diff --git a/config.py b/config.py
index 1995967..c9f9d0c 100644
--- a/config.py
+++ b/config.py
@@ -31,6 +31,7 @@ class Config:
     # ===== Симулятор робота =====
     MAP_WIDTH = 800
     MAP_HEIGHT = 600
+    BORDER_THICKNESS = 10
     MAP_OBSTACLES = [
         (200, 150, 100, 200),
         (500, 300, 150, 50),
@@ -41,7 +42,7 @@ class Config:
     ROBOT_IMAGE_PATH = 'robot.png' # или None
     
     INITIAL_HP = 100
-    INITIAL_CHARGE = 100
+    INITIAL_FIRE_CHARGE = 4
     COLLISION_DAMAGE = 10
 
     # Конус перед роботом
diff --git a/main.py b/main.py
index bb2b6fb..4c79803 100644
--- a/main.py
+++ b/main.py
@@ -63,6 +63,7 @@ def main():
             landmarks = result['landmarks']
             
             # Статический жест
+            special = special_detector.predict(landmarks)
             
             # Вкл/выкл управления жестами
             if special == 'cross' and cross_cooldown == 0:
@@ -93,11 +94,13 @@ def main():
                 if dynamic_gesture:
                     last_dynamic = dynamic_gesture
                     dynamic_counter = 30
-                    
+            
+            '''
             if dynamic_gesture == 'wave_left':
                 robot.reset_position()
             elif dynamic_gesture == 'wave_right':
-                robot.restart_game()
+                robot.restart()
+            '''
                 
             # Отрисовка
             vis = detector.draw_landmarks(frame, result['pose_landmarks'])
diff --git a/robot/simulated_robot.py b/robot/simulated_robot.py
index 87391be..1bc5303 100644
--- a/robot/simulated_robot.py
+++ b/robot/simulated_robot.py
@@ -19,7 +19,18 @@ class DummySimRobot(RobotController):
         self.clock = pygame.time.Clock()
         self.font = pygame.font.SysFont(None, 28)
         
-        self.obstacles = config.MAP_OBSTACLES
+        border_thickness = config.BORDER_THICKNESS
+        if border_thickness > 0:
+            border_obstacles = [
+                (0, 0, self.width, border_thickness),
+                (0, self.height - border_thickness, self.width, border_thickness),
+                (0, 0, border_thickness, self.height),
+                (self.width - border_thickness, 0, border_thickness, self.height)
+            ]
+            self.obstacles = list(config.MAP_OBSTACLES) + border_obstacles
+        else:
+            self.obstacles = list(config.MAP_OBSTACLES)
+            
         self.start = config.START_POS
         self.finish = config.FINISH_POS
         self.robot_radius = config.ROBOT_RADIUS
@@ -34,8 +45,8 @@ class DummySimRobot(RobotController):
             
         self.max_hp = config.INITIAL_HP
         self.hp = self.max_hp
-        self.max_charge = config.INITIAL_CHARGE
-        self.charge = self.max_charge
+        self.max_fire_charge = config.INITIAL_FIRE_CHARGE
+        self.charge = self.max_fire_charge
         self.collision_damage = config.COLLISION_DAMAGE
         self.extinguish_radius = config.EXTINGUISH_RADIUS
         self.extinguish_angle = math.radians(config.EXTINGUISH_ANGLE)
@@ -43,9 +54,18 @@ class DummySimRobot(RobotController):
         
         self.fires = []
         self.num_fires = config.NUM_FIRES
+        self.fire_radius = config.FIRE_RADIUS
+        
         self.score = 0
         self.game_over = False
         self.won = False
+        
+        self.extinguish_active = False
+        self.extinguish_timer = 0
+        self.extinguish_cooldown = 0
+        self.extinguish_cone_length = 80
+        
+        self.invincibility_timer = 0
 
