundColor: "#880ef8",
         boxShadow: "-2px 0 5px rgba(0, 0, 0, 0.5)",
         transition: "right 0.3s ease",
         zIndex: 1000,
-        
       }}
     >
       <div style={{ height: "100%", width: "100%" }}>
diff --git a/ui/src/core/ui/form_builder/form_builder.tsx b/ui/src/core/ui/form_builder/form_builder.tsx
index 7376f86..22abe72 100644
--- a/ui/src/core/ui/form_builder/form_builder.tsx
+++ b/ui/src/core/ui/form_builder/form_builder.tsx
@@ -1,9 +1,5 @@
 import * as React from "react";
-import {
-  FormViewModel,
-  InputBuilderViewModel,
-  InputType,
-} from "./form_view_model";
+import { FormViewModel, InputBuilderViewModel, InputType } from "./form_view_model";
 import { observer } from "mobx-react-lite";
 import { FormBuilderStore } from "./form_builder_store";
 import { CoreSelect } from "../select/select";
@@ -13,219 +9,162 @@ import { CoreText, CoreTextType } from "../text/text";
 import { getFormBuilderComponents } from "./forms/form_builder_components";
 import { FormBuilderValidationModel } from "../../model/form_builder_validation_model";
 
-export interface IFormBuilder {
-  formBuilder: FormBuilderValidationModel;
-  onChange: (change: FormBuilderValidationModel) => void;
-}
+export const FormBuilder = observer(
+  (props: { formBuilder: FormBuilderValidationModel; onChange: (change: FormBuilderValidationModel) => void }) => {
+    const [store] = React.useState(() => new FormBuilderStore());
 
-export const FormBuilder = observer((props: IFormBuilder) => {
-  const [store] = React.useState(() => new FormBuilderStore());
+    React.useEffect(() => {
+      store.init(props.formBuilder.context, props.formBuilder.result);
+      if (props.formBuilder.form.isNotEmpty()) {
+        store.formViewModel = new FormViewModel(
+          props.formBuilder.form.map((el) => InputBuilderViewModel.fromJSON(el)),
+          props.formBuilder.result,
+          props.formBuilder.context
+        );
+        props.formBuilder.form.map((el) => InputBuilderViewModel.fromJSON(el));
+      }
+      store.changerForm.on((event) => {
+        if (event) props.onChange(event);
+      });
+    }, []);
 
-  React.useEffect(() => {
-    store.init(props.formBuilder.context, props.formBuilder.result);
-    if (props.formBuilder.form.isNotEmpty()) {
-      store.formViewModel = new FormViewModel(
-        props.formBuilder.form.map((el) => InputBuilderViewModel.fromJSON(el)),
-        props.formBuilder.result,
-        props.formBuilder.context
-      );
-      props.formBuilder.form.map((el) => InputBuilderViewModel.fromJSON(el));
-    }
-    store.changerForm.on((event) => {
-      if (event) props.onChange(event);
-    });
-  }, []);
+    return (
+      <div>
+        {store.isError ? (
+          <>Error</>
+        ) : (
+          <div>
+            {store.formViewModel?.inputs?.map((element, index) => {
+              if (element.type?.isEqual(InputType.ENUM)) {
+                const values = element.values as string[];
+                return (
+                  <CoreSelect
+                    key={index}
+                    items={values}
+                    value={element.totalValue ?? element.defaultValue}
+                    onChange={(value) => store.changeTotalValue(element.id, value)}
+                    label={element.name}
+                    style={{ margin: 20 }}
+                  />
+                );
+              }
+              if (element.type?.isEqual(InputType.ARRAY)) {
+                return (
+                  <div key={index} style={{ border: "1px black solid", margin: 20 }}>
+                    <div
+                      style={{
+                        display: "flex",
+                        justifyContent: "space-between",
+                        margin: 20,
+                        alignItems: "center",
+                        paddingRight: 20,
+                      }}
+                      onClick={() => {
+                        store.open(element.id);
+                      }}
+                    >
+                      <CoreText text={element.name} type={CoreTextType.large} />
+                      <Icon type="PlusCircle" style={{ width: 33 }} />
+                    </div>
 
-  return (
-    <div>
-      {store.isError ? (
-        <>Error</>
-      ) : (
-        <div>
-          {store.formViewModel?.inputs?.map((element, index) => {
-            if (element.type?.isEqual(InputType.ENUM)) {
-              const values = element.values as string[];
-              return (
-                <CoreSelect
-                  key={index}
-                  items={values}
-                  value={element.totalValue ?? element.defaultValue}
-                  onChange={(value) =>
-                    store.changeTotalValue(element.id, value)
-                  }
-                  label={element.name}
-                  style={{ margin: 20 }}
-                />
-              );
-            }
-            if (element.type?.isEqual(InputType.ARRAY)) {
-              return (
-                <div
-                  key={index}
-                  style={{ border: "1px black solid", margin: 20 }}
-                >
-                  <div
-                    style={{
-                      display: "flex",
-                      justifyContent: "space-between",
-                      margin: 20,
-                      alignItems: "center",
-                      paddingRight: 20,
-                    }}
-                    onClick={() => {
-                      store.open(element.id);
-                    }}
-                  >
-                    <CoreText text={element.name} type={CoreTextType.large} />
-                    <Icon type="PlusCircle" style={{ width: 33 }} />
-                  </div>
+                    {element.isOpen ? (
+                      <div style={{ margin: 20 }}>
+                        {element.totalValue instanceof Array
+                          ? element.totalValue?.map((subArray, index) => {
+                              return (
+                                <div style={{ margin: 20 }}>
+                                  <div style={{ display: "flex" }}>
+                                    <CoreText text={(element.subType ?? "") + ` ${index}`} type={CoreTextType.medium} />
+                                    <Icon
+                                      style={{ paddingLeft: 20 }}
+                                      type="DeleteCircle"
+                                      onClick={() => store.deleteTotalValueSubItem(element.id, index)}
+                                    />
+                                  </div>
 
-                  {element.isOpen ? (
-                    <div style={{ margin: 20 }}>
-                      {element.totalValue instanceof Array
-                        ? element.totalValue?.map((subArray, index) => {
-                            return (
-                              <div style={{ margin: 20 }}>
-                                <div style={{ display: "flex" }}>
-                                  <CoreText
-                                    text={(element.subType ?? "") + ` ${index}`}
-                                    type={CoreTextType.medium}
-                                  />
-                                  <Icon
-                                    style={{ paddingLeft: 20 }}
-                                    type="DeleteCircle"
-                                    onClick={() =>
-                                      store.deleteTotalValueSubItem(
-                                        element.id,
-                                        index
-                                      )
-                                    }
-                                  />
-                                </div>
-
-                                {subArray.map(
-                                  (
-                                    subSubArrayItem: InputBuilderViewModel,
-                                    subIndex: number
-                                  ) => {
-                                    if (
-                                      subSubArrayItem.type.isEqual(
-                                        InputType.ENUM
-                                      )
-                                    ) {
+                                  {subArray.map((subSubArrayItem: InputBuilderViewModel, subIndex: number) => {
+                                    if (subSubArrayItem.type.isEqual(InputType.ENUM)) {
                                       return (
                                         <>
                                           <CoreSelect
-                                            items={
-                                              subSubArrayItem.values?.map(
-                                                (el) => String(el)
-                                              ) ?? []
-                                            }
-                                            value={
-                                              subSubArrayItem.totalValue ??
-                                              subSubArrayItem.defaultValue
-                                            }
-                                            onChange={(value) => console.log(subSubArrayItem.id)
-                                            }
+                                            items={subSubArrayItem.values?.map((el) => String(el)) ?? []}
+                                            value={subSubArrayItem.totalValue ?? subSubArrayItem.defaultValue}
+                                            onChange={(value) => console.log(subSubArrayItem.id)}
                                             label={element.name}
                                             style={{ margin: 5 }}
                                           />
                                         </>
                                       );
                                     }
-                                    if (
-                                      subSubArrayItem.type.isEqualMany([
-                                        InputType.NUMBER,
-                                        InputType.STRING,
-                                      ])
-                                    )
+                                    if (subSubArrayItem.type.isEqualMany([InputType.NUMBER, InputType.STRING]))
                                       return (
                                         <div>
                                           <CoreInput
-                                            isFormBuilder={true}
+                                            
                                             style={{ margin: 5 }}
-                                            onChange={(e) =>
-                                              store.changeTotalSubValue(
-                                                element.id,
-                                                subIndex,
-                                                e,
-                                                index
-                                              )
-                                            }
+                                            onChange={(e) => store.changeTotalSubValue(element.id, subIndex, e, index)}
                                             validation={
-                                              subSubArrayItem.type.isEqual(
-                                                InputType.NUMBER
-                                              )
+                                              subSubArrayItem.type.isEqual(InputType.NUMBER)
                                                 ? (el) => Number().isValid(el)
                                                 : undefined
                                             }
                                             error="только числа"
-                                            value={
-                                              subSubArrayItem.totalValue ??
-                                              subSubArrayItem.defaultValue
-                                            }
+                                            value={subSubArrayItem.totalValue ?? subSubArrayItem.defaultValue}
                                             label={subSubArrayItem.name}
                                           />
                                         </div>
                                       );
 
                                     return <>Error</>;
-                                  }
-                                )}
-                              </div>
-                            );
-                          })
-                        : null}
-                    </div>
-                  ) : null}
-                </div>
-              );
-            }
+                                  })}
+                                </div>
+                              );
+                            })
+                          : null}
+                      </div>
+                    ) : null}
+                  </div>
+                );
+              }
 
-            if (element.type?.isEqualMany([InputType.NUMBER, InputType.STRING]))
-              return (
-                <div>
-                  <CoreInput
-                    isFormBuilder={true}
-                    validation={
-                      element.type.isEqual(InputType.NUMBER)
-                        ? (el) => Number().isValid(el)
-                        : undefined
-                    }
-                    onChange={(e) => {
-                      store.changeTotalValue(element.id, e);
-                    }}
-                    value={element.totalValue ?? element.defaultValue}
-                    error="только числа"
-                    label={element.name}
-                    style={{ margin: 20 }}
-                  />
-                </div>
-              );
-            if (element.type?.isEqual(InputType.OBJECT))
-              return (
-                <>
-                  {getFormBuilderComponents(
-                    element.name
-                      .replace(">", "")
-                      .replace("<", "")
-                      .replace("/", ""),
-                    element.totalValue ?? element.defaultValue,
-                    (text) => store.changeTotalValue(element.id, text)
-                  ).fold(
-                    (s) => (
-                      <>{s}</>
-                    ),
-                    (error) => (
-                      <>{error}</>
-                    )
-                  )}
-                </>
-              );
+              if (element.type?.isEqualMany([InputType.NUMBER, InputType.STRING]))
+                return (
+                  <div>
+                    <CoreInput
+                      
+                      validation={element.type.isEqual(InputType.NUMBER) ? (el) => Number().isValid(el) : undefined}
+                      onChange={(e) => {
+                        store.changeTotalValue(element.id, e);
+                      }}
+                      value={element.totalValue ?? element.defaultValue}
+                      error="только числа"
+                      label={element.name}
+                      style={{ margin: 20 }}
+                    />
+                  </div>
+                );
+              if (element.type?.isEqual(InputType.OBJECT))
+                return (
+                  <>
+                    {getFormBuilderComponents(
+                      element.name.replace(">", "").replace("<", "").replace("/", ""),
+                      element.totalValue ?? element.defaultValue,
+                      (text) => store.changeTotalValue(element.id, text)
+                    ).fold(
+                      (s) => (
+                        <>{s}</>
+                      ),
+                      (error) => (
+                        <>{error}</>
+                      )
+                    )}
+                  </>
+                );
               return <div>Error {String(element)}</div>;
-          })}
-        </div>
-      )}
-    </div>
-  );
-});
+            })}
+          </div>
+        )}
+      </div>
+    );
+  }
+);
diff --git a/ui/src/core/ui/form_builder/form_view_model.ts b/ui/src/core/ui/form_builder/form_view_model.ts
index ec5e61b..a542e55 100644
--- a/ui/src/core/ui/form_builder/form_view_model.ts
+++ b/ui/src/core/ui/form_builder/form_view_model.ts
@@ -95,7 +95,7 @@ export class FormViewModel {
           .replace(/[^\x00-\x7F]/g, "")
           .replaceAll("\n", "")
           .replaceAll("\\", "")
-          // .replaceAll("/", "")
+        // .replaceAll("/", "")
       );
     } catch (error) {
       console.log("ERROR: FormViewModel json() " + result);
@@ -190,8 +190,9 @@ export class FormViewModel {
     });
     return result as unknown as string;
   }
-  static fromString(result: string, context: string): Result<void, FormViewModel> {
+  static fromString(result: string = '', context: string = ''): Result<void, FormViewModel> {
     try {
+
       if (result.isEmpty() && context.isEmpty()) {
         return Result.error(undefined);
       }
diff --git a/ui/src/core/ui/form_builder/forms/form_builder_components.tsx b/ui/src/core/ui/form_builder/forms/form_builder_components.tsx
index ec30844..1e40957 100644
--- a/ui/src/core/ui/form_builder/forms/form_builder_components.tsx
+++ b/ui/src/core/ui/form_builder/forms/form_builder_components.tsx
@@ -1,10 +1,10 @@
 import { Result } from "../../../helper/result";
-import { SelectDatasetScreen } from "./select_dataset/presentation/select_dataset_screen";
+import { SelectProcess } from "./select_dataset/presentation/select_process";
 import { SelectDetail } from "./select_detail/presentation/select_detail_screen";
 
 export enum FormBuilderComponents {
   SelectDetail = "SelectDetail",
-  SelectDataset = "SelectDataset",
+  SelectProcess = "SelectProcess",
 }
 export interface IFormBuilderComponentsProps<T> {
   dependency: T;
@@ -18,8 +18,8 @@ export const getFormBuilderComponents = (
   if (name.isEqual(FormBuilderComponents.SelectDetail)) {
     return Result.ok(<SelectDetail dependency={dependency} onChange={onChange} />);
   }
-  if (name.isEqual(FormBuilderComponents.SelectDataset)) {
-    return Result.ok(<SelectDatasetScreen dependency={dependency} onChange={onChange} />);
+  if (name.isEqual(FormBuilderComponents.SelectProcess)) {
+    return Result.ok(<SelectProcess dependency={dependency} onChange={onChange} />);
   }
   return Result.error(name);
 };
diff --git a/ui/src/core/ui/form_builder/forms/select_dataset/data/select_dataset_repository.tsx b/ui/src/core/ui/form_builder/forms/select_dataset/data/select_dataset_repository.tsx
deleted file mode 100644
index e69de29..0000000
diff --git a/ui/src/core/ui/form_builder/forms/select_dataset/data/select_process_repository.ts b/ui/src/core/ui/form_builder/forms/select_dataset/data/select_process_repository.ts
new file mode 100644
index 0000000..b511865
--- /dev/null
+++ b/ui/src/core/ui/form_builder/forms/select_dataset/data/select_process_repository.ts
@@ -0,0 +1,5 @@
+import { CoreHttpRepository, HttpMethod } from "../../../../../repository/core_http_repository";
+
+export class SelectProcessRepository extends CoreHttpRepository {
+    getAllProcessByType = (type: string) => this._jsonRequest(HttpMethod.POST, '/calculations/instances/get/all/end/calculations', { type: type })
+}
\ No newline at end of file
diff --git a/ui/src/core/ui/form_builder/forms/select_dataset/model/select_dataset_model.ts b/ui/src/core/ui/form_builder/forms/select_dataset/model/select_dataset_model.ts
deleted file mode 100644
index e69de29..0000000
diff --git a/ui/src/core/ui/form_builder/forms/select_dataset/model/select_process_model.ts b/ui/src/core/ui/form_builder/forms/select_dataset/model/select_process_model.ts
new file mode 100644
index 0000000..f6e8ca1
--- /dev/null
+++ b/ui/src/core/ui/form_builder/forms/select_dataset/model/select_process_model.ts
@@ -0,0 +1,18 @@
+import { IsObject, IsString } from "class-validator";
+import { ValidationModel } from "../../../../../model/validation_model";
+import { CalculationModel } from "../../../../../../features/calculation_instance/model/calculation_model";
+
+
+export class SelectProcessModel extends ValidationModel {
+    @IsString()
+    type: string = '';
+    @IsObject()
+    selectProcess?: SelectProcess;
+}
+
+
+
+export interface SelectProcess {
+    value: CalculationModel;
+}
+ 
\ No newline at end of file
diff --git a/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_screen.tsx b/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_screen.tsx
deleted file mode 100644
index 31d57a6..0000000
--- a/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_screen.tsx
+++ /dev/null
@@ -1,6 +0,0 @@
-import { observer } from "mobx-react-lite";
-import { IFormBuilderComponentsProps } from "../../form_builder_components";
-
-export const SelectDatasetScreen = observer((props:IFormBuilderComponentsProps<any>) => {
-  return <>SELECT DATASET</>;
-});
diff --git a/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_store.ts b/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_dataset_store.ts
deleted file mode 100644
index e69de29..0000000
diff --git a/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_process.tsx b/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_process.tsx
new file mode 100644
index 0000000..68a80ca
--- /dev/null
+++ b/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_process.tsx
@@ -0,0 +1,48 @@
+import React, { useState } from "react";
+import { observer } from "mobx-react-lite";
+import { IFormBuilderComponentsProps } from "../../form_builder_components";
+import { useStore } from "../../../../../helper/use_store";
+import { SelectProcessStore } from "./select_process_store";
+import { useEffect } from "react";
+import { SelectProcessModel } from "../model/select_process_model";
+import { Loader } from "../../../../loader/loader";
+import { CoreSelect } from "../../../../select/select";
+import { message } from "antd";
+import { CalculationModel } from "../../../../../../features/calculation_instance/model/calculation_model";
+
+export const SelectProcess = observer((props: IFormBuilderComponentsProps<SelectProcessModel>) => {
+  const [store] = useState(new SelectProcessStore());
+  useEffect(() => {
+    if (typeof props.dependency === "string") {
+      store.loadClassInstance(SelectProcessModel, JSON.parse(props.dependency));
+    } else {
+      store.loadClassInstance(SelectProcessModel, props.dependency);
+    }
+
+    store.init();
+  }, []);
+  return (
+    <div>
+      {store.isLoading ? (
+        <Loader />
+      ) : (
+        <div>
+          <CoreSelect
+            items={store.calculationInstances.map((el) => el.instanceName)}
+            value={store.viewModel?.selectProcess?.value.instanceName ?? ""}
+            label={`Процесс тип ${store?.viewModel?.type ?? ""}`}
+            onChange={async (value: string, index: number) => {
+              store.updateForm({
+                selectProcess: { value: store.calculationInstances.at(index) ?? CalculationModel.empty() },
+              });
+              (await store.viewModel.valid<SelectProcessModel>()).fold(
+                (model) => props.onChange(model),
+                (error) => message.error(error)
+              );
+            }}
+          />
+        </div>
+      )}
+    </div>
+  );
+});
diff --git a/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_process_store.ts b/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_process_store.ts
new file mode 100644
index 0000000..fefca2e
--- /dev/null
+++ b/ui/src/core/ui/form_builder/forms/select_dataset/presentation/select_process_store.ts
@@ -0,0 +1,26 @@
+import { NavigateFunction } from "react-router-dom";
+import { FormState } from "../../../../../store/base_store";
+import { SelectProcessModel } from "../model/select_process_model";
+import { SelectProcessRepository } from "../data/select_process_repository";
+import { CalculationModel } from "../../../../../../features/calculation_instance/model/calculation_model";
+import makeAutoObservable from "mobx-store-inheritance";
+
+export class SelectProcessStore extends FormState<SelectProcessModel, any> {
+    selectProcessRepository = new SelectProcessRepository();
+    viewModel: SelectProcessModel;
+    calculationInstances: CalculationModel[] = [];
+    constructor() {
+        super();
+        makeAutoObservable(this);
+    }
+    async init(navigate?: NavigateFunction | undefined): Promise<any> {
+        await this.mapOk('calculationInstances', this.selectProcessRepository.getAllProcessByType(this.viewModel.type));
+
+        this.calculationInstances = this.calculationInstances.map((el) => {
+            // @ts-ignore
+            delete el['formBuilder'];
+            return el;
+        })
+
+    }
+}
\ No newline at end of file
diff --git a/ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_screen.tsx b/ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_screen.tsx
index 5e0aa28..145c670 100644
--- a/ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_screen.tsx
+++ b/ui/src/core/ui/form_builder/forms/select_detail/presentation/select_detail_screen.tsx
@@ -1,21 +1,18 @@
-// @ts-nocheck
 import React from "react";
 import { IFormBuilderComponentsProps } from "../../form_builder_components";
 import { observer } from "mobx-react-lite";
 import { ListItem } from "./ui/list_item";
 import { SelectDetailStore } from "./select_detail_store";
 import { SelectDetailViewModel } from "../model/select_details_model";
-import { plainToInstance } from "class-transformer";
 
