diff --git a/.claude/settings.local.json b/.claude/settings.local.json
new file mode 100644
index 00000000..d7de7053
--- /dev/null
+++ b/.claude/settings.local.json
@@ -0,0 +1,10 @@
+{
+  "permissions": {
+    "allow": [
+      "WebFetch(domain:raw.githubusercontent.com)",
+      "WebFetch(domain:github.com)",
+      "WebSearch",
+      "WebFetch(domain:api.github.com)"
+    ]
+  }
+}
diff --git a/.gitignore b/.gitignore
index 50a0f0d5..aef77e90 100644
--- a/.gitignore
+++ b/.gitignore
@@ -23,10 +23,10 @@ test-req.txt
 
 sterowanie.py
 tts/
-=======
+
 sterowanie.py
 tts/
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
+
 
 examples/xlerobot_controler.py
 examples/xlerobot_controller.py
\ No newline at end of file
diff --git a/=2.6.1 b/=2.6.1
new file mode 100644
index 00000000..db47e05b
--- /dev/null
+++ b/=2.6.1
@@ -0,0 +1,7 @@
+Looking in indexes: https://pypi.org/simple, https://www.piwheels.org/simple
+Collecting pygame
+  Downloading pygame-2.6.1-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl.metadata (12 kB)
+Downloading pygame-2.6.1-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl (13.6 MB)
+   ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 13.6/13.6 MB 4.4 MB/s eta 0:00:00
+Installing collected packages: pygame
+Successfully installed pygame-2.6.1
diff --git a/pyproject.toml b/pyproject.toml
index c48467c1..60843372 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "hatchling.build"
 
 [project]
 name = "robocrew"
-version = "0.2.0"
+version = "0.2.1-beta1"
 authors = [
   { name="Grigorij Dudnik", email="dudnikgrv@gmail.com" },
   { name="Konrad Suchodolski", email="konrad.suchodolski50@gmail.com" },
diff --git a/src/robocrew/core/LLMAgent.py b/src/robocrew/core/LLMAgent.py
index e749e5bb..8b7f8b9e 100755
--- a/src/robocrew/core/LLMAgent.py
+++ b/src/robocrew/core/LLMAgent.py
@@ -250,7 +250,6 @@ def go(self):
         finally:
             if self.servo_controler:
                 print("Disconnecting servo controller...")
-=======
 from os import getenv
 from robocrew.core.tools import create_say, remember_thing, recall_thing
 from dotenv import find_dotenv, load_dotenv
@@ -508,5 +507,5 @@ def go(self):
         finally:
             if self.servo_controler:
                 print("Disconnecting servo controller...")
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
+
                 self.servo_controler.disconnect()
\ No newline at end of file
diff --git a/src/robocrew/robots/XLeRobot/tools.py b/src/robocrew/robots/XLeRobot/tools.py
index 375ef607..3100c13d 100755
--- a/src/robocrew/robots/XLeRobot/tools.py
+++ b/src/robocrew/robots/XLeRobot/tools.py
@@ -216,14 +216,14 @@ def create_vla_single_arm_manipulation(
     robot_config.type = "so101_follower"
 
     robot_config.id="robot_arm"
-=======
+
     robot_config.id="right_arm"
     # Ensure attribute exists; None keeps LeRobot's default calibration lookup path.
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
-=======
+
+
     robot_config.id="right_arm"
     # Ensure attribute exists; None keeps LeRobot's default calibration lookup path.
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
+
     robot_config.calibration_dir = None
 
     cfg = RobotClientConfig(
@@ -240,10 +240,7 @@ def create_vla_single_arm_manipulation(
 
 
     preloaded_client = None
-=======
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
-=======
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
+
     if load_on_startup:
         print(f" Loading Policy for {tool_name}...")
         # release main camera from agent
@@ -253,16 +250,15 @@ def create_vla_single_arm_manipulation(
         preloaded_client = RobotClient(cfg)
         preloaded_client.robot.disconnect()
 
-=======
+
         # Warm up once at startup so server loads policy weights before first real execution.
         warmup_client = RobotClient(cfg)
         warmup_client.robot.disconnect()
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
-=======
+
         # Warm up once at startup so server loads policy weights before first real execution.
         warmup_client = RobotClient(cfg)
         warmup_client.robot.disconnect()
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
+
         #assign main camera back to agent
         time.sleep(0.5)
         main_camera_object.reopen()
@@ -273,10 +269,9 @@ def tool_name_to_override() -> str:
         print("Manipulation tool activated")
 
         servo_controler.set_saved_position("cobra", arm_side=arm_side)
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
-=======
+
         servo_controler.set_saved_position("cobra", arm_side=arm_side)
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
+
         servo_controler.turn_head_to_vla_position()
         # release main camera from agent, so arm policy can use it
         main_camera_object.release()
@@ -290,14 +285,12 @@ def tool_name_to_override() -> str:
             else:
                 client = preloaded_client
                 client.robot.connect()
-=======
             # Use a fresh RobotClient per invocation so worker threads can be stopped cleanly.
             client = RobotClient(cfg)
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
-=======
+
             # Use a fresh RobotClient per invocation so worker threads can be stopped cleanly.
             client = RobotClient(cfg)
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
+
             if not client.start():
                 return "Failed to connect to robot server."
 
@@ -318,9 +311,7 @@ def tool_name_to_override() -> str:
             main_camera_object.reopen()
             # set head back to precize mode
             servo_controler.turn_head_to_vla_position(50)
-=======
-=======
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
+
             if client:
                 try:
                     client.stop()
@@ -556,7 +547,4 @@ def _shutdown_robot_client(client: "RobotClient") -> None:
     hardware disconnection, preventing race conditions.
     """
     client.stop()
-=======
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
-=======
->>>>>>> a677287499bdf3751f32d69f3349af86602c1c49
+