A nest of Vespa bicolor I relocated to my apartment early this year. I cared for it for just a few days before the workers could forage independently, and then placed it in a nylon mesh cage next to a window. At the time of this video (August 2008) the nest is already about 23cm high and 25cm wide. The wasps come and go naturally. The colony is placid and mild-tempered, and I often spend quite a bit of time just sitting next to them and observing them.
A short clip taken much nearer to the nest - my hand and the camera were mere inches from the nest, but at no time did the wasps show any reaction to my presence.
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