 export const SelectDetail = observer((props: IFormBuilderComponentsProps<SelectDetailViewModel>) => {
   const [store] = React.useState(() => new SelectDetailStore());
   React.useEffect(() => {
-    console.log(props.dependency.details);
     store.viewModel = new SelectDetailViewModel(props.dependency.details);
     store.isLoading = false;
     store.init();
   }, []);
- 
+
   return (
     <div>
       {store.isLoading ? (
diff --git a/ui/src/core/ui/form_builder/forms/select_detail/presentation/ui/list_item.tsx b/ui/src/core/ui/form_builder/forms/select_detail/presentation/ui/list_item.tsx
index 7263d7a..0690fbe 100644
--- a/ui/src/core/ui/form_builder/forms/select_detail/presentation/ui/list_item.tsx
+++ b/ui/src/core/ui/form_builder/forms/select_detail/presentation/ui/list_item.tsx
@@ -16,7 +16,6 @@ export const ListItem = (props: IListItemProps) => {
         backgroundColor: "rgba(254, 247, 255, 1)",
         border: "1px #6750a4 solid",
         width: "100%",
-        height: 110,
         display: "flex",
         justifyContent: "space-between",
         alignItems: "center",
diff --git a/ui/src/core/ui/form_builder/test.tsx b/ui/src/core/ui/form_builder/test.tsx
index 5074df0..b9735d7 100644
--- a/ui/src/core/ui/form_builder/test.tsx
+++ b/ui/src/core/ui/form_builder/test.tsx
@@ -9,7 +9,7 @@ import { FormBuilder } from "./form_builder";
 import makeAutoObservable from "mobx-store-inheritance";
 
 class FormBuilderTextStore extends ModalStore {
-  viewModel = FormBuilderValidationModel.empty();
+  viewModel = FormBuilderValidationModel.eee();
   constructor() {
     super();
     makeAutoObservable(this);
@@ -21,6 +21,7 @@ export const FormBuildTest = observer(() => {
 
   return (
     <div>
+
       <InputV2 label={"result"} onChange={(text) => (store.viewModel.result = text)} />
       <InputV2 label={"context"} onChange={(text) => (store.viewModel.context = text)} />
       <CoreButton text="click" onClick={() => (store.isModalOpen = true)} />
@@ -33,15 +34,16 @@ export const FormBuildTest = observer(() => {
         onCancel={() => {
           store.isModalOpen = false;
         }}
-      >
-        <FormBuilder
-          formBuilder={store.viewModel}
-          onChange={(e) => {
-            console.log(e.output);
-            // console.log(JSON.stringify(e.output))
-          }}
-        />
-      </Modal>
+      ></Modal>
+      <div style={{height:50}}/>
+      <FormBuilder
+        formBuilder={store.viewModel}
+        onChange={(e) => {
+          console.log(e)
+          // console.log(e.output);
+          console.log(JSON.stringify(e.output))
+        }}
+      />
     </div>
   );
 });
diff --git a/ui/src/core/ui/icons/icons.tsx b/ui/src/core/ui/icons/icons.tsx
index 33b571b..823e680 100644
--- a/ui/src/core/ui/icons/icons.tsx
+++ b/ui/src/core/ui/icons/icons.tsx
@@ -931,6 +931,18 @@ const getIconSvg = (
           />
         </svg>
       );
+
+    case "3points":
+      return Result.ok(
+        <svg
+          xmlns="http://www.w3.org/2000/svg"
+          width={width ? width : "20"}
+          height={height ? height : "20"}
+          viewBox="0 0 128 512"
+        >
+          <path d="M64 360a56 56 0 1 0 0 112 56 56 0 1 0 0-112zm0-160a56 56 0 1 0 0 112 56 56 0 1 0 0-112zM120 96A56 56 0 1 0 8 96a56 56 0 1 0 112 0z" />
+        </svg>
+      );
     case "Move":
       return Result.ok(
         <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 20 20" xmlSpace="preserve">
diff --git a/ui/src/core/ui/input/input.tsx b/ui/src/core/ui/input/input.tsx
index 1a78a4a..a2af4d9 100644
--- a/ui/src/core/ui/input/input.tsx
+++ b/ui/src/core/ui/input/input.tsx
@@ -16,7 +16,6 @@ interface IInputProps extends IStyle {
   type?: CoreInputType;
   trim?: boolean;
   styleContentEditable?: React.CSSProperties;
-  isFormBuilder?: boolean;
 }
 
 export const CoreInput = (props: IInputProps) => {
@@ -29,15 +28,6 @@ export const CoreInput = (props: IInputProps) => {
       setAppendInnerText(false);
     }
   }, [ref, value, isAppendInnerText, setAppendInnerText, props]);
-  // React.useEffect(() => {
-  //   if (props.isFormBuilder) {
-  //     if (ref.current && props.value) {
-  //       ref.current.innerText = value;
-  //       setValue(props.value);
-  //       console.log(props.value);
-  //     }
-  //   }
-  // }, [props.value]);
 
   const isSmall = props.type !== undefined && props.type.isEqual(CoreInputType.small);
   return (
diff --git a/ui/src/core/ui/input/input_v2.tsx b/ui/src/core/ui/input/input_v2.tsx
index 30bfc20..72e04aa 100644
--- a/ui/src/core/ui/input/input_v2.tsx
+++ b/ui/src/core/ui/input/input_v2.tsx
@@ -2,15 +2,16 @@ import { themeStore } from "../../..";
 import { Icon } from "../icons/icons";
 import { CoreText, CoreTextType, FontType } from "../text/text";
 
-interface InputV2Props {
+export const InputV2: React.FC<{
+  style?: React.CSSProperties;
   label: string;
   value?: string;
   trim?: boolean;
+  validation?: (value: string) => boolean;
+  error?: string;
   height?: number;
   onChange?: (text: string) => void;
-  
-}
-export const InputV2: React.FC<InputV2Props> = ({ label, height, value, onChange, trim }) => {
+}> = ({ label, height, value, onChange, trim }) => {
   return (
     <div
       style={{
diff --git a/ui/src/core/ui/pages/main_page_v2.tsx b/ui/src/core/ui/pages/main_page_v2.tsx
index 8ff7c70..b4275f8 100644
--- a/ui/src/core/ui/pages/main_page_v2.tsx
+++ b/ui/src/core/ui/pages/main_page_v2.tsx
@@ -107,7 +107,7 @@ export const MainPageV2: React.FC<{
         overflow: "auto",
       }}
     >
-      <div
+      {/* <div
         style={{
           alignSelf: "center",
           width: 645,
@@ -222,7 +222,7 @@ export const MainPageV2: React.FC<{
         >
           {rightChild}
         </div>
-      </div>
+      </div> */}
 
       <div style={Object.assign({ width: "100%" }, style)}>{children}</div>
     </div>
diff --git a/ui/src/core/ui/popover/popover.tsx b/ui/src/core/ui/popover/popover.tsx
new file mode 100644
index 0000000..55b6901
--- /dev/null
+++ b/ui/src/core/ui/popover/popover.tsx
@@ -0,0 +1,46 @@
+import React, { useEffect, useRef, useState } from "react";
+import styled from "styled-components";
+
+interface PopoverProps {
+  content: React.ReactNode;
+  children: React.ReactNode;
+}
+
+const PopoverV2: React.FC<PopoverProps> = ({ content, children }) => {
+  const [visible, setVisible] = useState(false);
+  const ref = useRef<HTMLDivElement>(null);
+  const togglePopover = () => {
+    setVisible((prev) => !prev);
+  };
+
+  return (
+    <div
+      style={{
+        position: "relative",
+        display: "inline-block",
+      }}
+      onClick={() => togglePopover()}
+    >
+      {children}
+      <div
+        style={{
+          position: "absolute",
+          backgroundColor: "white",
+          border: "1px solid #ccc;",
+          borderRadius: "4px",
+          padding: "10px;",
+          zIndex: "1000",
+          transition: "opacity 0.2s ease, visibility 0.2s ease",
+          opacity: visible ? 1 : 0,
+          visibility: visible ? "visible" : "hidden", 
+        }}
+      >
+        {content}
+      </div>
+    </div>
+  );
+};
+// visibility: ${({ visible }) => (visible ? 'visible' : 'hidden')};
+//   opacity: ${({ visible }) => (visible ? 1 : 0)};
+//   transition: opacity 0.2s ease, visibility 0.2s ease;
+export default PopoverV2;
diff --git a/ui/src/core/ui/select/select.tsx b/ui/src/core/ui/select/select.tsx
index 017c16f..47bff79 100644
--- a/ui/src/core/ui/select/select.tsx
+++ b/ui/src/core/ui/select/select.tsx
@@ -6,7 +6,7 @@ interface ICoreSelectProps extends IStyle {
   items: string[];
   value: string;
   label: string;
-  onChange: (value: string) => void;
+  onChange: (value: string, index: number) => void;
 }
 export const CoreSelect = (props: ICoreSelectProps) => {
   const ref = React.useRef<HTMLDivElement>(null);
@@ -52,7 +52,7 @@ export const CoreSelect = (props: ICoreSelectProps) => {
                   key={i}
                   onClick={() => {
                     setValue(el);
-                    props.onChange(el);
+                    props.onChange(el, i);
                   }}
                   style={{
                     backgroundColor: "rgba(230, 224, 233, 1)",
diff --git a/ui/src/features/behavior_tree_builder/data/behavior_tree_builder_http_repository.ts b/ui/src/features/behavior_tree_builder/data/behavior_tree_builder_http_repository.ts
index 0da5653..9c6e264 100644
--- a/ui/src/features/behavior_tree_builder/data/behavior_tree_builder_http_repository.ts
+++ b/ui/src/features/behavior_tree_builder/data/behavior_tree_builder_http_repository.ts
@@ -21,7 +21,6 @@ export class BehaviorTreeBuilderHttpRepository extends CoreHttpRepository {
       `${this.featureApi}/by_id?id=${id}`,
       BehaviorTreeModel
     ) as unknown as Promise<Result<HttpError, BehaviorTreeModel>>;
-  deleteBt = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`);
   editBt = async (model: BehaviorTreeModel) => {
     await this._jsonRequest(HttpMethod.POST, `${this.featureApi}/fill/tree`, model);
     model.__v = undefined
diff --git a/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_screen.tsx b/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_screen.tsx
index 5a890c6..67f44a6 100644
--- a/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_screen.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_screen.tsx
@@ -4,20 +4,15 @@ import { createEditor } from "./ui/editor/editor";
 import { SkillTree } from "./ui/skill_tree/skill_tree";
 import { BehaviorTreeBuilderStore, DrawerState } from "./behavior_tree_builder_store";
 import { observer } from "mobx-react-lite";
-import { match } from "ts-pattern";
 import { Icon } from "../../../core/ui/icons/icons";
 import { CoreText, CoreTextType } from "../../../core/ui/text/text";
 import { useNavigate, useParams } from "react-router-dom";
 import { IForms, forms } from "./ui/forms/forms";
-import { ButtonV2, ButtonV2Type } from "../../../core/ui/button/button_v2";
-import { CoreCard } from "../../../core/ui/card/card";
 import { themeStore } from "../../..";
-import { CoreModal } from "../../../core/ui/modal/modal";
-import { InputV2 } from "../../../core/ui/input/input_v2";
-import { SelectV2 } from "../../../core/ui/select/select_v2";
 import { MainPageV2 } from "../../../core/ui/pages/main_page_v2";
 import { DrawerV2 } from "../../../core/ui/drawer/drawer";
 import { Panel, PanelGroup, PanelResizeHandle } from "react-resizable-panels";
+import PopoverV2 from "../../../core/ui/popover/popover";
 
 export const behaviorTreeBuilderScreenPath = "behavior/tree/screen/path";
 
@@ -54,7 +49,9 @@ export const BehaviorTreeBuilderScreen = observer(() => {
     if (ref.current) {
       // @ts-expect-error
       const domReact: DOMReact = ref.current.getBoundingClientRect();
-      store.dragZoneSetOffset(0, domReact.y, domReact.width, domReact.height);
+
+      // УБЕРИ + 300
+      store.dragZoneSetOffset(0, domReact.y, domReact.width + 300, domReact.height);
     }
   }, [ref.current]);
 
@@ -66,54 +63,36 @@ export const BehaviorTreeBuilderScreen = observer(() => {
   }, []);
   return (
     <MainPageV2
-      rightChild={
-        <>
-          <div
-            style={{
-              width: "100%",
-              display: "flex",
-              flexDirection: "row",
-              justifyContent: "end",
-              paddingRight: 30,
-              alignItems: "center",
-            }}
-          >
-            {/* <ButtonV2 style={{ height: 40 }} onClick={() => {}} text="Запуск" textColor={themeStore.theme.black} />
-            <div style={{ width: 10 }} />
-            <ButtonV2
-              style={{ height: 40 }}
-              onClick={() => {}}
-              text="Стоп"
-              type={ButtonV2Type.empty}
-              textColor={themeStore.theme.greenWhite}
-            />
-            <div style={{ width: 10 }} /> */}
-            {store.isNeedSaveBtn ? (
-              <div
-                style={{
-                  backgroundColor: store.isNeedSaveBtn ? themeStore.theme.greenWhite : undefined,
-                  height: 40,
-                  textAlign: "center",
-                  alignContent: "center",
-                  width: 40,
-                  borderRadius: 100,
-                }}
-              >
-                {store.isNeedSaveBtn ? (
-                  <Icon style={{ height: 21 }} onClick={() => store.onClickSaveBehaviorTree()} type="Floppy" />
-                ) : undefined}
-              </div>
-            ) : (
-              <></>
-            )}
-          </div>
-        </>
-      }
       style={{ position: "absolute", height: "100%", overflow: "hidden" }}
       bgColor={themeStore.theme.black}
       children={
         <>
           <>
+            <div style={{ position: "absolute", zIndex: 100 }}>
+              <div
+                style={{
+                  width: "100%",
+                  display: "flex",
+                  flexDirection: "row",
+                  justifyContent: "end",
+                  paddingRight: 30,
+                  alignItems: "center",
+                }}
+              >
+                <div
+                  style={{
+                    backgroundColor: themeStore.theme.greenWhite,
+                    height: 40,
+                    textAlign: "center",
+                    alignContent: "center",
+                    width: 40,
+                    borderRadius: 100,
+                  }}
+                >
+                  <Icon style={{ height: 21 }} onClick={() => store.onClickSaveBehaviorTree()} type="Floppy" />
+                </div>
+              </div>
+            </div>
             <div
               style={{
                 height: "100%",
@@ -160,10 +139,45 @@ export const BehaviorTreeBuilderScreen = observer(() => {
                     }}
                   />
                 </Panel>
-                <PanelResizeHandle>
-                  <div style={{ width: 10, height: "100%", backgroundColor: "beige" }}></div>
-                </PanelResizeHandle>
-                <Panel defaultSize={0}> </Panel>
+                {store.panels.map((el, index) => (
+                  <>
+                    <PanelResizeHandle
+                      children={
+                        <>
+                          <div style={{ width: 10, height: "100%", backgroundColor: "beige" }}></div>
+                        </>
+                      }
+                    ></PanelResizeHandle>
+
+                    <Panel
+                      style={{ backgroundColor: "rgb(29, 27, 32)" }}
+                      defaultSize={el.size}
+                      onResize={(size) => store.panelResize(size, index)}
+                    >
+                      <div
+                        style={{
+                          display: "flex",
+                          width: "100%",
+                          justifyContent: "space-between",
+                          backgroundColor: "beige",
+                        }}
+                      >
+                        <PopoverV2
+                          children={<Icon type={"3points"} height={26} />}
+                          content={
+                            <div style={{ width: "max-content", padding: 10 }}>
+                              {store.panelActions.map((el, i) => (
+                                <CoreText type={CoreTextType.medium} text={el.name} onClick={() => el.action(index)} />
+                              ))}
+                            </div>
+                          }
+                        />
+                        <div style={{ color: "black", alignContent: "center", paddingRight: 10 }}>{el.name}</div>
+                      </div>
+                      {el.body}
+                    </Panel>
+                  </>
+                ))}
               </PanelGroup>
             </div>
           </>
@@ -172,8 +186,17 @@ export const BehaviorTreeBuilderScreen = observer(() => {
             title={store.titleDrawer}
             onClose={() => store.editDrawer(DrawerState.editThreadBehaviorTree, false)}
             isOpen={store.drawers.find((el) => el.name === DrawerState.editThreadBehaviorTree)?.status}
+            width={window.innerWidth / 2}
           >
-            <div style={{ display: "flex", flexDirection: "column", justifyContent: "space-between", height: "100%" }}>
+            <div
+              style={{
+                display: "flex",
+                flexDirection: "column",
+                justifyContent: "space-between",
+                height: "100%",
+                overflow: "auto",
+              }}
+            >
               <div style={{ height: "100%" }}>
                 {store.skillTemplates?.getForms(store.selected ?? "").map((formType, index) =>
                   forms(
@@ -186,11 +209,13 @@ export const BehaviorTreeBuilderScreen = observer(() => {
                   )
                     .rFind<IForms>((form) => form.name.isEqual(formType))
                     .fold(
-                      (s) => (
-                        <div key={index} style={{ height: "100%" }}>
-                          {s.component}
-                        </div>
-                      ),
+                      (s) => {
+                        return (
+                          <div key={index} style={{ flex: 1 }}>
+                            {s.component}
+                          </div>
+                        );
+                      },
                       () => (
                         <div key={index + "error"} style={{ height: "100%" }}>
                           Error: Unknown form type {formType}
diff --git a/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_store.tsx b/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_store.tsx
index 126d256..f3658d3 100644
--- a/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_store.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/behavior_tree_builder_store.tsx
@@ -26,6 +26,8 @@ import { BehaviorTreeModel } from "../model/behavior_tree_model";
 import { PrimitiveViewModel, SystemPrimitive } from "../model/primitive_view_model";
 import { SceneAsset } from "../../../core/model/scene_asset";
 import { themeStore } from "../../..";
+import { RunTimeActions } from "./ui/actions/runtime_actions";
+import { ITopicModel } from "../../topics/topic_view_model";
 