         self.x, self.y = self.start
         self.angle = 0.0
@@ -57,17 +77,41 @@ class DummySimRobot(RobotController):
     def _generate_fires(self):
         self.fires.clear()
         attempts = 0
-        while len(self.fires) < self.num_fires and attempts < 1000:
-            fx = random.randint(self.robot_radius, self.width - self.robot_radius)
-            fy = random.randint(self.robot_radius, self.height - self.robot_radius)
+        margin = 30 # минимальное расстояние между центрами костров
+
+        while len(self.fires) < self.num_fires and attempts < 2000:
+            fx = random.randint(self.robot_radius + 10, self.width - self.robot_radius - 10)
+            fy = random.randint(self.robot_radius + 10, self.height - self.robot_radius - 10)
+
+            # Проверка: не на препятствии
             if self._point_collides_with_obstacle(fx, fy, self.robot_radius):
+                attempts += 1
+                continue
+
+            # Проверка: не слишком близко к старту
+            if math.hypot(fx - self.start[0], fy - self.start[1]) < self.robot_radius * 3:
+                attempts += 1
                 continue
-            if math.hypot(fx - self.start[0], fy - self.start[1]) < self.robot_radius * 2:
+
+            # Проверка: не слишком близко к финишу
+            if math.hypot(fx - self.finish[0], fy - self.finish[1]) < self.robot_radius * 3:
+                attempts += 1
                 continue
-            if math.hypot(fx - self.finish[0], fy - self.finish[1]) < self.robot_radius * 2:
+
+            # Проверка: не пересекается с уже существующими кострами
+            overlap = False
+            for fire in self.fires:
+                if math.hypot(fx - fire.x, fy - fire.y) < 2 * self.fire_radius + margin:
+                    overlap = True
+                    break
+            if overlap:
+                attempts += 1
                 continue
-            self.fires.append(Fire(fx, fy, 15))
+
+            self.fires.append(Fire(fx, fy, self.fire_radius))
             attempts += 1
+
+        print(f"Сгенерировано {len(self.fires)} очагов возгорания")
             
     def _point_collides_with_obstacle(self, x, y, radius):
         for ox, oy, ow, oh in self.obstacles:
@@ -81,6 +125,7 @@ class DummySimRobot(RobotController):
         self.linear_speed = max(-1.0, min(1.0, v))
         self.angular_speed = max(-1.0, min(1.0, w))
         
+    '''
     def send_fire_ext_burst_cmd(self):
         if self.charge <= 0:
             return False
@@ -91,36 +136,72 @@ class DummySimRobot(RobotController):
                 self.score += self.score_per_fire
                 return True
         return False
-        
-    def _is_fire_in_front(self, fire):
-        dx = fire.x - self.x
-        dy = fire.y - self.y
-        dist = math.hypot(dx, dy)
-        if dist > self.extinguish_radius:
+    '''
+    
+    def send_fire_ext_burst_cmd(self):
+        if self.extinguish_cooldown > 0 or self.extinguish_active:
+            return False
+        if self.charge <= 0:
             return False
-        angle_to_fire = math.atan2(dy, dx)
-        angle_diff = abs(angle_to_fire - self.angle)
-        angle_diff = min(angle_diff, 2*math.pi - angle_diff)
-        return angle_diff < self.extinguish_angle / 2
+        
+        self.extinguish_active = True
+        self.extinguish_timer = 30
+        self.extinguish_cooldown = 10
+        
+        self.charge -= 1
+        
+        cone_len = self.extinguish_cone_length
+        cone_angle_half = self.extinguish_angle / 2
+        extinguished = False
+        
+        for fire in self.fires[:]:
+            dx = fire.x - self.x
+            dy = fire.y - self.y
+            dist = math.hypot(dx, dy)
+            if dist > cone_len:
+                continue
+            
+            angle_to_fire = math.atan2(dy, dx)
+            angle_diff = angle_to_fire - self.angle
+            angle_diff = (angle_diff + math.pi) % (2*math.pi) - math.pi #[-π, π]
+            
+            if abs(angle_diff) <= cone_angle_half:
+                self.fires.remove(fire)
+                self.score += self.score_per_fire
+                extinguished = True
+                break
+            
+        return extinguished
     
     def update(self, dt=1/30.0):
         if self.game_over or self.won:
             return
-
+        
+        if self.invincibility_timer > 0:
+            self.invincibility_timer -= 1
+        if self.extinguish_timer > 0:
+            self.extinguish_timer -= 1
+            if self.extinguish_timer == 0:
+                self.extinguish_active = False
+        if self.extinguish_cooldown > 0:
+            self.extinguish_cooldown -= 1
+        
+        # Движение
         self.angle += self.angular_speed * dt * 2
         dx = self.linear_speed * math.cos(self.angle) * dt * 100
         dy = self.linear_speed * math.sin(self.angle) * dt * 100
         new_x = self.x + dx
         new_y = self.y + dy
-
-        new_x = max(self.robot_radius, min(self.width - self.robot_radius, new_x))
-        new_y = max(self.robot_radius, min(self.height - self.robot_radius, new_y))
-
+        
+        # Проверка: столкновение
         if self._point_collides_with_obstacle(new_x, new_y, self.robot_radius):
-            self.hp -= self.collision_damage
+            if self.invincibility_timer == 0:
+                self.hp -= self.collision_damage
+                self.invincibility_timer = 30
         else:
             self.x, self.y = new_x, new_y
-
+        
+        # Конец игры?
         if math.hypot(self.x - self.finish[0], self.y - self.finish[1]) < self.robot_radius:
             self.won = True
         if self.hp <= 0:
@@ -128,26 +209,53 @@ class DummySimRobot(RobotController):
             
