diff --git a/gui/command.py b/gui/command.py
index 1a65f99..e82bd59 100644
--- a/gui/command.py
+++ b/gui/command.py
@@ -12,12 +12,12 @@ class Command(QWidget):
         self.command_type = command_type
         self.startCommand = startCommand
         self.changeType = changeType
-        
+
         self.initUI()
-        
+
         self.timer = QTimer()
         self.timer.timeout.connect(self.updateState)
-        self.timer.start(int(100)) 
+        self.timer.start(int(100))
 
     def initUI(self):
         self.layout = QVBoxLayout()
@@ -33,9 +33,14 @@ class Command(QWidget):
         self.updButton = QPushButton("Запустить single cycle")
         self.updButton.clicked.connect(self.startCommand)
         self.layout.addWidget(self.updButton)
-        
+
         self.chgButton = QPushButton("Изменить тип")
-        self.chgButton.clicked.connect(lambda: self.changeType('calc' if self.command_type() == 'base' else 'base'))
+        cur_types = ["base", "calc", "pallette"]
+        self.chgButton.clicked.connect(
+            lambda: self.changeType(
+                cur_types[(cur_types.index(self.command_type()) + 1) % len(cur_types)]
+            )
+        )
         self.layout.addWidget(self.chgButton)
 
     def paintEvent(self, event):
@@ -44,7 +49,7 @@ class Command(QWidget):
         p = self.palette()
         p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
         self.setPalette(p)
-        
+
     def updateState(self):
         self.stepLabel.setText(f"{self.command_data()}")
-        self.commandLabel.setText(f"Тип загрузки {self.command_type()}")
\ No newline at end of file
+        self.commandLabel.setText(f"Тип загрузки {self.command_type()}")
diff --git a/gui/init.py b/gui/init.py
index 0dfba7e..1aa4572 100644
--- a/gui/init.py
+++ b/gui/init.py
@@ -68,8 +68,8 @@ class MainContentComponent(QWidget):
                 self.informerPanel,
                 # self.filenamePanel,
                 # self.imitatorPanel,
-                # self.commandPanel,
                 self.palletizingPanel,
+                self.commandPanel,
             ],
             color=(169, 169, 169),
         )
diff --git a/robot/client_socket.py b/robot/client_socket.py
index 484b66a..66935a1 100644
--- a/robot/client_socket.py
+++ b/robot/client_socket.py
@@ -173,11 +173,12 @@ class SocketRobotArm:
         self.set_text(text=f"Старт одиночного цикла")
         time.sleep(0.5)
 
-        commands = (
-            self.steps_from_file()
-            if self.command_type == "base"
-            else self.convert_point_to_free()
-        )
+        if self.command_type == "base":
+            commands = self.steps_from_file()
+        if self.command_type == "calc":
+            commands = self.convert_point_to_free()
+        if self.command_type == "pallette":
+            commands = self.get_palletizing_json()
         with open(f"log/{self.command_type}.json", "w") as myfile:
             myfile.write(json.dumps(commands))
 
@@ -202,17 +203,26 @@ class SocketRobotArm:
     def palletizing(self, position, box_id):
         conv = position[:]
         conv[1] += 0.4
-        
+
         position[1] += 0.02
 
+        json_res = []
+
         for pos in [conv, position]:
             jointPoses = self.convert_to_joint_base(
                 pos,
                 np.radians([0, 0, -90]),
             )
+            json_res.append(
+                self.prepare_data.make_step(
+                    "free", np.degrees(jointPoses), [0, 0, 0, 0, 0, 0]
+                )
+            )
             self.motionFund(jointPoses)
             time.sleep(2)
-            
+        with open(f"data/palletizing.json", "w") as myfile:
+            myfile.write(json.dumps(json_res))
+
         end_effector_state = p.getLinkState(self.body_id, self.num_joints - 1)
         end_effector_pos = end_effector_state[0]  # Позиция наконечника
         end_effector_orn = end_effector_state[1]  # Ориентация наконечника
@@ -227,14 +237,15 @@ class SocketRobotArm:
         # Создаём констрейнт для прикрепления
         constraint_id = p.createConstraint(
             parentBodyUniqueId=self.body_id,  # Идентификатор робота
-            parentLinkIndex=self.num_joints - 1,  # Индекс последнего звена (наконечника)
+            parentLinkIndex=self.num_joints
+            - 1,  # Индекс последнего звена (наконечника)
             childBodyUniqueId=box_id,  # Идентификатор коробки
             childLinkIndex=-1,  # -1 означает базовую ссылку объекта
             jointType=p.JOINT_FIXED,  # Фиксированный констрейнт
             jointAxis=[0, 0, 0],  # Без вращательной оси
             parentFramePosition=parentFramePosition,  # Позиция относительно робота
             childFramePosition=[1, 1, 1],  # Позиция объекта (относительно себя)
-            parentFrameOrientation=parentFrameOrientation  # Ориентация относительно робота
+            parentFrameOrientation=parentFrameOrientation,  # Ориентация относительно робота
         )
 
     def set_text(self, text):
@@ -315,6 +326,11 @@ class SocketRobotArm:
         for point in points:
             jointPoses = [np.radians(float(point[f"m{i}"])) for i in range(6)]
             self.motionFund(jointPoses)
+            
+    def get_palletizing_json(self):
+        with open(f"data/palletizing.json", "r") as fp:
+            data = json.load(fp)
+        return data
 
     def convert_point_to_free(self):
         points = self.steps_from_file()