 interface I2DArea {
   x: number;
@@ -37,8 +39,31 @@ interface I2DArea {
 export enum DrawerState {
   editThreadBehaviorTree = "Редактирование",
 }
+interface IActionPanel {
+  name: string;
+  selectIsClosePopover?: boolean;
+  action: (index: number) => void;
+}
+
+export class PanelBody {
+  body?: React.ReactNode;
+  size: number = 0;
+  name: string = "выберите тип панели";
+  constructor(body: React.ReactNode | undefined, name: string | undefined, size: number | undefined) {
+    makeAutoObservable(this);
+
+    if (name) this.name = name;
+    if (body) this.body = body;
+    if (size) this.size = size;
+  }
+}
 
 export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeViewModel, CoreError> {
+  panelActions: IActionPanel[] = [
+    { name: "Добавить панель", action: () => this.addNewPanel() },
+    { name: "Убрать панель", action: (index) => this.removePanel(index) },
+    { name: "Runtime", action: (index) => this.changePanel(index, "Runtime", <RunTimeActions />) },
+  ];
   sceneAsset?: SceneAsset;
   viewModel: BehaviorTreeViewModel = BehaviorTreeViewModel.empty();
   behaviorTreeModel: BehaviorTreeModel = BehaviorTreeModel.empty();
@@ -51,15 +76,15 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
   activeProject: string = "";
   behaviorTreeBuilderHttpRepository = new BehaviorTreeBuilderHttpRepository();
   canRun = true;
-  isNeedSaveBtn = false;
+  isNeedSaveBtn = true;
   selected: string = "";
   selectedSid: string = "";
   nodeBehaviorTree: NodeBehaviorTree[] = [];
-  navigate?: NavigateFunction;
   editor?: NodeEditor<Schemes>;
   areaPlugin?: AreaPlugin<Schemes, AreaExtra>;
   nodeUpdateObserver?: NodeRerenderObserver;
   primitiveViewModel: PrimitiveViewModel;
+  topics: ITopicModel[];
   skillTree: ISkillView = {
     name: "",
     children: [
@@ -70,7 +95,12 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
       },
     ],
   };
-
+  panels: PanelBody[] = [new PanelBody(undefined, undefined, undefined)];
+  addNewPanel = () => this.panels.push(new PanelBody(undefined, undefined, undefined));
+  removePanel = (index: number) =>
+    this.panels.length !== 1
+      ? (this.panels = this.panels.filter((_, i) => i !== index))
+      : message.error("должна быть хоть одна панель");
   constructor() {
     super(DrawerState);
     makeAutoObservable(this);
@@ -86,7 +116,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     this.editor = editor;
     this.areaPlugin = area;
   };
-  getAllTopics = () => this.filledOutTemplates.topicsStack;
+  getAllTopics = () => this.filledOutTemplates.topicsStack.plus(this.topics);
   errorHandingStrategy = (_: CoreError) => {};
 
   dragEnd = (e: EventTarget) => {
@@ -102,6 +132,13 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
   };
   drawSkillCheck = (x: number, y: number, name: string) => {
     const drawPoint = { x: x, y: y, w: 1, h: 1 };
+
+    console.log(
+      drawPoint.x < this.area!.x + this.area!.w &&
+        drawPoint.x + drawPoint.w > this.area!.x &&
+        drawPoint.y < this.area!.y + this.area!.h &&
+        drawPoint.y + drawPoint.h > this.area!.y
+    );
     if (
       drawPoint.x < this.area!.x + this.area!.w &&
       drawPoint.x + drawPoint.w > this.area!.x &&
@@ -115,7 +152,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
         name: name,
         id: sid,
       });
-      this.isNeedSaveBtn = true;
+
       if (!name.isEqualMany(Object.keys(SystemPrimitive))) {
         this.skillTemplates?.getSkill(name).fold(
           (skill) => {
@@ -179,7 +216,7 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
 
           await this.mapOk("sceneAsset", this.behaviorTreeBuilderHttpRepository.getSceneAsset(model.sceneId));
           this.isLoading = false;
-
+          await this.mapOk("topics", this.behaviorTreeBuilderHttpRepository.getAllTopics());
           this.reteForceUpdateObserver?.emit("");
         },
         async () => {
@@ -207,7 +244,6 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
           )
         ).fold(
           (xml) => {
-            console.log(xml);
             this.behaviorTreeModel.skills = this.filledOutTemplates;
             this.behaviorTreeModel.scene = NodeBehaviorTree.fromReteScene(
               this.editor as NodeEditor<Schemes>,
@@ -345,4 +381,11 @@ export class BehaviorTreeBuilderStore extends UiDrawerFormState<BehaviorTreeView
     );
   }
   changeSceneViewModel = (text: string) => {};
+  changePanel = (index: number, name: string, body?: React.ReactNode) => {
+    this.panels = this.panels.replacePropIndex({ name: name, body: body }, index);
+  };
+
+  panelResize = (size: number, index: number) => {
+    this.panels.replacePropIndex({ size: size }, index);
+  };
 }
diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/actions/runtime_actions.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/actions/runtime_actions.tsx
new file mode 100644
index 0000000..ea5ecde
--- /dev/null
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/actions/runtime_actions.tsx
@@ -0,0 +1,94 @@
+import { NavigateFunction, useParams } from "react-router-dom";
+import { CoreHttpRepository, HttpMethod } from "../../../../../core/repository/core_http_repository";
+import { CoreError, UiErrorState } from "../../../../../core/store/base_store";
+import { ProcessStatus } from "../../../../dataset/dataset_model";
+import makeAutoObservable from "mobx-store-inheritance";
+import { useStore } from "../../../../../core/helper/use_store";
+import { Loader } from "../../../../../core/ui/loader/loader";
+import { useEffect } from "react";
+import {
+  RunTimeSocketRepository,
+  runTimeSocketRepository,
+} from "../../../../../core/repository/core_socket_repository";
+import { observer } from "mobx-react-lite";
+interface IPid {
+  pid: string;
+}
+export interface RuntimeModel {
+  [name: string]: { pid: number; status: String };
+}
+
+export class RunTimeHttpRepository extends CoreHttpRepository {
+  feature = "/run_time";
+  stop = (model: IPid) => this._jsonRequest(HttpMethod.POST, this.feature + "/kill", model);
+  getStatuses = () => this._jsonRequest<RuntimeModel>(HttpMethod.GET, this.feature + "/status");
+  execBt = (id: string) => this._jsonRequest(HttpMethod.POST, this.feature + `/exec/bt?id=${id}`);
+}
+// export class RunTimeSocketRepository extends SockeCore {}
+export class RunTimeStore extends UiErrorState<CoreError> {
+  runTimeHttpRepository: RunTimeHttpRepository = new RunTimeHttpRepository();
+  runTimeSocketRepository: RunTimeSocketRepository = runTimeSocketRepository;
+  pageId: string;
+  runTime?: RuntimeModel = {};
+  constructor() {
+    super();
+    makeAutoObservable(this);
+    runTimeSocketRepository.on((event) => (console.log(event), (this.runTime = event)));
+  }
+  async init(navigate?: NavigateFunction | undefined): Promise<any> {
+    this.mapOk("runTime", this.runTimeHttpRepository.getStatuses());
+    this.navigate = navigate;
+  }
+
+  executeBt = () => this.runTimeHttpRepository.execBt(this.pageId);
+  initParam = (id: string) => (this.pageId = id);
+  isExecuteBt = (): boolean => {
+    if (this.runTime === undefined) {
+      return false;
+    }
+    if (
+      this.runTime["EXEC_BT"] !== undefined &&
+      this.runTime["EXEC_BT"]["status"] !== undefined &&
+      this.runTime["EXEC_BT"]["status"] === "endOk"
+    ) {
+      return false;
+    }
+    return true;
+  };
+}
+export const RunTimeActions = observer(() => {
+  const store = useStore(RunTimeStore);
+  const params = useParams();
+  useEffect(() => {
+    store.initParam(params.id as string);
+  }, []);
+  return (
+    <div style={{ width: "100%" }}>
+      {store.isLoading ? (
+        <Loader />
+      ) : (
+        <>
+          {store.isExecuteBt() ? (
+            <>
+              <div
+                style={{ justifyContent: "center", color: "white", justifySelf: "center" }}
+                onClick={() => store.executeBt()}
+              >
+                Дерево запущено
+              </div>
+            </>
+          ) : (
+            <>
+              <div
+                style={{ justifyContent: "center", color: "white", justifySelf: "center" }}
+                onClick={() => store.executeBt()}
+              >
+                Запустить дерево
+              </div>
+            </>
+          )}
+        </>
+      )}
+    </div>
+  );
+});
diff --git a/ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_form.tsx b/ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_form.tsx
index 7c5d2a5..dfffe63 100644
--- a/ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_form.tsx
+++ b/ui/src/features/behavior_tree_builder/presentation/ui/forms/form_builder/form_builder_form.tsx
@@ -19,7 +19,7 @@ export const FormBuilderForm = observer((props: IPropsForm<Partial<FormBuilderVa
   }, []);
 
   return (
-    <div style={{ overflowX: "scroll", height: "100%" }}>
+    <div style={{ overflowX: "scroll", height: "100%", flex: 1 }}>
       <div>FormBuilder</div>
       {store.isBtScreen ? (
         <div>
@@ -27,7 +27,6 @@ export const FormBuilderForm = observer((props: IPropsForm<Partial<FormBuilderVa
             formBuilder={store.viewModel}
             onChange={(form) => {
               store.viewModel = form;
-              console.log(form);
             }}
           />
           <div style={{ height: 100 }} />
@@ -81,7 +80,7 @@ export const FormBuilderForm = observer((props: IPropsForm<Partial<FormBuilderVa
               store.isModalOpen = false;
             }}
           >
-            <FormBuilder formBuilder={store.viewModel} onChange={() => {}} />
+            <FormBuilder formBuilder={store.viewModel} onChange={(form) => (console.log(form), props.onChange(form))} />
           </Modal>
         </>
       )}
diff --git a/ui/src/features/behavior_tree_manager/behavior_tree_manager_repository.ts b/ui/src/features/behavior_tree_manager/behavior_tree_manager_repository.ts
index b99cbf2..a64f732 100644
--- a/ui/src/features/behavior_tree_manager/behavior_tree_manager_repository.ts
+++ b/ui/src/features/behavior_tree_manager/behavior_tree_manager_repository.ts
@@ -4,7 +4,7 @@ import { BehaviorTreeViewModel } from "../behavior_tree_builder/model/behavior_t
 
 export class BehaviorTreeManagerHttpRepository extends CoreHttpRepository {
   featureApi = `/behavior/trees`;
-  deleteBt = (id: string) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`);
+  deleteBt = (id: string) => this._jsonRequest(HttpMethod.POST, `${this.featureApi}/delete/bt?id=${id}`);
   saveNewBt = async (model: BehaviorTreeViewModel) => this._jsonRequest(HttpMethod.POST, this.featureApi, model);
   getAllBtInstances = async () => this._jsonRequest<BehaviorTreeModel[]>(HttpMethod.GET, this.featureApi);
 }
diff --git a/ui/src/features/behavior_tree_manager/behavior_tree_manager_screen.tsx b/ui/src/features/behavior_tree_manager/behavior_tree_manager_screen.tsx
index fe8d179..482bbc2 100644
--- a/ui/src/features/behavior_tree_manager/behavior_tree_manager_screen.tsx
+++ b/ui/src/features/behavior_tree_manager/behavior_tree_manager_screen.tsx
@@ -1,6 +1,6 @@
 import { observer } from "mobx-react-lite";
 import { BehaviorTreeManagerStore } from "./behavior_tree_manager_store";
-import React from "react";
+import React, { useEffect } from "react";
 import { useStore } from "../../core/helper/use_store";
 import { ButtonV2, ButtonV2Type } from "../../core/ui/button/button_v2";
 import { CoreCard } from "../../core/ui/card/card";
@@ -16,13 +16,13 @@ export const BehaviorTreeManagerScreenPath = "/behavior/tree/manager";
 
 export const BehaviorTreeManagerScreen = observer(() => {
   const store = useStore(BehaviorTreeManagerStore);
-
+  useEffect(() => {}, []);
   return (
     <>
       <MainPageV2
         children={
           <>
-            <div style={{ height: "100%", overflowY: "auto", overflowX: "hidden" }}>
+            <div style={{ height: "100%",   }}>
               <div style={{ height: 20 }} />
               <ButtonV2
                 icon={<Icon type={"Plus"} style={{ alignSelf: "center", marginLeft: 10, marginRight: 10 }} />}
@@ -65,9 +65,13 @@ export const BehaviorTreeManagerScreen = observer(() => {
                     }}
                   />
                   <div style={{ height: 20 }} />
-                  <InputV2  trim={true} label={"Название"} onChange={(text) => store.updateForm({ name: text })} />
+                  <InputV2 trim={true} label={"Название"} onChange={(text) => store.updateForm({ name: text })} />
                   <div style={{ height: 20 }} />
-                  <InputV2 trim={true} label={"Описание"} onChange={(text) => store.updateForm({ description: text })} />
+                  <InputV2
+                    trim={true}
+                    label={"Описание"}
+                    onChange={(text) => store.updateForm({ description: text })}
+                  />
                   <div style={{ height: 20 }} />
                   <SelectV2
                     items={store.scenes?.map((el) => ({ name: el.name, value: el._id })) ?? []}
diff --git a/ui/src/features/behavior_tree_manager/behavior_tree_manager_store.ts b/ui/src/features/behavior_tree_manager/behavior_tree_manager_store.ts
index f19fc5b..4d2b069 100644
--- a/ui/src/features/behavior_tree_manager/behavior_tree_manager_store.ts
+++ b/ui/src/features/behavior_tree_manager/behavior_tree_manager_store.ts
@@ -12,7 +12,6 @@ export enum DrawerState {
 }
 export class BehaviorTreeManagerStore extends UiDrawerFormState<BehaviorTreeViewModel, CoreError> {
   viewModel: BehaviorTreeViewModel = BehaviorTreeViewModel.empty();
-  navigate?: NavigateFunction;
   btTreeModels: BehaviorTreeModel[] = [];
   scenes?: SceneModel[];
   behaviorTreeManagerHttpRepository = new BehaviorTreeManagerHttpRepository();
diff --git a/ui/src/features/calculation_instance/data/calculation_http_repository.ts b/ui/src/features/calculation_instance/data/calculation_http_repository.ts
index 90e4695..2b60a10 100644
--- a/ui/src/features/calculation_instance/data/calculation_http_repository.ts
+++ b/ui/src/features/calculation_instance/data/calculation_http_repository.ts
@@ -14,7 +14,13 @@ export interface ISkils {
 }
 
 export class CalculationHttpRepository extends CoreHttpRepository {
-  
+  async getLogs(id: string) {
+
+    await this._request(HttpMethod.GET, `/logs?id=${id}`)
+    window.location.href = 'http://localhost:4001/log.txt';
+
+  }
+
   featureApi = `/calculations/instances`;
   subFeatureApi = `/calculations/template`;
 
diff --git a/ui/src/features/calculation_instance/model/calculation_model.ts b/ui/src/features/calculation_instance/model/calculation_model.ts
index 01e1519..9fd6c2d 100644
--- a/ui/src/features/calculation_instance/model/calculation_model.ts
+++ b/ui/src/features/calculation_instance/model/calculation_model.ts
@@ -4,7 +4,9 @@ import { FormBuilderValidationModel } from "../../../core/model/form_builder_val
 
 export enum ModelMachineLearningTypes {
   OBJECT_DETECTION = "OBJECT_DETECTION",
-  POSE_ESTIMATE = "POSE_ESTIMATE",
+  POSE_ESTIMATION = "POSE_ESTIMATION",
+  BOP_DATASET = "BOP_DATASET",
+  WEIGHTS = "WEIGHTS",
 }
 
 export class CalculationModel extends ValidationModel {
diff --git a/ui/src/features/calculation_instance/presentation/calculation_instance_screen.tsx b/ui/src/features/calculation_instance/presentation/calculation_instance_screen.tsx
index fc9dec4..7a56975 100644
--- a/ui/src/features/calculation_instance/presentation/calculation_instance_screen.tsx
+++ b/ui/src/features/calculation_instance/presentation/calculation_instance_screen.tsx
@@ -28,7 +28,6 @@ export const CalculationInstanceScreenPath = "/calculation";
 
 export const CalculationInstanceScreen = observer(() => {
   const store = useStore(CalculationInstanceStore);
-
   return (
     <>
       <MainPage
@@ -60,7 +59,9 @@ export const CalculationInstanceScreen = observer(() => {
                     () => store.makeEditProcess(el),
                     () => store.deleteInstance(el._id ?? ""),
                     () => store.execSkill(el._id ?? ""),
-                    () => store.execSkill(el._id ?? "")
+                    () => store.execSkill(el._id ?? ""),
+                    () => store.changeProcessStatus(el._id ?? ""),
+                    () => store.getTxtLog(el._id ?? "")
                   )}
                 </span>
               );
@@ -94,7 +95,10 @@ export const CalculationInstanceScreen = observer(() => {
         <div style={{ display: "flex", flexDirection: "column", justifyContent: "space-between", height: "100%" }}>
           <FormBuilder
             formBuilder={store.editProcess?.formBuilder ?? FormBuilderValidationModel.empty()}
-            onChange={(formBuilder) => store.updateForm({ formBuilder: formBuilder })}
+            onChange={(formBuilder) => {
+              console.log(formBuilder);
+              store.updateForm({ formBuilder: formBuilder });
+            }}
           />
 
