diff --git a/gesture_control/arm_control.py b/gesture_control/arm_control.py
new file mode 100644
index 0000000..f7bcd75
--- /dev/null
+++ b/gesture_control/arm_control.py
@@ -0,0 +1,126 @@
+import numpy as np
+
+class ArmController:
+    def __init__(self, config, mirror=False):
+        self.config = config
+        self.mirror = mirror
+        self.shoulder_idx = {'left': 11, 'right': 12}
+        self.wrist_idx = {'left': 15, 'right': 16}
+        self.hip_idx = {'left': 23, 'right': 24}
+        self.dead_zone = config.get('dead_zone', 0.2)
+        self.debug = config.get('debug', False)
+        
+    def _get_side_indices(self, side):
+        """
+        Возвращает (shoulder_idx, wrist_idx) для заданной стороны (left/right).
+        При mirror=True интерпретируем сторону как в реальности: левая/правая рука.
+        """
+        if self.mirror:
+            if side == 'left':
+                s_idx = 12
+                w_idx = 16
+            else:
+                s_idx = 11
+                w_idx = 15
+        else:
+            if side == 'left':
+                s_idx = 11
+                w_idx = 15
+            else:
+                s_idx = 12
+                w_idx = 16
+        return s_idx, w_idx
+
+    def _get_shoulder_width(self, landmarks):
+        """Ширина плеч для нормировки горизонтальных смещений."""
+        left = landmarks[11][:2]
+        right = landmarks[12][:2]
+        width = np.linalg.norm(right - left)
+        if width < 50 or width > 300:
+            return None
+        return width
+
+    def _get_torso_height(self, landmarks):
+        """Высота торса для нормировки вертикальных смещений."""
+        left_shoulder = landmarks[11][:2]
+        right_shoulder = landmarks[12][:2]
+        left_hip = landmarks[23][:2]
+        right_hip = landmarks[24][:2]
+        shoulder_center = (left_shoulder + right_shoulder) / 2
+        hip_center = (left_hip + right_hip) / 2
+        height = np.linalg.norm(shoulder_center - hip_center)
+        if height < 50:
+            return None
+        return height
+
+    def _horizontal_displacement_rel(self, landmarks, side):
+        """
+        Нормированное горизонтальное смещение запястья относительно плеча.
+        Сторона `side` — это реальная сторона руки
+        """
+        s_idx, w_idx = self._get_side_indices(side)
+
+        if landmarks[s_idx][3] < 0.5 or landmarks[w_idx][3] < 0.5:
+            return 0.0
+
+        shoulder = landmarks[s_idx][:2]
+        wrist = landmarks[w_idx][:2]
+
+        shoulder_width = self._get_shoulder_width(landmarks)
+        if shoulder_width is None:
+            return 0.0
+
+        disp = wrist[0] - shoulder[0]
+        return disp / shoulder_width
+
+    def _vertical_displacement_rel(self, landmarks, side):
+        """
+        Вертикальное смещение: верх/низ запястья относительно плеча.
+        Сторона `side` — реальная сторона руки.
+        """
+        s_idx, w_idx = self._get_side_indices(side)
+
+        if landmarks[s_idx][3] < 0.5 or landmarks[w_idx][3] < 0.5:
+            return 0.0
+
+        shoulder = landmarks[s_idx][:2]
+        wrist = landmarks[w_idx][:2]
+
+        torso_height = self._get_torso_height(landmarks)
+        if torso_height is None:
+            return 0.0
+
+        disp = shoulder[1] - wrist[1]
+        return disp / torso_height
+
+    def compute_speeds(self, landmarks):
+        if (landmarks[11][3] < 0.5 or landmarks[12][3] < 0.5 or
+            landmarks[15][3] < 0.5 or landmarks[16][3] < 0.5):
+            if self.debug:
+                print("Руки не видны")
+            return 0.0, 0.0
+
+        linear_side = self.config['linear_arm']
+        angular_side = self.config['angular_arm']
+
+        lin_rel = self._horizontal_displacement_rel(landmarks, linear_side)
+        ang_rel = self._vertical_displacement_rel(landmarks, angular_side)
+
+        if self.debug:
+            print(f"lin_rel={lin_rel:.3f}, ang_rel={ang_rel:.3f}")
+
+        # Линейная скорость (только вперёд)
+        if lin_rel < self.dead_zone:
+            linear = 0.0
+        else:
+            linear = min(lin_rel, 1.0) * self.config['max_speed_linear']
+
+        # Угловая скорость
+        if abs(ang_rel) < self.dead_zone:
+            angular = 0.0
+        else:
+            ang_rel_clipped = np.clip(ang_rel, -1.0, 1.0)
+            angular = ang_rel_clipped * self.config['max_speed_angular']
+
+        return linear, angular
+