diff --git a/lesson_04/mover.py b/lesson_04/mover.py
index a61bebeaf1f00c8c51404fdd70aaa3c6ab7f58b3..80446ac20f0239f1c721f9a82aa50f5a6de2b842 100644
--- a/lesson_04/mover.py
+++ b/lesson_04/mover.py
@@ -21,15 +21,34 @@ class RurMover(Node):
         self.get_clock().sleep_for(Duration(seconds=1.0))
 
     def main(self):
-        pass
+        self.publish_twist(0.0, -60)
+        self.publish_twist(0.5, 0)
+        self.publish_twist(-0.5, 0)
+
+        self.publish_twist(0.0, 120)
+        self.publish_twist(1.5, 0)
+
+        self.publish_twist(0.0, -120)
+        self.publish_twist(1.5, 0)
+
+        self.publish_twist(0.0, -60)
+        self.publish_twist(0.5, 0)
+
+        self.publish_twist(-0.5, 0)
+        self.publish_twist(0.0, -60)
+        self.publish_twist(1.5, 0)
 
 
 def main(args=None):
     rclpy.init(args=args)
+
     mover = RurMover()
+
     rclpy.spin(mover)
+
     mover.destroy_node()
     rclpy.shutdown()
 
+
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()
diff --git a/lesson_04/square.py b/lesson_04/square.py
index 21f468769c8850956b023923ae3150ec03c1f7cc..22c1bec805a53928e3441084cf1906a38c9ca78f 100644
--- a/lesson_04/square.py
+++ b/lesson_04/square.py
@@ -22,7 +22,7 @@ class RurMover(Node):
 
     def main(self):
         while True:
-            self.publish_twist(0, 90.0)
+            self.publish_twist(0.0, 90.0)
             self.publish_twist(3.0, 0.0)
 
 
@@ -36,5 +36,6 @@ def main(args=None):
     mover.destroy_node()
     rclpy.shutdown()
 
+
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()