           <div style={{ display: "flex" }}>
@@ -134,7 +138,7 @@ export const CalculationInstanceScreen = observer(() => {
                   <CoreSelect
                     items={Object.keys(ModelMachineLearningTypes)}
                     value={store.viewModel.type}
-                    label={"Тип навыка"}
+                    label={"Тип вычисления"}
                     onChange={(text: string) => store.updateForm({ type: text })}
                   />
                   <CoreSelect
@@ -143,8 +147,16 @@ export const CalculationInstanceScreen = observer(() => {
                     label={"Тип карточки"}
                     onChange={(text: string) => store.updateForm({ card: text })}
                   />
-                  <CoreInput label="Имя" onChange={(text) => store.updateForm({ name: text })} />
-                  <CoreInput label="Команда для запуска" onChange={(text) => store.updateForm({ script: text })} />
+                  <CoreInput
+                    trim={true}
+                    label="Имя"
+                    onChange={(text) => store.updateForm({ name: text.replaceAll("\n", "") })}
+                  />
+                  <CoreInput
+                    trim={true}
+                    label="Команда для запуска"
+                    onChange={(text) => store.updateForm({ script: text.replaceAll("\n", "") })}
+                  />
                   <InputV2
                     label="FormBuilder Result"
                     onChange={(text) => (store.viewModel.formBuilder.result = text)}
@@ -206,7 +218,7 @@ export const CalculationInstanceScreen = observer(() => {
           store.isModalOpen = false;
         }}
       >
-        <FormBuilder formBuilder={store.viewModel.formBuilder} onChange={() => {}} />
+        <FormBuilder formBuilder={store.viewModel.formBuilder} onChange={(e) => {}} />
       </Modal>
     </>
   );
diff --git a/ui/src/features/calculation_instance/presentation/calculation_instance_store.tsx b/ui/src/features/calculation_instance/presentation/calculation_instance_store.tsx
index 1ca399a..bb68c7e 100644
--- a/ui/src/features/calculation_instance/presentation/calculation_instance_store.tsx
+++ b/ui/src/features/calculation_instance/presentation/calculation_instance_store.tsx
@@ -5,7 +5,7 @@ import { Drawer, UiDrawerFormState } from "../../../core/store/base_store";
 import { CalculationHttpRepository } from "../data/calculation_http_repository";
 import { message } from "antd";
 import { UUID } from "../../all_projects/data/project_http_repository";
-import { CalculationModel } from "../model/calculation_model";
+import { CalculationModel as calculationModel } from "../model/calculation_model";
 import { ProcessUpdate, CalculationSocketRepository } from "../data/calculation_socket_repository";
 import { match } from "ts-pattern";
 import { plainToInstance } from "class-transformer";
@@ -20,16 +20,17 @@ export enum StoreTypes {
   empty = "empty",
 }
 
-export class CalculationInstanceStore extends UiDrawerFormState<CalculationModel, HttpError> {
+export class CalculationInstanceStore extends UiDrawerFormState<calculationModel, HttpError> {
+  getTxtLog = (id: string) => this.calculationHttpRepository.getLogs(id);
   calculationHttpRepository: CalculationHttpRepository = new CalculationHttpRepository();
   calculationSocketRepository: CalculationSocketRepository = new CalculationSocketRepository();
   activeProjectId?: UUID;
   storeType: StoreTypes = StoreTypes.empty;
-  viewModel: CalculationModel = CalculationModel.empty();
-  modelTemplate?: CalculationModel[];
-  editProcess?: CalculationModel;
-  calculationInstances?: CalculationModel[];
-  selectTemplate?: CalculationModel;
+  viewModel: calculationModel = calculationModel.empty();
+  modelTemplate?: calculationModel[];
+  editProcess?: calculationModel;
+  calculationInstances?: calculationModel[];
+  selectTemplate?: calculationModel;
   titleDrawer: string = DrawersSkill.NEW_SKILL;
   drawers: Drawer[];
   isModalOpen: boolean = false;
@@ -41,7 +42,7 @@ export class CalculationInstanceStore extends UiDrawerFormState<CalculationModel
         status: false,
       };
     });
-    this.viewModel = CalculationModel.empty();
+    this.viewModel = calculationModel.empty();
     this.calculationSocketRepository.on(this.socketUpdate);
     makeAutoObservable(this);
   }
@@ -67,9 +68,9 @@ export class CalculationInstanceStore extends UiDrawerFormState<CalculationModel
       successMessage: "Процесс запущен",
     });
 
-  setSelectTemplate = (el: CalculationModel) => {
+  setSelectTemplate = (el: calculationModel) => {
     this.selectTemplate = el;
-    const instance = plainToInstance(CalculationModel, el);
+    const instance = plainToInstance(calculationModel, el);
     instance.instanceName = this?.viewModel.instanceName;
     this.viewModel = instance;
   };
@@ -84,7 +85,7 @@ export class CalculationInstanceStore extends UiDrawerFormState<CalculationModel
     match(this.storeType)
       .with(StoreTypes.empty, () => {})
       .with(StoreTypes.newType, async () =>
-        (await this.viewModel.valid<CalculationModel>()).fold(
+        (await this.viewModel.valid<calculationModel>()).fold(
           async (model) => {
             model.project = this.activeProjectId?.id;
 
@@ -99,7 +100,7 @@ export class CalculationInstanceStore extends UiDrawerFormState<CalculationModel
         )
       )
       .with(StoreTypes.newModel, async () => {
-        (await this.viewModel.valid<CalculationModel>()).fold(
+        (await this.viewModel.valid<calculationModel>()).fold(
           async (model) => {
             delete model._id;
             model.project = this.activeProjectId?.id;
@@ -128,20 +129,30 @@ export class CalculationInstanceStore extends UiDrawerFormState<CalculationModel
 
   saveEdiSkill = async () => {
     this.editDrawer(DrawersSkill.EDIT_SKILL, false);
-    (await this.viewModel.valid<CalculationModel>()).fold(
-      async (model) => await this.calculationHttpRepository.editCalculation(model),
+    (await this.viewModel.valid<calculationModel>()).fold(
+      async (model) => (await this.calculationHttpRepository.editCalculation(model), await this.init()),
       async (err) => message.error(err)
     );
   };
-  makeEditProcess = (el: CalculationModel) => {
+  makeEditProcess = (el: calculationModel) => {
     this.editProcess = el;
-    this.loadClassInstance(CalculationModel, el);
+    this.loadClassInstance(calculationModel, el);
     this.editDrawer(DrawersSkill.EDIT_SKILL, true);
   };
-  deleteTemplate = async (el: CalculationModel) => {
+  deleteTemplate = async (el: calculationModel) => {
     await this.messageHttp(this.calculationHttpRepository.deleteTemplate(el._id ?? ""), {
       successMessage: "Удален",
     });
     await this.mapOk("modelTemplate", this.calculationHttpRepository.getAllTemplates());
   };
+  changeProcessStatus = async (id: string) =>
+    this!
+      .calculationInstances!.whereOne((el) => el._id === id)
+      .map(
+        async (calculationModel) => (
+          (calculationModel.isEnd = !calculationModel.isEnd),
+          await this.calculationHttpRepository.editCalculation(calculationModel),
+          await this.init(undefined)
+        )
+      );
 }
diff --git a/ui/src/features/calculation_instance/presentation/ui/cards/get_model_card.tsx b/ui/src/features/calculation_instance/presentation/ui/cards/get_model_card.tsx
index 901029d..c0fdb2c 100644
--- a/ui/src/features/calculation_instance/presentation/ui/cards/get_model_card.tsx
+++ b/ui/src/features/calculation_instance/presentation/ui/cards/get_model_card.tsx
@@ -1,6 +1,6 @@
 import { match } from "ts-pattern";
 import { PoseEstimateCard } from "./pose_estimate_card/model_card";
-import { Dropdown, MenuProps, message } from "antd";
+import {   Dropdown, MenuProps,   } from "antd";
 import { CoreText, CoreTextType } from "../../../../../core/ui/text/text";
 import { IMenuItem } from "../../../../dataset/card_dataset";
 import { Icon } from "../../../../../core/ui/icons/icons";
@@ -15,7 +15,9 @@ export const getModelCard = (
   onEdit: Function,
   onDelete: Function,
   onPlay: Function,
-  onPause: Function
+  onPause: Function,
+  onChangeProcessIsEnd: Function,
+  onLog: Function
 ) => {
   const menu: IMenuItem[] = [
     {
@@ -26,6 +28,10 @@ export const getModelCard = (
       onClick: () => onDelete(),
       name: "Удалить",
     },
+    {
+      onClick: () => onChangeProcessIsEnd(),
+      name: calculationModel.isEnd ? "Вернуть на доработку" : "Завершить",
+    },
   ];
 
   const items: MenuProps["items"] = menu.map((el, index) => {
@@ -63,7 +69,8 @@ export const getModelCard = (
           <Icon
             type="Log"
             onClick={async () =>
-              window.prompt("Copy to clipboard: Ctrl+C, Enter", calculationModel.lastProcessLogs ?? "Not found logs")
+              // window.prompt("Copy to clipboard: Ctrl+C, Enter", calculationModel.lastProcessLogs ?? "Not found logs")
+              onLog()
             }
           />
           <Icon
diff --git a/ui/src/features/calculation_instance/presentation/ui/cards/pose_estimate_card/model_card.tsx b/ui/src/features/calculation_instance/presentation/ui/cards/pose_estimate_card/model_card.tsx
index f619f93..079cd8c 100644
--- a/ui/src/features/calculation_instance/presentation/ui/cards/pose_estimate_card/model_card.tsx
+++ b/ui/src/features/calculation_instance/presentation/ui/cards/pose_estimate_card/model_card.tsx
@@ -26,7 +26,6 @@ export class PoseEstimateRepository extends HttpRepository {
   execAnalyze = (id: string) => this._jsonRequest(HttpMethod.POST, `/run_time/exec/analyze?id=${id}`);
 }
 export class PoseEstimateStore extends UiErrorState<any> {
-  navigate?: NavigateFunction;
   poseEstimateRepository = new PoseEstimateRepository();
   constructor() {
     super();
diff --git a/ui/src/features/skills/skills_screen.tsx b/ui/src/features/skills/skills_screen.tsx
index 894fc56..216604e 100644
--- a/ui/src/features/skills/skills_screen.tsx
+++ b/ui/src/features/skills/skills_screen.tsx
@@ -12,7 +12,6 @@ import { useStore } from "../../core/helper/use_store";
 import { FormBuilder } from "../../core/ui/form_builder/form_builder";
 import { ButtonV2 } from "../../core/ui/button/button_v2";
 import { Result } from "../../core/helper/result";
-import { plainToInstance } from "class-transformer";
 
 export const isValidJson = <T,>(json: any): Result<string, T> => {
   try {
@@ -288,3 +287,4 @@ export const SkillsScreen = observer(() => {
     </>
   );
 });
+ 
\ No newline at end of file
diff --git a/ui/src/features/topics/topic_view_model.ts b/ui/src/features/topics/topic_view_model.ts
index 44c8bc2..74551db 100644
--- a/ui/src/features/topics/topic_view_model.ts
+++ b/ui/src/features/topics/topic_view_model.ts
@@ -21,6 +21,7 @@ export class TopicViewModel extends ValidationModel {
 export interface ITopicModel {
   digitalTwinId?: string;
   sid?: string;
+  _id?: string;
   name: string;
   type: string;
 }
diff --git a/ui/src/features/topics/topics_repository.ts b/ui/src/features/topics/topics_repository.ts
index 852926b..e06412c 100644
--- a/ui/src/features/topics/topics_repository.ts
+++ b/ui/src/features/topics/topics_repository.ts
@@ -1,6 +1,9 @@
-import { HttpMethod, HttpRepository } from "../../core/repository/core_http_repository";
+import { CoreHttpRepository, HttpMethod, HttpRepository } from "../../core/repository/core_http_repository";
+import { TopicViewModel } from "./topic_view_model";
 
-export class TopicsHttpRepository extends HttpRepository {
+export class TopicsHttpRepository extends CoreHttpRepository {
+  deleteTopic = (id: any) => this._jsonRequest(HttpMethod.DELETE, `${this.featureApi}?id=${id}`);
   featureApi = "/topics";
-  getAllTopics = () => this._jsonRequest(HttpMethod.GET, this.featureApi);
+  createTopics = (model: TopicViewModel) => this._jsonRequest(HttpMethod.POST, this.featureApi, model);
+
 }
diff --git a/ui/src/features/topics/topics_screen.tsx b/ui/src/features/topics/topics_screen.tsx
index 2fb82c8..f61fc7b 100644
--- a/ui/src/features/topics/topics_screen.tsx
+++ b/ui/src/features/topics/topics_screen.tsx
@@ -2,6 +2,11 @@ import React from "react";
 import { observer } from "mobx-react-lite";
 import { TopicsStore } from "./topics_store";
 import { useStore } from "../../core/helper/use_store";
+import { CoreButton } from "../../core/ui/button/button";
+import { CoreModal } from "../../core/ui/modal/modal";
+import { InputV2 } from "../../core/ui/input/input_v2";
+import { CoreText, CoreTextType } from "../../core/ui/text/text";
+import { CoreInput } from "../../core/ui/input/input";
 
 export const TopicsScreenPath = "/topics";
 
@@ -10,12 +15,43 @@ export const TopicsScreen = observer(() => {
 
   return (
     <>
+      <div style={{ display: "flex" }}>
+        <CoreButton text="добавить новый топик" style={{ width: 200 }} onClick={() => store.modalShow()} />
+        <CoreButton text="импорт топика" style={{ width: 200 }} onClick={() => store.openTopicModal()} />
+      </div>
       {store.topics?.map((el) => (
         <div style={{ margin: 10, border: "1px solid red" }}>
+          <CoreText text="Delete" type={CoreTextType.header} onClick={() => store.deleteTopic(el._id ?? "")} />
+          <CoreText
+            text="Copy"
+            type={CoreTextType.header}
+            onClick={() => window.prompt("Copy to clipboard: Ctrl+C, Enter", JSON.stringify(el))}
+          />
+
           <div>{el.name}</div>
           <div>{el.type}</div>
         </div>
       ))}
+      <CoreModal
+        isOpen={store.isModalOpen}
+        onClose={() => store.modalCancel()}
+        children={
+          <div>
+            <InputV2 label={"type"} onChange={(text) => store.updateForm({ type: text })} />
+            <InputV2 label={"name"} onChange={(text) => store.updateForm({ name: text })} />
+            <CoreButton text="new" onClick={() => store.createTopic()} />
+          </div>
+        }
+      />
+      <CoreModal
+        isOpen={store.importTopicModal}
+        onClose={() => store.cancelImportTopicModal()}
+        children={
+          <div>
+            <InputV2 onChange={(text) => store.importTopic(text)} label="import" />
+          </div>
+        }
+      />
     </>
   );
 });
diff --git a/ui/src/features/topics/topics_store.ts b/ui/src/features/topics/topics_store.ts
index eb680b1..d9e4157 100644
--- a/ui/src/features/topics/topics_store.ts
+++ b/ui/src/features/topics/topics_store.ts
@@ -6,14 +6,35 @@ import { NavigateFunction } from "react-router-dom";
 import { TopicsHttpRepository } from "./topics_repository";
 
 export class TopicsStore extends FormState<TopicModel, HttpError> {
+  importTopic(text: string): void {
+    this.loadClassInstance(TopicModel, JSON.parse(text))
+
+    this.createTopic()
+  }
+
+
   viewModel: TopicModel = TopicModel.empty();
   topics?: ITopicModel[];
   topicsHttpRepository: TopicsHttpRepository = new TopicsHttpRepository();
+  importTopicModal = false;
   constructor() {
     super();
     makeAutoObservable(this);
   }
   init = async (navigate?: NavigateFunction | undefined) => {
+    this.modalCancel();
+    this.importTopicModal = false;
     await this.mapOk("topics", this.topicsHttpRepository.getAllTopics());
   };
+  cancelImportTopicModal = () => {
+    this.importTopicModal = false;
+  }
+  openTopicModal = () => {
+    this.importTopicModal = true;
+  }
+  deleteTopic = async (id: string) => (await (this.topicsHttpRepository.deleteTopic(id))).map(() => this.init());
+  createTopic = async () =>
+    (await this.viewModel.validMessage<TopicModel>()).map(async (model) =>
+      (await this.topicsHttpRepository.createTopics(model)).map(() => this.init())
+    );
 }
diff --git a/ui/src/index.tsx b/ui/src/index.tsx
index a8d3fea..a2b72f7 100644
--- a/ui/src/index.tsx
+++ b/ui/src/index.tsx
@@ -7,6 +7,7 @@ import { RouterProvider } from "react-router-dom";
 import { router } from "./core/routers/routers";
 import { configure } from "mobx";
 import { ThemeStore } from "./core/store/theme_store";
+import { FormBuildTest } from "./core/ui/form_builder/test";
 