     def draw(self):
         self.screen.fill((255,255,255))
+        
+        # Препятствия
         for ox, oy, ow, oh in self.obstacles:
             pygame.draw.rect(self.screen, (100,100,100), (ox, oy, ow, oh))
+        
+        # Финиш
         pygame.draw.circle(self.screen, (0,200,0), (int(self.finish[0]), int(self.finish[1])), self.robot_radius, 3)
+        
+        # Костры
         for fire in self.fires:
             pygame.draw.circle(self.screen, (255,0,0), (int(fire.x), int(fire.y)), fire.radius)
             pygame.draw.circle(self.screen, (255,100,0), (int(fire.x), int(fire.y)), fire.radius-3)
-
-        if self.robot_image:
-            rotated = pygame.transform.rotate(self.robot_image, -math.degrees(self.angle))
-            rect = rotated.get_rect(center=(int(self.x), int(self.y)))
-            self.screen.blit(rotated, rect)
+        
+        # Конус тушения
+        if self.extinguish_active:
+            cone_surface = pygame.Surface((self.width, self.height), pygame.SRCALPHA)
+            num_points = 20
+            points = [(self.x, self.y)]
+            half_angle = self.extinguish_angle / 2
+            cone_len = self.extinguish_cone_length
+            for i in range(num_points + 1):
+                angle = self.angle - half_angle + (self.extinguish_angle) * (i / num_points)
+                x = self.x + cone_len * math.cos(angle)
+                y = self.y + cone_len * math.sin(angle)
+                points.append((x, y))
+            if len(points) > 2:
+                pygame.draw.polygon(cone_surface, (0, 200, 255, 80), points)
+            self.screen.blit(cone_surface, (0, 0))
+        
+        # Робот
+        if self.invincibility_timer > 0 and (self.invincibility_timer % 6 < 3):
+            pass
         else:
-            nose = (self.x + self.robot_radius * math.cos(self.angle),
-                    self.y + self.robot_radius * math.sin(self.angle))
-            left = (self.x + self.robot_radius * math.cos(self.angle + 2.5),
-                    self.y + self.robot_radius * math.sin(self.angle + 2.5))
-            right = (self.x + self.robot_radius * math.cos(self.angle - 2.5),
-                     self.y + self.robot_radius * math.sin(self.angle - 2.5))
-            pygame.draw.polygon(self.screen, (0,0,255), [nose, left, right])
-
+            if self.robot_image:
+                rotated = pygame.transform.rotate(self.robot_image, -math.degrees(self.angle))
+                rect = rotated.get_rect(center=(int(self.x), int(self.y)))
+                self.screen.blit(rotated, rect)
+            else:
+                nose = (self.x + self.robot_radius * math.cos(self.angle),
+                        self.y + self.robot_radius * math.sin(self.angle))
+                left = (self.x + self.robot_radius * math.cos(self.angle + 2.5),
+                        self.y + self.robot_radius * math.sin(self.angle + 2.5))
+                right = (self.x + self.robot_radius * math.cos(self.angle - 2.5),
+                        self.y + self.robot_radius * math.sin(self.angle - 2.5))
+                pygame.draw.polygon(self.screen, (0,0,255), [nose, left, right])
+            
+        # Статистика
         hp_text = self.font.render(f"HP: {self.hp}", True, (0,0,0))
         charge_text = self.font.render(f"Charge: {self.charge}", True, (0,0,0))
         score_text = self.font.render(f"Score: {self.score}", True, (0,0,0))
@@ -156,7 +264,8 @@ class DummySimRobot(RobotController):
         self.screen.blit(charge_text, (10, 40))
         self.screen.blit(score_text, (10, 70))
         self.screen.blit(fires_text, (10, 100))
-
+        
+        # Конец игры
         if self.game_over:
             msg = self.font.render("GAME OVER – Press R to restart", True, (255,0,0))
             self.screen.blit(msg, (self.width//2 - 150, self.height//2))
@@ -195,6 +304,10 @@ class DummySimRobot(RobotController):
         self.score = 0
         self.game_over = False
         self.won = False
+        self.invincibility_timer = 0
+        self.extinguish_active = False
+        self.extinguish_timer = 0
+        self.extinguish_cooldown = 0
         self._generate_fires()
         
     def reset_position(self):