 configure({
   enforceActions: "never",
@@ -22,5 +23,6 @@ root.render(
     <SocketListener>
       <RouterProvider router={router} />
     </SocketListener>
+    {/* <FormBuildTest /> */}
   </>
 );
diff --git a/web_p/camera_info_topic.json b/web_p/camera_info_topic.json
new file mode 100644
index 0000000..f7006fd
--- /dev/null
+++ b/web_p/camera_info_topic.json
@@ -0,0 +1,6 @@
+{
+    "_id": "67b43b59ba78351d1a11d74a",
+    "name": "/rgbd_camera/camera_info",
+    "type": "sensor_msgs/msg/CameraInfo",
+    "__v": 0
+}
\ No newline at end of file
diff --git a/web_p/image_topic.json b/web_p/image_topic.json
new file mode 100644
index 0000000..b8a7e1a
--- /dev/null
+++ b/web_p/image_topic.json
@@ -0,0 +1,6 @@
+{
+    "_id": "67b43b20ba78351d1a11d747",
+    "name": "/rgbd_camera/image",
+    "type": "sensor_msgs/msg/Image",
+    "__v": 0
+}
\ No newline at end of file
diff --git a/web_p/models_dope.py b/web_p/models_dope.py
new file mode 100755
index 0000000..0c89004
--- /dev/null
+++ b/web_p/models_dope.py
@@ -0,0 +1,196 @@
+"""
+NVIDIA from jtremblay@gmail.com
+"""
+
+# Networks
+import torch
+import torch
+import torch.nn as nn
+import torch.nn.parallel
+import torch.utils.data
+import torchvision.models as models
+
+
+class DopeNetwork(nn.Module):
+    def __init__(
+        self,
+        pretrained=False,
+        numBeliefMap=9,
+        numAffinity=16,
+        stop_at_stage=6,  # number of stages to process (if less than total number of stages)
+    ):
+        super(DopeNetwork, self).__init__()
+
+        self.stop_at_stage = stop_at_stage
+
+        vgg_full = models.vgg19(pretrained=False).features
+        self.vgg = nn.Sequential()
+        for i_layer in range(24):
+            self.vgg.add_module(str(i_layer), vgg_full[i_layer])
+
+        # Add some layers
+        i_layer = 23
+        self.vgg.add_module(
+            str(i_layer), nn.Conv2d(512, 256, kernel_size=3, stride=1, padding=1)
+        )
+        self.vgg.add_module(str(i_layer + 1), nn.ReLU(inplace=True))
+        self.vgg.add_module(
+            str(i_layer + 2), nn.Conv2d(256, 128, kernel_size=3, stride=1, padding=1)
+        )
+        self.vgg.add_module(str(i_layer + 3), nn.ReLU(inplace=True))
+
+        # print('---Belief------------------------------------------------')
+        # _2 are the belief map stages
+        self.m1_2 = DopeNetwork.create_stage(128, numBeliefMap, True)
+        self.m2_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m3_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m4_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m5_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+        self.m6_2 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numBeliefMap, False
+        )
+
+        # print('---Affinity----------------------------------------------')
+        # _1 are the affinity map stages
+        self.m1_1 = DopeNetwork.create_stage(128, numAffinity, True)
+        self.m2_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m3_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m4_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m5_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+        self.m6_1 = DopeNetwork.create_stage(
+            128 + numBeliefMap + numAffinity, numAffinity, False
+        )
+
+    def forward(self, x):
+        """Runs inference on the neural network"""
+
+        out1 = self.vgg(x)
+
+        out1_2 = self.m1_2(out1)
+        out1_1 = self.m1_1(out1)
+
+        if self.stop_at_stage == 1:
+            return [out1_2], [out1_1]
+
+        out2 = torch.cat([out1_2, out1_1, out1], 1)
+        out2_2 = self.m2_2(out2)
+        out2_1 = self.m2_1(out2)
+
+        if self.stop_at_stage == 2:
+            return [out1_2, out2_2], [out1_1, out2_1]
+
+        out3 = torch.cat([out2_2, out2_1, out1], 1)
+        out3_2 = self.m3_2(out3)
+        out3_1 = self.m3_1(out3)
+
+        if self.stop_at_stage == 3:
+            return [out1_2, out2_2, out3_2], [out1_1, out2_1, out3_1]
+
+        out4 = torch.cat([out3_2, out3_1, out1], 1)
+        out4_2 = self.m4_2(out4)
+        out4_1 = self.m4_1(out4)
+
+        if self.stop_at_stage == 4:
+            return [out1_2, out2_2, out3_2, out4_2], [out1_1, out2_1, out3_1, out4_1]
+
+        out5 = torch.cat([out4_2, out4_1, out1], 1)
+        out5_2 = self.m5_2(out5)
+        out5_1 = self.m5_1(out5)
+
+        if self.stop_at_stage == 5:
+            return [out1_2, out2_2, out3_2, out4_2, out5_2], [
+                out1_1,
+                out2_1,
+                out3_1,
+                out4_1,
+                out5_1,
+            ]
+
+        out6 = torch.cat([out5_2, out5_1, out1], 1)
+        out6_2 = self.m6_2(out6)
+        out6_1 = self.m6_1(out6)
+
+        return [out1_2, out2_2, out3_2, out4_2, out5_2, out6_2], [
+            out1_1,
+            out2_1,
+            out3_1,
+            out4_1,
+            out5_1,
+            out6_1,
+        ]
+
+    @staticmethod
+    def create_stage(in_channels, out_channels, first=False):
+        """Create the neural network layers for a single stage."""
+
+        model = nn.Sequential()
+        mid_channels = 128
+        if first:
+            padding = 1
+            kernel = 3
+            count = 6
+            final_channels = 512
+        else:
+            padding = 3
+            kernel = 7
+            count = 10
+            final_channels = mid_channels
+
+        # First convolution
+        model.add_module(
+            "0",
+            nn.Conv2d(
+                in_channels, mid_channels, kernel_size=kernel, stride=1, padding=padding
+            ),
+        )
+
+        # Middle convolutions
+        i = 1
+        while i < count - 1:
+            model.add_module(str(i), nn.ReLU(inplace=True))
+            i += 1
+            model.add_module(
+                str(i),
+                nn.Conv2d(
+                    mid_channels,
+                    mid_channels,
+                    kernel_size=kernel,
+                    stride=1,
+                    padding=padding,
+                ),
+            )
+            i += 1
+
+        # Penultimate convolution
+        model.add_module(str(i), nn.ReLU(inplace=True))
+        i += 1
+        model.add_module(
+            str(i), nn.Conv2d(mid_channels, final_channels, kernel_size=1, stride=1)
+        )
+        i += 1
+
+        # Last convolution
+        model.add_module(str(i), nn.ReLU(inplace=True))
+        i += 1
+        model.add_module(
+            str(i), nn.Conv2d(final_channels, out_channels, kernel_size=1, stride=1)
+        )
+        i += 1
+
+        return model
diff --git a/web_p/od_skill.json b/web_p/od_skill.json
new file mode 100644
index 0000000..34d2e50
--- /dev/null
+++ b/web_p/od_skill.json
@@ -0,0 +1,87 @@
+{
+    "_id": "67b33b15f3412f3530fdb337",
+    "bgColor": "rgba(5, 26, 39, 1)",
+    "borderColor": "rgba(25, 130, 196, 1)",
+    "SkillPackage": { "name": "Robossembler", "version": "1", "format": "1.0" },
+    "Module": { "node_name": "lc_yolo", "name": "ObjectDetection", "description": "Object detection skill with YOLOv8" },
+    "BTAction": [
+        {
+            "name": "odConfigure",
+            "type": "run",
+            "param": [
+                {
+                    "type": "topic",
+                    "dependency": {
+                        "type": "topic",
+                        "topicType": "sensor_msgs/msg/CameraInfo"
+                    },
+                    "isFilled": false
+                },
+                {
+                    "type": "topic",
+                    "dependency": {
+                        "type": "topic",
+                        "topicType": "sensor_msgs/msg/Image"
+                    },
+                    "isFilled": false
+                },
+                {
+                    "type": "formBuilder",
+                    "dependency": {
+                        "result": "{\"process\":\\${<SelectProcess/>:OBJECT:{\"type\":\"WEIGHTS\"},\"object_name\":\\${object_name:string:}}",
+                        "context": "",
+                        "form": [],
+                        "output": "",
+                        "type": "formBuilder"
+                    },
+                    "isFilled": false
+                }
+            ],
+            "typeAction": "ACTION"
+        },
+        {
+            "name": "odStop",
+            "type": "stop",
+            "param": [],
+            "typeAction": "ACTION"
+        },
+        {
+            "name": "isDetectionRun",
+            "type": "if",
+            "param": [],
+            "typeAction": "CONDITION"
+        },
+        {
+            "name": "isDetection",
+            "type": "if",
+            "param": [],
+            "typeAction": "CONDITION"
+        }
+    ],
+    "topicsOut": [
+        {
+            "name": "lc_yolo/object_detection",
+            "type": "rbs_skill_interfaces/msg/BoundBox"
+        },
+        {
+            "name": "lc_yolo/detect_image",
+            "type": "sensor_msgs/msg/Image"
+        }
+    ],
+    "Launch": {
+        "executable": "od_yolo_lc.py",
+        "package": "rbss_objectdetection"
+    },
+    "Settings": {
+        "result": "{\"params\": \\${ITEM:Array<ITEM>:[]}}",
+        "context": "type ITEM = {\"name\": \\${NAME:string:default},\"value\": \\${VALUE:string:default}};",
+        "form": [
+            "{\"name\":\"ITEM\",\"type\":\"Array\",\"defaultValue\":\"[]\",\"values\":[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"fa8b442a-101b-448b-b5fd-55ad64f8e578\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"c59b86d8-a54b-42da-b2bf-5fdfeff7f711\"}],\"totalValue\":[],\"isOpen\":true,\"subType\":\"ITEM\",\"id\":\"8be7af67-5860-4a3f-bdab-09c75a53bff7\"}"
+        ],
+        "output": {
+            "params": []
+        },
+        "type": "formBuilder"
+    },
+    "__v": 0
+}
\ No newline at end of file
diff --git a/web_p/rbs_train2.py b/web_p/rbs_train2.py
new file mode 100644
index 0000000..f72257d
--- /dev/null
+++ b/web_p/rbs_train2.py
@@ -0,0 +1,64 @@
+"""
+  rbs_train2
+  Общая задача: web-service pipeline
+  Реализуемая функция: обучение нейросетевой модели по заданному BOP-датасету
+
+    python3 $PYTHON_EDUCATION --path /home/user/webservice/server/build/public/process/proc/inst_proc \
+        --form /home/user/webservice/server/build/public/process/proc/inst_proc/form.json
+
+  28.01.2025 @shalenikol release 0.1
+  17.02.2025 @shalenikol release 0.2 addon_dir
+"""
+import argparse
+import os
+import json
+from train_Yolo import train_YoloV8
+from train_Dope import train_Dope_i
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--path", required=True, help="Output path for weights")
+    parser.add_argument("--form", required=True, help="Json-file with training parameters")
+    args = parser.parse_args()
+
+    if not os.path.isdir(args.path):
+        print(f"Invalid output path '{args.path}'")
+        exit(-1)
+    wname = os.path.basename(args.path)
+    outpath = os.path.dirname(args.path)
+
+    if not os.path.isfile(args.form):
+        print(f"Error: no such file '{args.form}'")
+        exit(-2)
+    with open(args.form, "r") as f:
+        j_data = f.read()
+    try:
+        cfg = json.loads(j_data)
+    except json.JSONDecodeError as e:
+        print(f"JSon error: {e}")
+        exit(-3)
+
+    cfg = cfg["output"] # edited params
+    dataset_params = cfg["process"]["selectProcess"]["value"]
+    dataset_type = dataset_params["type"]
+    if dataset_type != "BOP_DATASET":
+        print(f"Error: Invalid dataset type '{dataset_type}'")
+        exit(-4)
+    dataset_name = dataset_params["instanceName"]
+    dataset_path = dataset_params["path"]
+    dataset_path = dataset_path.replace("//", "/") # !!! TODO !!! Nikita
+
+    epoch = cfg["n_epoch"]
+    pretrain = (cfg["pretrain"] == "True") #False
+    ttype = cfg["typeWeight"] #"ObjectDetection"
+
+    addon_dir = ""
+    if "addon" in cfg:
+        addon = cfg["addon"].strip()
+        if addon and os.path.isdir(addon):
+            addon_dir = addon
+
+    if ttype == "ObjectDetection":
+        train_YoloV8(dataset_path, wname, dataset_name, outpath, epoch, pretrain, addon_dir)
+    else:
+        train_Dope_i(dataset_path, wname, dataset_name, outpath, epoch, pretrain)
diff --git a/web_p/renderBOPdataset2.py b/web_p/renderBOPdataset2.py
index 61cdf90..3a037fd 100755
--- a/web_p/renderBOPdataset2.py
+++ b/web_p/renderBOPdataset2.py
@@ -8,6 +8,7 @@ import blenderproc as bproc
   02.05.2024 @shalenikol release 0.1
   02.07.2024 @shalenikol release 0.2
   28.10.2024 @shalenikol release 0.3
+  28.02.2025 @shalenikol release 0.4 blenderproc 2.8.0 + blender 4.2.1 LTS
 """
 import numpy as np
 import argparse
@@ -16,17 +17,32 @@ import os
 import shutil
 import json
 from pathlib import Path
+import time
+
+###########################
+# !!! чтобы избежать ошибки в версии 2.8.0
+# free(): invalid pointer
+# при вызове bproc.writer.write_bop
+import pyrender
+from pyrender.platforms import egl
+###########################
+
+start_time = time.time()  # Запоминаем время начала
 
 import bpy
 
 VHACD_PATH = "blenderproc_resources/vhacd"
 DIR_MODELS = "models"
-DIR_MESH = "assets/libs/objects/"
+# DIR_MESH = "assets/libs/objects/"
 FILE_LOG_SCENE = "res.txt"
 FILE_RBS_INFO = "rbs_info.json"
 FILE_GT_COCO = "scene_gt_coco.json"
-EXT_MODELS = ".fbx"
+FILE_PARAMS = "form.json"
+PROCEDURAL_TEXTURE = "texture_path" # key in randomization params: for texture types (Noise Textures), (Procedural Patterns) or (Tileable Textures)
+EXT_MODELS = ".fbx" # for scene objects (floor ...)
+DETAIL_KEY = "daeUrl" # "fbx" # key in dict 'Detail' for mesh path of model
 TEXTURE_TMPL = "*.jpg"
+TEXTURE_IMAGE_TYPES = ["Base Color", "Metallic", "Normal", "Roughness", "Specular IOR Level"]
 
 Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует
 
@@ -57,19 +73,50 @@ def convert2relative(height, width, bbox):
     y += h/2
     return x/width, y/height, w/width, h/height
 
+def convert_seconds(total_seconds):
+    hours = int(total_seconds // 3600)
+    minutes = int((total_seconds % 3600) // 60)
+    seconds = int(total_seconds % 60)
+    return f"{hours:02}:{minutes:02}:{seconds:02}"
+
 def render() -> int:
+    res_dir = rnd_par.output_dir
+    log_dir = os.path.dirname(res_dir)
+    # copy file with randomization params
+    file_params = os.path.join(res_dir, FILE_PARAMS)
+    if os.path.isfile(file_params):
+        shutil.copy2(file_params, log_dir)
+
+    if os.path.isdir(res_dir):
+        shutil.rmtree(res_dir)
+
     i = 0
     for obj in all_meshs:
         # Make the object actively participate in the physics simulation
         obj.enable_rigidbody(active=True, collision_shape="COMPOUND")
         # Also use convex decomposition as collision shapes
         obj.build_convex_decomposition_collision_shape(VHACD_PATH)
+
+        # # это для procedural texture, но пока не правильно
+        # fn = (os.path.splitext(rnd_par.models.filenames[i]))[0] + ".jpg" # файл с текстурой
+        # if os.path.isfile(fn):
+        #     material = bproc.material.create_material_from_texture(fn, material_name="texture_model"+str(i))
+        #     # Применяем текстуру к материалу
+        #     obj.replace_materials(material)
+        tex = rnd_par.models.textures[i] # описание текстур
+        if tex["is"]:
+            mat = bproc.material.create("m"+str(i))
+            for x in tex["t_images"]:
+                key = list(x.keys())[0]
+                mat.set_principled_shader_value(key, bpy.data.images.load(filepath=x[key]))
+            obj.replace_materials(mat)
+
         i += 1
         # print(f"{i} : {obj.get_name()}")
 
     objs = all_meshs + rnd_par.scene.objs
 
-    log_txt = os.path.join(os.path.dirname(rnd_par.output_dir), FILE_LOG_SCENE)
+    log_txt = os.path.join(log_dir, FILE_LOG_SCENE)
     with open(log_txt, "w") as fh:
         for i,o in enumerate(objs):
             loc = o.get_location()
@@ -91,23 +138,21 @@ def render() -> int:
                                                     rnd_par.image_size_wh[1],
                                                     lens_unit="FOV")
 
+    # Enable transparency so the background becomes transparent
+    bproc.renderer.set_output_format(enable_transparency=True) # ???
     # add segmentation masks (per class and per instance)
     bproc.renderer.enable_segmentation_output(map_by=["category_id", "instance", "name"])
 
     # activate depth rendering
     bproc.renderer.enable_depth_output(activate_antialiasing=False)
 
-    # res_dir = os.path.join(rnd_par.output_dir, rnd_par.ds_name)
-    res_dir = rnd_par.output_dir
-    if os.path.isdir(res_dir):
-        shutil.rmtree(res_dir)
     # Цикл рендеринга
     # Do multiple times: Position the shapenet objects using the physics simulator and render X images with random camera poses
     for r in range(rnd_par.n_series):
         print(f"********** Series : {r+1}")
-        is_texture = True if "texture_path" in rnd_par.models_randomization else False
+        is_texture = True if PROCEDURAL_TEXTURE in rnd_par.models_randomization else False
         if is_texture:
-            val = rnd_par.models_randomization["texture_path"]
+            val = rnd_par.models_randomization[PROCEDURAL_TEXTURE]
             l_texture = _get_list_texture(val)
             image = bpy.data.images.load(filepath=str(l_texture[r % len(l_texture)]))
         # один случайный объект в кадре / все заданные объекты
@@ -125,16 +170,32 @@ def render() -> int:
 
         for i,o in enumerate(rnd_par.scene.objs): # объекты сцены
             rnd_mat = rnd_par.scene.obj_data[i]["material_randomization"]
+
+            # if PROCEDURAL_TEXTURE in rnd_mat: # путь к текстурам (*.jpg)
+            #     mat = bproc.material.create("m"+str(i))
+            #     # for x in tex["t_images"]:
+            #     #     key = list(x.keys())[0]
+            #     val = rnd_mat[PROCEDURAL_TEXTURE]
+            #     val = _get_list_texture(val)
+            #     image = bpy.data.images.load(filepath=str(random.choice(val)))
+            #     mat.set_principled_shader_value("Base Color", image)
+            #     o.replace_materials(mat)
+
             mats = o.get_materials() #[0]
             for mat in mats:
+
+                # with open(log_txt, "a") as fh:
+                #     fh.write("************* mat\n")
+                #     fh.write(f"{mat}\n")
+
                 val = rnd_mat["specular"]
-                mat.set_principled_shader_value("Specular", random.uniform(val[0], val[1]))
+                mat.set_principled_shader_value("Specular IOR Level", random.uniform(val[0], val[1])) # для Blender < 4.2 было "Specular"
                 val = rnd_mat["roughness"]
                 mat.set_principled_shader_value("Roughness", random.uniform(val[0], val[1]))
                 val = rnd_mat["metallic"]
                 mat.set_principled_shader_value("Metallic", random.uniform(val[0], val[1]))
-                if "texture_path" in rnd_mat: # путь к текстурам (*.jpg)
-                    val = rnd_mat["texture_path"]
+                if PROCEDURAL_TEXTURE in rnd_mat: # путь к текстурам (*.jpg)
+                    val = rnd_mat[PROCEDURAL_TEXTURE]
                     val = _get_list_texture(val)
                     image = bpy.data.images.load(filepath=str(random.choice(val)))
                     mat.set_principled_shader_value("Base Color", image)
@@ -156,7 +217,7 @@ def render() -> int:
         # Define a function that samples 6-DoF poses
         def sample_pose(obj: bproc.types.MeshObject):
             obj.set_location(np.random.uniform(rnd_par.loc_range_low, rnd_par.loc_range_high)) #[-1, -1, 0], [1, 1, 2]))
-            obj.set_rotation_euler(bproc.sampler.uniformSO3())
+            obj.set_rotation_euler(bproc.sampler.uniformSO3(around_x=rnd_par.around_x, around_y=rnd_par.around_y, around_z=rnd_par.around_z))
 
         # Sample the poses of all shapenet objects above the ground without any collisions in-between
         bproc.object.sample_poses(meshs,
@@ -232,7 +293,12 @@ def render() -> int:
         rec["name"] = objn
         rec["model"] = os.path.join(DIR_MODELS, os.path.split(rnd_par.models.filenames[i])[1]) # путь относительный
         t = [obj.get_bound_box(local_coords=True).tolist() for obj in all_meshs if obj.get_name() == objn]
-        rec["cuboid"] = t[0]
+        if len(t) > 0:
+            rec["cuboid"] = t[0]
+        else: # object name does not match file name
+            rec["Error"] = "!!! object name does not match file name: cuboid is zero"
+            rec["cuboid"] = np.zeros((8, 3)).tolist()
+
         data.append(rec)
         shutil.copy2(rnd_par.models.filenames[i], models_dir)
         f = (os.path.splitext(rnd_par.models.filenames[i]))[0] + ".mtl" # файл материала
@@ -283,9 +349,37 @@ def render() -> int:
 
     if Not_Categories_Name:
         explore(res_dir)
+
+    end_time = time.time()  # время окончания
+    execution_time = end_time - start_time  # время выполнения
+    with open(log_txt, "a") as fh:
+        fh.write("*****************\n")
+        fh.write(f"Время выполнения: {convert_seconds(execution_time)}\n")
     return 0 # success
 
-def _get_models(par, data) -> int:
+def set_texture_model(name: str, textures: list, model_d) -> None:
+    """
+        textures заполняется массивом текстур вида:
+        [{"is": True, "t_images": [{"Base Color":"/path/to/shkaf_d.png"}, {"Normal":"/path/to/shkaf_n.png"}] }, ... ]
+    """
+    d = {"is": False}
+    if "models" in model_d:
+        for model in model_d["models"]:
+            if model["name"] == name:
+                path = model["texture_dir"].strip()
+                if path:
+                    t_images = []
+                    for x in TEXTURE_IMAGE_TYPES:
+                        if x in model:
+                            rel_path = model[x].strip()
+                            if rel_path:
+                                t_images.append({x: os.path.join(path, rel_path)})
+                    if len(t_images):
+                        d["is"] = True
+                        d["t_images"] = t_images
+    textures.append(d)
+
+def _get_models(par, data, models_data) -> int:
     global all_meshs
 
     par.models = lambda: None
@@ -294,13 +388,14 @@ def _get_models(par, data) -> int:
         return 0 # no models
 
     # загрузим объекты
-    par.models.names = []     # obj_names
-    par.models.filenames = [] # obj_filenames
+    par.models.names = []
+    par.models.filenames = []
+    par.models.textures = []
     i = 1
     for f in data:
         nam = f["name"]
         par.models.names.append(nam)
-        ff = f["fbx"] # _get_path_model(nam)
+        ff = f[DETAIL_KEY] # _get_path_model(nam)
         par.models.filenames.append(ff)
         if not os.path.isfile(ff):
             print(f"Error: no such file '{ff}'")
@@ -311,6 +406,7 @@ def _get_models(par, data) -> int:
         obj = bproc.loader.load_obj(ff)
         all_meshs += obj
         obj[0].set_cp("category_id", i) # начиная с 1
+        set_texture_model(nam, par.models.textures, models_data)
         i += 1
     return par.models.n_item
 
@@ -370,8 +466,6 @@ if __name__ == "__main__":
         print(f"JSon error: {e}")
         exit(-2)
 
-    # output_dir = args.path
-
     ds_cfg = cfg["output"] # dataset config
     generation = ds_cfg["generation"]
     cam_pos = ds_cfg["camera_position"]
@@ -399,11 +493,14 @@ if __name__ == "__main__":
     rnd_par.models_randomization = models_randomization
     rnd_par.loc_range_low = models_randomization["loc_range_low"]
     rnd_par.loc_range_high = models_randomization["loc_range_high"]
+    rnd_par.around_x = (models_randomization["around_x"] == "True")
+    rnd_par.around_y = (models_randomization["around_y"] == "True")
+    rnd_par.around_z = (models_randomization["around_z"] == "True")
 
     bproc.init()
     
     all_meshs = []
-    if _get_models(rnd_par, rnd_par.dataset_objs) <= 0:
+    if _get_models(rnd_par, rnd_par.dataset_objs, models_randomization) <= 0:
         print("Error: no models in config")
         exit(-4)
     if _get_scene(rnd_par, ds_cfg["scene"]) <= 0:
diff --git a/web_p/train/F1_curve.png b/web_p/train/F1_curve.png
deleted file mode 100644
index 1a4e9ca..0000000
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diff --git a/web_p/train/PR_curve.png b/web_p/train/PR_curve.png
deleted file mode 100644
index c961c64..0000000
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diff --git a/web_p/train/P_curve.png b/web_p/train/P_curve.png
deleted file mode 100644
index b62292b..0000000
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diff --git a/web_p/train/R_curve.png b/web_p/train/R_curve.png
deleted file mode 100644
index 757d47e..0000000
Binary files a/web_p/train/R_curve.png and /dev/null differ
diff --git a/web_p/train/args.yaml b/web_p/train/args.yaml
deleted file mode 100644
index f69a613..0000000
--- a/web_p/train/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-task: detect
-mode: train
-model: /home/shalenikol/fork_work/webservice/server/build/public/4c4f3909-74b0-4206-aec1-fc4acd3a1081/weights/od_w01/yolov8n.pt
-data: /home/shalenikol/fork_work/webservice/server/build/public/4c4f3909-74b0-4206-aec1-fc4acd3a1081/weights/od_w01/rbs_train.yaml
-epochs: 33
-time: null
-patience: 50
-batch: 16
-imgsz: 640
-save: true
-save_period: -1
-cache: false
-device: null
-workers: 8
-project: /home/shalenikol/fork_work/webservice/server/build/public/4c4f3909-74b0-4206-aec1-fc4acd3a1081/weights/od_w01
-name: train
-exist_ok: false
-pretrained: true
-optimizer: auto
-verbose: true
-seed: 0
-deterministic: true
-single_cls: false
-rect: false
-cos_lr: false
-close_mosaic: 10
-resume: false
-amp: true
-fraction: 1.0
-profile: false
-freeze: null
-multi_scale: false
-overlap_mask: true
-mask_ratio: 4
-dropout: 0.0
-val: true
-split: val
-save_json: false
-save_hybrid: false
-conf: null
-iou: 0.7
-max_det: 300
-half: false
-dnn: false
-plots: true
-source: null
-vid_stride: 1
-stream_buffer: false
-visualize: false
-augment: false
-agnostic_nms: false
-classes: null
-retina_masks: false
-embed: null
-show: false
-save_frames: false
-save_txt: false
-save_conf: false
-save_crop: false
-show_labels: true
-show_conf: true
-show_boxes: true
-line_width: null
-format: torchscript
-keras: false
-optimize: false
-int8: false
-dynamic: false
-simplify: false
-opset: null
-workspace: 4
-nms: false
-lr0: 0.01
-lrf: 0.01
-momentum: 0.937
-weight_decay: 0.0005
-warmup_epochs: 3.0
-warmup_momentum: 0.8
-warmup_bias_lr: 0.1
-box: 7.5
-cls: 0.5
-dfl: 1.5
-pose: 12.0
-kobj: 1.0
-label_smoothing: 0.0
-nbs: 64
-hsv_h: 0.015
-hsv_s: 0.7
-hsv_v: 0.4
-degrees: 0.0
-translate: 0.1
-scale: 0.5
-shear: 0.0
-perspective: 0.0
-flipud: 0.0
-fliplr: 0.5
-mosaic: 1.0
-mixup: 0.0
-copy_paste: 0.0
-auto_augment: randaugment
-erasing: 0.4
-crop_fraction: 1.0
-cfg: null
-tracker: botsort.yaml
-save_dir: /home/shalenikol/fork_work/webservice/server/build/public/4c4f3909-74b0-4206-aec1-fc4acd3a1081/weights/od_w01/train
diff --git a/web_p/train/confusion_matrix.png b/web_p/train/confusion_matrix.png
deleted file mode 100644
index 24a7fb8..0000000
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diff --git a/web_p/train/confusion_matrix_normalized.png b/web_p/train/confusion_matrix_normalized.png
deleted file mode 100644
index 29fc07a..0000000
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diff --git a/web_p/train/events.out.tfevents.1732122141.shalenikol-desktop.109110.0 b/web_p/train/events.out.tfevents.1732122141.shalenikol-desktop.109110.0
deleted file mode 100644
index 825cfe6..0000000
Binary files a/web_p/train/events.out.tfevents.1732122141.shalenikol-desktop.109110.0 and /dev/null differ
diff --git a/web_p/train/labels.jpg b/web_p/train/labels.jpg
deleted file mode 100644
index b9fb066..0000000
Binary files a/web_p/train/labels.jpg and /dev/null differ
diff --git a/web_p/train/labels_correlogram.jpg b/web_p/train/labels_correlogram.jpg
deleted file mode 100644
index e634e7b..0000000
Binary files a/web_p/train/labels_correlogram.jpg and /dev/null differ
diff --git a/web_p/train/results.csv b/web_p/train/results.csv
deleted file mode 100644
index b6231f9..0000000
--- a/web_p/train/results.csv
+++ /dev/null
@@ -1,34 +0,0 @@
-                  epoch,         train/box_loss,         train/cls_loss,         train/dfl_loss,   metrics/precision(B),      metrics/recall(B),       metrics/mAP50(B),    metrics/mAP50-95(B),           val/box_loss,           val/cls_loss,           val/dfl_loss,                 lr/pg0,                 lr/pg1,                 lr/pg2
-                      1,                0.62674,                  1.281,                0.92555,                0.99239,                0.99448,                0.99323,                0.90966,                0.40212,                 0.8264,                0.80447,             0.00066247,             0.00066247,             0.00066247
-                      2,                0.60996,                0.71899,                0.93387,                 0.9945,                0.99945,                0.99484,                0.91551,                0.43253,                0.60301,                 0.8228,              0.0012893,              0.0012893,              0.0012893
-                      3,                0.58648,                0.54879,                0.92909,                      1,                0.98871,                0.99494,                 0.9213,                0.40211,                0.39327,                0.81593,              0.0018761,              0.0018761,              0.0018761
-                      4,                0.58195,                0.48301,                0.92375,                0.99087,                 0.9337,                0.97172,                0.89393,                0.41614,                0.46785,                0.82069,                0.00182,                0.00182,                0.00182
-                      5,                0.56201,                0.44926,                0.92381,                0.99447,                0.99385,                0.99494,                0.94951,                0.34807,                0.32406,                 0.8013,                0.00182,                0.00182,                0.00182
-                      6,                0.52696,                0.40581,                 0.9068,                0.95813,                0.98343,                0.99281,                0.94494,                0.33023,                0.48053,                0.79401,                0.00176,                0.00176,                0.00176
-                      7,                0.51017,                 0.3952,                0.90752,                0.99889,                      1,                  0.995,                0.95388,                 0.3192,                0.33973,                 0.7992,                 0.0017,                 0.0017,                 0.0017
-                      8,                0.50772,                0.37889,                0.90238,                0.98351,                0.98842,                0.98581,                0.94918,                0.30154,                0.28504,                0.79667,                0.00164,                0.00164,                0.00164
-                      9,                0.47737,                 0.3576,                0.89251,                0.99946,                0.99448,                  0.995,                0.97205,                0.28135,                0.23642,                0.79101,                0.00158,                0.00158,                0.00158
-                     10,                0.46587,                0.34547,                0.89324,                0.99948,                      1,                  0.995,                0.96897,                0.28021,                0.28522,                0.78694,                0.00152,                0.00152,                0.00152
-                     11,                0.45881,                0.33452,                0.89055,                0.99954,                      1,                  0.995,                0.97012,                0.26364,                0.21443,                 0.7813,                0.00146,                0.00146,                0.00146
-                     12,                0.44939,                0.32887,                0.89206,                 0.9996,                      1,                  0.995,                0.98382,                0.24486,                0.20614,                0.78109,                 0.0014,                 0.0014,                 0.0014
-                     13,                0.44388,                0.32289,                0.88796,                0.99932,                      1,                  0.995,                0.97195,                0.27681,                0.21443,                0.77933,                0.00134,                0.00134,                0.00134
-                     14,                0.43847,                0.31282,                0.88496,                0.99965,                      1,                  0.995,                0.98019,                0.25014,                0.20255,                 0.7775,                0.00128,                0.00128,                0.00128
-                     15,                0.41585,                0.30067,                 0.8774,                0.99943,                      1,                  0.995,                0.97609,                0.25842,                0.21239,                0.78006,                0.00122,                0.00122,                0.00122
-                     16,                0.41436,                0.29784,                0.87488,                0.99964,                      1,                  0.995,                0.97823,                0.25499,                0.19837,                0.78004,                0.00116,                0.00116,                0.00116
-                     17,                  0.414,                0.29771,                0.87575,                0.99943,                      1,                  0.995,                0.98746,                 0.2251,                  0.203,                0.77468,                 0.0011,                 0.0011,                 0.0011
-                     18,                0.39273,                0.29075,                0.86927,                0.99445,                      1,                  0.995,                0.98597,                0.22693,                0.19648,                0.77208,                0.00104,                0.00104,                0.00104
-                     19,                0.40052,                0.28802,                0.87804,                0.99958,                      1,                  0.995,                0.98541,                0.22268,                0.18749,                0.77233,                0.00098,                0.00098,                0.00098
-                     20,                0.38066,                0.27951,                0.86666,                0.99969,                      1,                  0.995,                0.98901,                0.20959,                 0.1775,                 0.7697,                0.00092,                0.00092,                0.00092
-                     21,                0.38115,                0.27813,                 0.8658,                0.99964,                      1,                  0.995,                0.98895,                0.20699,                 0.1779,                0.77073,                0.00086,                0.00086,                0.00086
-                     22,                0.37441,                0.27094,                0.87121,                0.99965,                      1,                  0.995,                0.98975,                0.20138,                0.17235,                0.76785,                 0.0008,                 0.0008,                 0.0008
-                     23,                0.36808,                0.26148,                0.86426,                0.99965,                      1,                  0.995,                0.98829,                0.19861,                 0.1628,                0.76706,                0.00074,                0.00074,                0.00074
-                     24,                0.25547,                  0.199,                0.77555,                0.99955,                      1,                  0.995,                0.98791,                0.21853,                0.18063,                0.76972,                0.00068,                0.00068,                0.00068
-                     25,                0.24799,                 0.1969,                0.78404,                0.99958,                      1,                  0.995,                0.98812,                0.23069,                0.18178,                0.76985,                0.00062,                0.00062,                0.00062
-                     26,                0.24232,                 0.1915,                0.78022,                0.99968,                      1,                  0.995,                0.99024,                0.20883,                0.16788,                0.76752,                0.00056,                0.00056,                0.00056
-                     27,                0.23288,                 0.1839,                0.77463,                0.99968,                      1,                  0.995,                0.99151,                 0.2026,                0.16501,                0.76809,                 0.0005,                 0.0005,                 0.0005
-                     28,                0.23066,                0.18012,                0.77547,                0.99961,                      1,                  0.995,                0.98912,                0.19388,                 0.1534,                0.76246,                0.00044,                0.00044,                0.00044
-                     29,                0.22286,                0.17062,                0.77932,                 0.9997,                      1,                  0.995,                0.99039,                0.20566,                0.14978,                0.76601,                0.00038,                0.00038,                0.00038
-                     30,                0.21427,                0.16357,                0.77529,                 0.9997,                      1,                  0.995,                0.99215,                0.18345,                0.14148,                0.76206,                0.00032,                0.00032,                0.00032
-                     31,                0.20895,                0.16067,                0.77189,                 0.9997,                      1,                  0.995,                0.99187,                0.17027,                0.13746,                0.76124,                0.00026,                0.00026,                0.00026
-                     32,                0.20248,                0.15421,                0.77526,                 0.9997,                      1,                  0.995,                0.99246,                0.17229,                0.13828,                0.76056,                 0.0002,                 0.0002,                 0.0002
-                     33,                0.19494,                0.15005,                0.76361,                0.99971,                      1,                  0.995,                0.99302,                0.16442,                0.12543,                0.76043,                0.00014,                0.00014,                0.00014
diff --git a/web_p/train/results.png b/web_p/train/results.png
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diff --git a/web_p/train/weights/best.pt b/web_p/train/weights/best.pt
deleted file mode 100644
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diff --git a/web_p/train/weights/last.pt b/web_p/train/weights/last.pt
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diff --git a/web_p/train_Yolo.py b/web_p/train_Yolo.py
index 1eaf7a0..6d77902 100644
--- a/web_p/train_Yolo.py
+++ b/web_p/train_Yolo.py
@@ -7,6 +7,8 @@
         --name test123 --datasetName ds213 --outpath /Users/idontsudo/webservice/server/build/public/7065d6b6-c8a3-48c5-9679-bb8f3a690296/weights
 
   27.04.2024 @shalenikol release 0.1
+  20.11.2024 @shalenikol release 0.2   parser.add_argument("--addon", default="", help="Folder with add-on for dataset")
+  20.02.2025 @shalenikol release 0.2.1 add_on_dataset : fix
 """
 import os
 import shutil
@@ -14,9 +16,13 @@ import json
 import yaml
 
 from ultralytics import YOLO
+# from ultralytics import settings
 # from ultralytics.utils.metrics import DetMetrics
+# import torch
+# import torch.profiler
+# import torch.utils.data
 
-FILE_BASEMODEL = "yolov8n.pt"
+FILE_BASEMODEL = "yolov8s.pt" #"yolov8n.pt"
 FILE_RBS_INFO  = "rbs_info.json"
 FILE_RBS_TRAIN = "rbs_train.yaml"
 FILE_GT_COCO   = "scene_gt_coco.json"
@@ -27,6 +33,7 @@ DIR_ROOT_DS    = "datasets"
 DIR_COCO_DS    = "rbs_coco"
 DIR_RGB_DS     = "images"
 DIR_LABELS_DS  = "labels"
+LABELS_EXT     = ".txt"
 
 SZ_SERIES = 15 # number of train images per validation images
 
@@ -40,6 +47,50 @@ def convert2relative(height, width, bbox):
     y += h/2
     return x/width, y/height, w/width, h/height
 
+def add_on_dataset(source_dir, target_dir) -> dict:
+    global nn_image, f1, f2
+    # Получаем список файлов в исходной директории
+    files = sorted(os.listdir(source_dir))
+
+    # Словарь для отслеживания порядковых номеров для каждого имени файла
+    file_nn = {}
+
+    for file in files:
+        if os.path.isdir(os.path.join(source_dir, file)):
+            continue
+        # Получаем имя файла и его расширение
+        file_name, file_extension = os.path.splitext(file)
+
+        # Запоминаем порядковый номер для данного имени файла
+        if file_name in file_nn:
+            nn = file_nn[file_name]
+        else: # new file name
+            nn = nn_image # текущий номер
+            file_nn[file_name] = nn_image
+            nn_image += 1
+
+        # Создаем новое имя файла
+        new_file_name = f"{nn:06}{file_extension}"
+        if file_extension == LABELS_EXT:
+            new_file_path = os.path.join(target_dir, DIR_LABELS_DS)
+        else:
+            new_file_path = os.path.join(target_dir, DIR_RGB_DS)
+
+            line = os.path.join("./", DIR_RGB_DS, new_file_name) + "\n"
+            if nn % SZ_SERIES == 0:
+                f2.write(line)
+            else:
+                f1.write(line)
+
+        # Полные пути к старому и новому файлам
+        old_file_path = os.path.join(source_dir, file)
+        new_file_path = os.path.join(new_file_path, new_file_name)
+
+        # Копируем файл
+        shutil.copy2(old_file_path, new_file_path)
+
+    return file_nn
+
 def gt_parse(path: str, out_dir: str):
     global nn_image, f1, f2
     with open(os.path.join(path, FILE_GT_COCO), "r") as fh:
@@ -67,12 +118,12 @@ def gt_parse(path: str, out_dir: str):
                             # формат: <target> <x-center> <y-center> <width> <height>
                             fh.write(f"{cat_id-1} {rel[0]} {rel[1]} {rel[2]} {rel[3]}\n") # category from 0
 
-            nn_image += 1
             line = os.path.join("./", DIR_RGB_DS, f + ext) + "\n"
             if nn_image % SZ_SERIES == 0:
                 f2.write(line)
             else:
                 f1.write(line)
+            nn_image += 1
 
 def explore(path: str, res_dir: str):
     if not os.path.isdir(path):
@@ -88,7 +139,7 @@ def explore(path: str, res_dir: str):
         else:
             explore(path_entry, res_dir)
 
-def BOP2Yolo_dataset(dpath: str, out_dir: str, lname: list) -> str:
+def BOP2Yolo_dataset(dpath: str, out_dir: str, lname: list, addon:str) -> str:
     """ Convert BOP-dataset to YOLO format for train """
     cfg_yaml = os.path.join(out_dir, FILE_RBS_TRAIN)
     p = os.path.join(out_dir, DIR_ROOT_DS, DIR_COCO_DS)
@@ -116,12 +167,14 @@ def BOP2Yolo_dataset(dpath: str, out_dir: str, lname: list) -> str:
     f1 = open(os.path.join(res_dir, FILE_L_TRAIN), "w")
     f2 = open(os.path.join(res_dir, FILE_L_VAL), "w")
     explore(dpath, res_dir)
+    if addon:
+        add_on_dataset(addon, res_dir)
     f1.close()
     f2.close()
 
     return out_dir
 
-def train_YoloV8(path:str, wname:str, dname:str, outpath:str, epochs:int, pretrain: bool):
+def train_YoloV8(path:str, wname:str, dname:str, outpath:str, epochs:int, pretrain: bool, addon: str):
     """ Main procedure for train YOLOv8 model """
     if not os.path.isdir(outpath):
         print(f"Invalid output path '{outpath}'")
@@ -151,21 +204,33 @@ def train_YoloV8(path:str, wname:str, dname:str, outpath:str, epochs:int, pretra
         # список имён объектов
         list_name = list(map(lambda x: x["name"], y))
 
-        dpath = BOP2Yolo_dataset(ds_path, out_dir, list_name)
+        dpath = BOP2Yolo_dataset(ds_path, out_dir, list_name, addon)
         if len(dpath) == 0:
             print(f"Error in convert dataset '{ds_path}' to '{outpath}'")
             exit(-4)
         model_path = os.path.join(dpath, FILE_BASEMODEL)
 
     model = YOLO(model_path)
-    results = model.train(data=os.path.join(dpath, FILE_RBS_TRAIN), epochs=epochs, project=out_dir)
+
+    # # Update settings
+    # settings.update({"profile": True})
+
+    # prof = torch.profiler.profile(
+    #         schedule=torch.profiler.schedule(wait=1, warmup=1, active=3, repeat=1),
+    #         on_trace_ready=torch.profiler.tensorboard_trace_handler('./log/resnet18'),
+    #         record_shapes=True,
+    #         with_stack=True)
+    # prof.start()
+    results = model.train(data=os.path.join(dpath, FILE_RBS_TRAIN), epochs=epochs, project=out_dir) #, log_dir="runs/train")
+    # prof.stop()
+
     wf = os.path.join(results.save_dir, FILE_TRAIN_RES)
     if not os.path.isfile(wf):
         print(f"Error in train: no result file '{wf}'")
         exit(-5)
 
     shutil.copy2(wf, os.path.join(dpath, wname + ".pt"))
-    shutil.rmtree(results.save_dir)
+    # shutil.rmtree(results.save_dir)
 
 if __name__ == "__main__":
     import argparse
@@ -176,6 +241,7 @@ if __name__ == "__main__":
     parser.add_argument("--outpath", default="weights", help="Output path for weights")
     parser.add_argument("--epoch", default=3, type=int, help="How many training epochs")
     parser.add_argument('--pretrain', action="store_true", help="Use pretraining")
+    parser.add_argument("--addon", default="", help="Folder with add-on for dataset")
     args = parser.parse_args()
 
-    train_YoloV8(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)
+    train_YoloV8(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain, args.addon)
diff --git a/web_p/utils_dope.py b/web_p/utils_dope.py
new file mode 100755
index 0000000..55ab058
--- /dev/null
+++ b/web_p/utils_dope.py
@@ -0,0 +1,967 @@
+"""
+NVIDIA from jtremblay@gmail.com
+"""
+import numpy as np
+import torch
+
+import os
+
+import torch
+import torch.nn as nn
+import torch.nn.parallel
+
+import torch.utils.data
+
+import torchvision.transforms as transforms
+
+import torch.utils.data as data
+import glob
+import os
+import boto3
+import io
+
+from PIL import Image
+from PIL import ImageDraw
+from PIL import ImageEnhance
+
+from math import acos
+from math import sqrt
+from math import pi
+
+from os.path import exists, basename
+import json
+from os.path import join
+
+import albumentations as A
+
+
+def default_loader(path):
+    return Image.open(path).convert("RGB")
+
+
+def length(v):
+    return sqrt(v[0] ** 2 + v[1] ** 2)
+
+
+def dot_product(v, w):
+    return v[0] * w[0] + v[1] * w[1]
+
+
+def normalize(v):
+    norm = np.linalg.norm(v, ord=1)
+    if norm == 0:
+        norm = np.finfo(v.dtype).eps
+    return v / norm
+
+
+def determinant(v, w):
+    return v[0] * w[1] - v[1] * w[0]
+
+
+def inner_angle(v, w):
+    cosx = dot_product(v, w) / (length(v) * length(w))
+    rad = acos(cosx)  # in radians
+    return rad * 180 / pi  # returns degrees
+
+
+def py_ang(A, B=(1, 0)):
+    inner = inner_angle(A, B)
+    det = determinant(A, B)
+    if (
+        det < 0
+    ):  # this is a property of the det. If the det < 0 then B is clockwise of A
+        return inner
+    else:  # if the det > 0 then A is immediately clockwise of B
+        return 360 - inner
+
+
+import colorsys, math
+
+
+def append_dot(extensions):
+    res = []
+
+    for ext in extensions:
+        if not ext.startswith("."):
+            res.append(f".{ext}")
+        else:
+            res.append(ext)
+
+    return res
+
+
+def loadimages(root, extensions=["png"]):
+    imgs = []
+    extensions = append_dot(extensions)
+
+    def add_json_files(
+        path,
+    ):
+        for ext in extensions:
+            for file in os.listdir(path):
+                imgpath = os.path.join(path, file)
+                if (
+                    imgpath.endswith(ext)
+                    and exists(imgpath)
+                    and exists(imgpath.replace(ext, ".json"))
+                ):
+                    imgs.append(
+                        (
+                            imgpath,
+                            imgpath.replace(path, "").replace("/", ""),
+                            imgpath.replace(ext, ".json"),
+                        )
+                    )
+
+    def explore(path):
+        if not os.path.isdir(path):
+            return
+        folders = [
+            os.path.join(path, o)
+            for o in os.listdir(path)
+            if os.path.isdir(os.path.join(path, o))
+        ]
+
+        for path_entry in folders:
+            explore(path_entry)
+
+        add_json_files(path)
+
+    explore(root)
+
+    return imgs
+
+
+def loadweights(root):
+    if root.endswith(".pth") and os.path.isfile(root):
+        return [root]
+    else:
+        weights = [
+            os.path.join(root, f)
+            for f in os.listdir(root)
+            if os.path.isfile(os.path.join(root, f)) and f.endswith(".pth")
+        ]
+
+        weights.sort()
+        return weights 
+
+
+def loadimages_inference(root, extensions):
+    imgs, imgsname = [], []
+    extensions = append_dot(extensions)
+
+    def add_imgs(
+        path,
+    ):
+        for ext in extensions:
+            for file in os.listdir(path):
+                imgpath = os.path.join(path, file)
+                if imgpath.endswith(ext) and exists(imgpath):
+                    imgs.append(imgpath)
+                    imgsname.append(imgpath.replace(root, ""))
+
+    def explore(path):
+        if not os.path.isdir(path):
+            return
+        folders = [
+            os.path.join(path, o)
+            for o in os.listdir(path)
+            if os.path.isdir(os.path.join(path, o))
+        ]
+
+        for path_entry in folders:
+            explore(path_entry)
+
+        add_imgs(path)
+
+    explore(root)
+
+    return imgs, imgsname
+
+
+class CleanVisiiDopeLoader(data.Dataset):
+    def __init__(
+        self,
+        path_dataset,
+        objects=None,
+        sigma=1,
+        output_size=400,
+        extensions=["png"],
+        debug=False,
+        use_s3=False,
+        buckets=[],
+        endpoint_url=None,
+    ):
+        ###################
+        self.path_dataset = path_dataset
+        self.objects_interest = objects
+        self.sigma = sigma
+        self.output_size = output_size
+        self.extensions = append_dot(extensions)
+        self.debug = debug
+        ###################
+
+        self.imgs = []
+        self.s3_buckets = {}
+        self.use_s3 = use_s3
+
+        if self.use_s3:
+            self.session = boto3.Session()
+            self.s3 = self.session.resource(
+                service_name="s3", endpoint_url=endpoint_url
+            )
+
+            for bucket_name in buckets:
+                try:
+                    self.s3_buckets[bucket_name] = self.s3.Bucket(bucket_name)
+                except Exception as e:
+                    print(
+                        f"Error trying to load bucket {bucket_name} for training data:",
+                        e,
+                    )
+
+            for bucket in self.s3_buckets:
+                bucket_objects = [
+                    str(obj.key) for obj in self.s3_buckets[bucket].objects.all()
+                ]
+
+                jsons = set([json for json in bucket_objects if json.endswith(".json")])
+                imgs = [
+                    img
+                    for img in bucket_objects
+                    if img.endswith(tuple(self.extensions))
+                ]
+
+                for ext in self.extensions:
+                    for img in imgs:
+                        # Only add images that have a ground truth file
+                        if img.endswith(ext) and img.replace(ext, ".json") in jsons:
+                            # (img key, bucket name, json key)
+                            self.imgs.append((img, bucket, img.replace(ext, ".json")))
+
+        else:
+            for path_look in path_dataset:
+                self.imgs += loadimages(path_look, extensions=self.extensions)
+
+        # np.random.shuffle(self.imgs)
+        print("Number of Training Images:", len(self.imgs))
+        print(self.imgs)
+
+        if debug:
+            print("Debuging will be save in debug/")
+            if os.path.isdir("debug"):
+                print(f'folder {"debug"}/ exists')
+            else:
+                os.mkdir("debug")
+                print(f'created folder {"debug"}/')
+
+    def __len__(self):
+        return len(self.imgs)
+
+    def __getitem__(self, index):
+
+        # load the data
+        if self.use_s3:
+            img_key, bucket, json_key = self.imgs[index]
+            mem_img = io.BytesIO()
+
+            object_img = self.s3_buckets[bucket].Object(img_key)
+            object_img.download_fileobj(mem_img)
+
+            img = np.array(Image.open(mem_img).convert("RGB"))
+
+            object_json = self.s3_buckets[bucket].Object(json_key)
+            data_json = json.load(object_json.get()["Body"])
+
+            img_name = img_key[:-3]
+
+        else:
+            path_img, img_name, path_json = self.imgs[index]
+
+            # load the image
+            img = np.array(Image.open(path_img).convert("RGB"))
+
+            # load the json file
+            with open(path_json) as f:
+                data_json = json.load(f)
+
+        all_projected_cuboid_keypoints = []
+
+        # load the projected cuboid keypoints
+        for obj in data_json["objects"]:
+            if (
+                self.objects_interest is not None
+                and not obj["class"] in self.objects_interest
+            ):
+                continue
+            # load the projected_cuboid_keypoints
+            # 06.02.2024 @shalenikol
+            # if obj["visibility_image"] > 0:
+            if obj["visibility"] > 0:
+                projected_cuboid_keypoints = obj["projected_cuboid"]
+                # FAT dataset only has 8 corners for 'projected_cuboid'
+                if len(projected_cuboid_keypoints) == 8:
+                    projected_cuboid_keypoints.append(obj["projected_cuboid_centroid"])
+            else:
+                projected_cuboid_keypoints = [
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                ]
+            all_projected_cuboid_keypoints.append(projected_cuboid_keypoints)
+
+        if len(all_projected_cuboid_keypoints) == 0:
+            all_projected_cuboid_keypoints = [
+                [
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                    [-100, -100],
+                ]
+            ]
+
+        # flatten the keypoints
+        flatten_projected_cuboid = []
+        for obj in all_projected_cuboid_keypoints:
+            for p in obj:
+                flatten_projected_cuboid.append(p)
+
+        #######
+        if self.debug:
+            img_to_save = Image.fromarray(img)
+            draw = ImageDraw.Draw(img_to_save)
+
+            for ip, p in enumerate(flatten_projected_cuboid):
+                draw.ellipse(
+                    (int(p[0]) - 2, int(p[1]) - 2, int(p[0]) + 2, int(p[1]) + 2),
+                    fill="green",
+                )
+
+            img_to_save.save(f"debug/{img_name.replace('.png','_original.png')}")
+        #######
+
+        # data augmentation
+        transform = A.Compose(
+            [
+                A.RandomCrop(width=400, height=400),
+                A.Rotate(limit=180),
+                A.RandomBrightnessContrast(
+                    brightness_limit=0.2, contrast_limit=0.15, p=1
+                ),
+                A.GaussNoise(p=1),
+            ],
+            keypoint_params=A.KeypointParams(format="xy", remove_invisible=False),
+        )
+        transformed = transform(image=img, keypoints=flatten_projected_cuboid)
+        img_transformed = transformed["image"]
+        flatten_projected_cuboid_transformed = transformed["keypoints"]
+
+        #######
+
+        # transform to the final output
+        if not self.output_size == 400:
+            transform = A.Compose(
+                [
+                    A.Resize(width=self.output_size, height=self.output_size),
+                ],
+                keypoint_params=A.KeypointParams(format="xy", remove_invisible=False),
+            )
+            transformed = transform(
+                image=img_transformed, keypoints=flatten_projected_cuboid_transformed
+            )
+            img_transformed_output_size = transformed["image"]
+            flatten_projected_cuboid_transformed_output_size = transformed["keypoints"]
+
+        else:
+            img_transformed_output_size = img_transformed
+            flatten_projected_cuboid_transformed_output_size = (
+                flatten_projected_cuboid_transformed
+            )
+
+        #######
+        if self.debug:
+            img_transformed_saving = Image.fromarray(img_transformed)
+
+            draw = ImageDraw.Draw(img_transformed_saving)
+
+            for ip, p in enumerate(flatten_projected_cuboid_transformed):
+                draw.ellipse(
+                    (int(p[0]) - 2, int(p[1]) - 2, int(p[0]) + 2, int(p[1]) + 2),
+                    fill="green",
+                )
+
+            img_transformed_saving.save(
+                f"debug/{img_name.replace('.png','_transformed.png')}"
+            )
+        #######
+
+        # update the keypoints list
+        # obj x keypoint_id x (x,y)
+        i_all = 0
+        for i_obj, obj in enumerate(all_projected_cuboid_keypoints):
+            for i_p, point in enumerate(obj):
+                all_projected_cuboid_keypoints[i_obj][
+                    i_p
+                ] = flatten_projected_cuboid_transformed_output_size[i_all]
+                i_all += 1
+
+        # generate the belief maps
+        beliefs = CreateBeliefMap(
+            size=int(self.output_size),
+            pointsBelief=all_projected_cuboid_keypoints,
+            sigma=self.sigma,
+            nbpoints=9,
+            save=False,
+        )
+        beliefs = torch.from_numpy(np.array(beliefs))
+        # generate affinity fields with centroid.
+        affinities = GenerateMapAffinity(
+            size=int(self.output_size),
+            nb_vertex=8,
+            pointsInterest=all_projected_cuboid_keypoints,
+            objects_centroid=np.array(all_projected_cuboid_keypoints)[:, -1].tolist(),
+            scale=1,
+        )
+
+        # prepare for the image tensors
+        normalize_tensor = transforms.Compose(
+            [
+                transforms.ToTensor(),
+                transforms.Normalize((0.485, 0.456, 0.406), (0.229, 0.224, 0.225)),
+            ]
+        )
+        to_tensor = transforms.Compose(
+            [
+                transforms.ToTensor(),
+            ]
+        )
+        img_tensor = normalize_tensor(Image.fromarray(img_transformed))
+        img_original = to_tensor(img_transformed)
+
+        ########
+        if self.debug:
+            imgs = VisualizeBeliefMap(beliefs)
+            img, grid = save_image(
+                imgs,
+                f"debug/{img_name.replace('.png','_beliefs.png')}",
+                mean=0,
+                std=1,
+                nrow=3,
+                save=True,
+            )
+            imgs = VisualizeAffinityMap(affinities)
+            save_image(
+                imgs,
+                f"debug/{img_name.replace('.png','_affinities.png')}",
+                mean=0,
+                std=1,
+                nrow=3,
+                save=True,
+            )
+        ########
+        img_tensor[torch.isnan(img_tensor)] = 0
+        affinities[torch.isnan(affinities)] = 0
+        beliefs[torch.isnan(beliefs)] = 0
+
+        img_tensor[torch.isinf(img_tensor)] = 0
+        affinities[torch.isinf(affinities)] = 0
+        beliefs[torch.isinf(beliefs)] = 0
+
+        return {
+            "img": img_tensor,
+            "affinities": torch.clamp(affinities, -1, 1),
+            "beliefs": torch.clamp(beliefs, 0, 1),
+            "file_name": img_name,
+            "img_original": img_original,
+        }
+
+
+def VisualizeAffinityMap(
+    tensor,
+    # tensor of (len(keypoints)*2)xwxh
+    threshold_norm_vector=0.4,
+    # how long does the vector has to be to be drawn
+    points=None,
+    # list of points to draw in white on top of the image
+    factor=1.0,
+    # by how much the image was reduced, scale factor
+    translation=(0, 0)
+    # by how much the points were moved
+    # return len(keypoints)x3xwxh # stack of images
+):
+    images = torch.zeros(tensor.shape[0] // 2, 3, tensor.shape[1], tensor.shape[2])
+    for i_image in range(0, tensor.shape[0], 2):  # could be read as i_keypoint
+
+        indices = (
+            torch.abs(tensor[i_image, :, :]) + torch.abs(tensor[i_image + 1, :, :])
+            > threshold_norm_vector
+        ).nonzero()
+
+        for indice in indices:
+
+            i, j = indice
+
+            angle_vector = np.array([tensor[i_image, i, j], tensor[i_image + 1, i, j]])
+            if length(angle_vector) > threshold_norm_vector:
+                angle = py_ang(angle_vector)
+                c = colorsys.hsv_to_rgb(angle / 360, 1, 1)
+            else:
+                c = [0, 0, 0]
+            for i_c in range(3):
+                images[i_image // 2, i_c, i, j] = c[i_c]
+        if not points is None:
+            point = points[i_image // 2]
+
+            print(
+                int(point[1] * factor + translation[1]),
+                int(point[0] * factor + translation[0]),
+            )
+            images[
+                i_image // 2,
+                :,
+                int(point[1] * factor + translation[1])
+                - 1 : int(point[1] * factor + translation[1])
+                + 1,
+                int(point[0] * factor + translation[0])
+                - 1 : int(point[0] * factor + translation[0])
+                + 1,
+            ] = 1
+
+    return images
+
+
+def VisualizeBeliefMap(
+    tensor,
+    # tensor of len(keypoints)xwxh
+    points=None,
+    # list of points to draw on top of the image
+    factor=1.0,
+    # by how much the image was reduced, scale factor
+    translation=(0, 0)
+    # by how much the points were moved
+    # return len(keypoints)x3xwxh # stack of images in torch tensor
+):
+    images = torch.zeros(tensor.shape[0], 3, tensor.shape[1], tensor.shape[2])
+    for i_image in range(0, tensor.shape[0]):  # could be read as i_keypoint
+
+        belief = tensor[i_image].clone()
+        belief -= float(torch.min(belief).item())
+        belief /= float(torch.max(belief).item())
+
+        belief = torch.clamp(belief, 0, 1)
+        belief = torch.cat(
+            [belief.unsqueeze(0), belief.unsqueeze(0), belief.unsqueeze(0)]
+        ).unsqueeze(0)
+
+        images[i_image] = belief
+
+    return images
+
+
+def GenerateMapAffinity(
+    size, nb_vertex, pointsInterest, objects_centroid, scale, save=False
+):
+    # Apply the downscale right now, so the vectors are correct.
+
+    img_affinity = Image.new("RGB", (int(size / scale), int(size / scale)), "black")
+    # create the empty tensors
+    totensor = transforms.Compose([transforms.ToTensor()])
+
+    affinities = []
+    for i_points in range(nb_vertex):
+        affinities.append(torch.zeros(2, int(size / scale), int(size / scale)))
+
+    for i_pointsImage in range(len(pointsInterest)):
+        pointsImage = pointsInterest[i_pointsImage]
+        center = objects_centroid[i_pointsImage]
+        for i_points in range(nb_vertex):
+            point = pointsImage[i_points]
+
+            affinity_pair, img_affinity = getAfinityCenter(
+                int(size / scale),
+                int(size / scale),
+                tuple((np.array(pointsImage[i_points]) / scale).tolist()),
+                tuple((np.array(center) / scale).tolist()),
+                img_affinity=img_affinity,
+                radius=1,
+            )
+
+            affinities[i_points] = (affinities[i_points] + affinity_pair) / 2
+
+            # Normalizing
+            v = affinities[i_points].numpy()
+
+            xvec = v[0]
+            yvec = v[1]
+
+            norms = np.sqrt(xvec * xvec + yvec * yvec)
+            nonzero = norms > 0
+
+            xvec[nonzero] /= norms[nonzero]
+            yvec[nonzero] /= norms[nonzero]
+
+            affinities[i_points] = torch.from_numpy(np.concatenate([[xvec], [yvec]]))
+    affinities = torch.cat(affinities, 0)
+
+    return affinities
+
+
+def getAfinityCenter(
+    width, height, point, center, radius=7, tensor=None, img_affinity=None
+):
+    """
+    Create the affinity map
+    """
+    if tensor is None:
+        tensor = torch.zeros(2, height, width).float()
+
+    # create the canvas for the afinity output
+    imgAffinity = Image.new("RGB", (width, height), "black")
+    totensor = transforms.Compose([transforms.ToTensor()])
+    draw = ImageDraw.Draw(imgAffinity)
+    r1 = radius
+    p = point
+    draw.ellipse((p[0] - r1, p[1] - r1, p[0] + r1, p[1] + r1), (255, 255, 255))
+
+    del draw
+
+    # compute the array to add the afinity
+    array = (np.array(imgAffinity) / 255)[:, :, 0]
+
+    angle_vector = np.array(center) - np.array(point)
+    angle_vector = normalize(angle_vector)
+    affinity = np.concatenate([[array * angle_vector[0]], [array * angle_vector[1]]])
+
+    if not img_affinity is None:
+        # find the angle vector
+        if length(angle_vector) > 0:
+            angle = py_ang(angle_vector)
+        else:
+            angle = 0
+        c = np.array(colorsys.hsv_to_rgb(angle / 360, 1, 1)) * 255
+        draw = ImageDraw.Draw(img_affinity)
+        draw.ellipse(
+            (p[0] - r1, p[1] - r1, p[0] + r1, p[1] + r1),
+            fill=(int(c[0]), int(c[1]), int(c[2])),
+        )
+        del draw
+    re = torch.from_numpy(affinity).float() + tensor
+    return re, img_affinity
+
+
+def CreateBeliefMap(size, pointsBelief, nbpoints, sigma=16, save=False):
+    # Create the belief maps in the points
+    beliefsImg = []
+    for numb_point in range(nbpoints):
+        array = np.zeros([size, size])
+        out = np.zeros([size, size])
+
+        for point in pointsBelief:
+            p = [point[numb_point][1], point[numb_point][0]]
+            w = int(sigma * 2)
+            if p[0] - w >= 0 and p[0] + w < size and p[1] - w >= 0 and p[1] + w < size:
+                for i in range(int(p[0]) - w, int(p[0]) + w + 1):
+                    for j in range(int(p[1]) - w, int(p[1]) + w + 1):
+
+                        # if there is already a point there.
+                        array[i, j] = max(
+                            np.exp(
+                                -(
+                                    ((i - p[0]) ** 2 + (j - p[1]) ** 2)
+                                    / (2 * (sigma**2))
+                                )
+                            ),
+                            array[i, j],
+                        )
+
+        beliefsImg.append(array.copy())
+
+        if save:
+            stack = np.stack([array, array, array], axis=0).transpose(2, 1, 0)
+            imgBelief = Image.fromarray((stack * 255).astype("uint8"))
+            imgBelief.save("debug/{}.png".format(numb_point))
+    return beliefsImg
+
+
+def crop(img, i, j, h, w):
+    """Crop the given PIL.Image.
+    Args:
+        img (PIL.Image): Image to be cropped.
+        i: Upper pixel coordinate.
+        j: Left pixel coordinate.
+        h: Height of the cropped image.
+        w: Width of the cropped image.
+    Returns:
+        PIL.Image: Cropped image.
+    """
+    return img.crop((j, i, j + w, i + h))
+
+
+class AddRandomContrast(object):
+    """
+    Apply some random image filters from PIL
+    """
+
+    def __init__(self, sigma=0.1):
+        self.sigma = sigma
+
+    def __call__(self, im):
+
+        contrast = ImageEnhance.Contrast(im)
+
+        im = contrast.enhance(np.random.normal(1, self.sigma))
+
+        return im
+
+
+class AddRandomBrightness(object):
+    """
+    Apply some random image filters from PIL
+    """
+
+    def __init__(self, sigma=0.1):
+        self.sigma = sigma
+
+    def __call__(self, im):
+
+        contrast = ImageEnhance.Brightness(im)
+        im = contrast.enhance(np.random.normal(1, self.sigma))
+        return im
+
+
+class AddNoise(object):
+    """Given mean: (R, G, B) and std: (R, G, B),
+    will normalize each channel of the torch.*Tensor, i.e.
+    channel = (channel - mean) / std
+    """
+
+    def __init__(self, std=0.1):
+        self.std = std
+
+    def __call__(self, tensor):
+        # TODO: make efficient
+        t = torch.FloatTensor(tensor.size()).normal_(0, self.std)
+
+        t = tensor.add(t)
+        t = torch.clamp(t, -1, 1)  # this is expansive
+        return t
+
+
+irange = range
+
+
+def make_grid(
+    tensor,
+    nrow=8,
+    padding=2,
+    normalize=False,
+    range=None,
+    scale_each=False,
+    pad_value=0,
+):
+    """Make a grid of images.
+    Args:
+        tensor (Tensor or list): 4D mini-batch Tensor of shape (B x C x H x W)
+            or a list of images all of the same size.
+        nrow (int, optional): Number of images displayed in each row of the grid.
+            The Final grid size is (B / nrow, nrow). Default is 8.
+        padding (int, optional): amount of padding. Default is 2.
+        normalize (bool, optional): If True, shift the image to the range (0, 1),
+            by subtracting the minimum and dividing by the maximum pixel value.
+        range (tuple, optional): tuple (min, max) where min and max are numbers,
+            then these numbers are used to normalize the image. By default, min and max
+            are computed from the tensor.
+        scale_each (bool, optional): If True, scale each image in the batch of
+            images separately rather than the (min, max) over all images.
+        pad_value (float, optional): Value for the padded pixels.
+    Example:
+        See this notebook `here <https://gist.github.com/anonymous/bf16430f7750c023141c562f3e9f2a91>`_
+    """
+    if not (
+        torch.is_tensor(tensor)
+        or (isinstance(tensor, list) and all(torch.is_tensor(t) for t in tensor))
+    ):
+        raise TypeError(
+            "tensor or list of tensors expected, got {}".format(type(tensor))
+        )
+
+    # if list of tensors, convert to a 4D mini-batch Tensor
+    if isinstance(tensor, list):
+        tensor = torch.stack(tensor, dim=0)
+
+    if tensor.dim() == 2:  # single image H x W
+        tensor = tensor.view(1, tensor.size(0), tensor.size(1))
+    if tensor.dim() == 3:  # single image
+        if tensor.size(0) == 1:  # if single-channel, convert to 3-channel
+            tensor = torch.cat((tensor, tensor, tensor), 0)
+        tensor = tensor.view(1, tensor.size(0), tensor.size(1), tensor.size(2))
+
+    if tensor.dim() == 4 and tensor.size(1) == 1:  # single-channel images
+        tensor = torch.cat((tensor, tensor, tensor), 1)
+
+    if normalize is True:
+        tensor = tensor.clone()  # avoid modifying tensor in-place
+        if range is not None:
+            assert isinstance(
+                range, tuple
+            ), "range has to be a tuple (min, max) if specified. min and max are numbers"
+
+        def norm_ip(img, min, max):
+            img.clamp_(min=min, max=max)
+            img.add_(-min).div_(max - min + 1e-5)
+
+        def norm_range(t, range):
+            if range is not None:
+                norm_ip(t, range[0], range[1])
+            else:
+                norm_ip(t, float(t.min()), float(t.max()))
+
+        if scale_each is True:
+            for t in tensor:  # loop over mini-batch dimension
+                norm_range(t, range)
+        else:
+            norm_range(tensor, range)
+
+    if tensor.size(0) == 1:
+        return tensor.squeeze()
+
+    # make the mini-batch of images into a grid
+    nmaps = tensor.size(0)
+    xmaps = min(nrow, nmaps)
+    ymaps = int(math.ceil(float(nmaps) / xmaps))
+    height, width = int(tensor.size(2) + padding), int(tensor.size(3) + padding)
+    grid = tensor.new(3, height * ymaps + padding, width * xmaps + padding).fill_(
+        pad_value
+    )
+    k = 0
+    for y in irange(ymaps):
+        for x in irange(xmaps):
+            if k >= nmaps:
+                break
+            grid.narrow(1, y * height + padding, height - padding).narrow(
+                2, x * width + padding, width - padding
+            ).copy_(tensor[k])
+            k = k + 1
+    return grid
+
+
+def save_image(tensor, filename, nrow=4, padding=2, mean=None, std=None, save=True):
+    """
+    Saves a given Tensor into an image file.
+    If given a mini-batch tensor, will save the tensor as a grid of images.
+    """
+    from PIL import Image
+
+    tensor = tensor.cpu()
+    grid = make_grid(tensor, nrow=nrow, padding=10, pad_value=1)
+    if not mean is None:
+        # ndarr = grid.mul(std).add(mean).mul(255).byte().transpose(0,2).transpose(0,1).numpy()
+        ndarr = (
+            grid.mul(std)
+            .add(mean)
+            .mul(255)
+            .byte()
+            .transpose(0, 2)
+            .transpose(0, 1)
+            .numpy()
+        )
+    else:
+        ndarr = (
+            grid.mul(0.5)
+            .add(0.5)
+            .mul(255)
+            .byte()
+            .transpose(0, 2)
+            .transpose(0, 1)
+            .numpy()
+        )
+    im = Image.fromarray(ndarr)
+    if save is True:
+        im.save(filename)
+    return im, grid
+
+
+from PIL import ImageDraw, Image, ImageFont
+import json
+
+
+class Draw(object):
+    """Drawing helper class to visualize the neural network output"""
+
+    def __init__(self, im):
+        """
+        :param im: The image to draw in.
+        """
+        self.draw = ImageDraw.Draw(im)
+        self.width = im.size[0]
+
+    def draw_line(self, point1, point2, line_color, line_width=2):
+        """Draws line on image"""
+        if point1 is not None and point2 is not None:
+            self.draw.line([point1, point2], fill=line_color, width=line_width)
+
+    def draw_dot(self, point, point_color, point_radius):
+        """Draws dot (filled circle) on image"""
+        if point is not None:
+            xy = [
+                point[0] - point_radius,
+                point[1] - point_radius,
+                point[0] + point_radius,
+                point[1] + point_radius,
+            ]
+            self.draw.ellipse(xy, fill=point_color, outline=point_color)
+
+    def draw_text(self, point, text, text_color):
+        """Draws text on image"""
+        if point is not None:
+            self.draw.text(point, text, fill=text_color, font=ImageFont.truetype("misc/arial.ttf", self.width // 50))
+
+    def draw_cube(self, points, color=(0, 255, 0)):
+        """
+        Draws cube with a thick solid line across
+        the front top edge and an X on the top face.
+        """
+        # draw front
+        self.draw_line(points[0], points[1], color)
+        self.draw_line(points[1], points[2], color)
+        self.draw_line(points[3], points[2], color)
+        self.draw_line(points[3], points[0], color)
+
+        # draw back
+        self.draw_line(points[4], points[5], color)
+        self.draw_line(points[6], points[5], color)
+        self.draw_line(points[6], points[7], color)
+        self.draw_line(points[4], points[7], color)
+
+        # draw sides
+        self.draw_line(points[0], points[4], color)
+        self.draw_line(points[7], points[3], color)
+        self.draw_line(points[5], points[1], color)
+        self.draw_line(points[2], points[6], color)
+
+        # draw dots
+        self.draw_dot(points[0], point_color=color, point_radius=4)
+        self.draw_dot(points[1], point_color=color, point_radius=4)
+
+        # draw x on the top
+        self.draw_line(points[0], points[5], color)
+        self.draw_line(points[1], points[4], color)
+
+        # Draw center
+        self.draw_dot(points[8], point_color=color, point_radius=6)
+
+        for i in range(9):
+            self.draw_text(points[i], str(i), (255, 0, 0))
+
+