cd "D:\Program Files\Vicon\DataStream SDK\Win64\Python"
pip install -e vicon_dssdk

cd vicon-datastream-mcp
pip install -r requirements.txt

{
  "mcpServers": {
    "vicon": {
      "command": "python",
      "args": ["D:/workspace/rosclaw/mcp/vicon-datastream-mcp/src/mcp_server.py"],
      "env": {
        "VICON_HOST": "192.168.20.24:801"
      }
    }
  }
}

# stdio mode (default)
python -m src.mcp_server

# SSE mode
python -m src.mcp_server --transport sse --port 8000

"Connect to Vicon system"
→ vicon_connect(host="localhost:801")

"Connect via multicast using local IP 192.168.1.100"
→ vicon_connect_multicast(local_ip="192.168.1.100")

"Enable low latency push mode"
→ vicon_set_stream_mode("ServerPush")

"Set Unity coordinate system (Y-up)"
→ vicon_set_axis_mapping("Forward", "Up", "Right")

"Only receive Colin's data"
→ vicon_clear_subject_filter() + vicon_add_subject_filter("Colin")

"Get Colin's pelvis complete pose"
→ vicon_get_segment(subject_name="Colin", segment_name="Pelvis")
Returns: Global/Local/Static transforms, each containing Euler/Quaternion/Matrix/Helical

"Get all segments hierarchy"
→ vicon_get_all_segments("Colin")

"Get marker LPSI ray tracing information"
→ vicon_get_markers(subject_name="Colin")

"Get force plate force and moment (global coordinates)"
→ vicon_get_force_plates()

"Get force plate local coordinate data"
→ vicon_get_force_plates(include_local=true)

"Get eye tracker 1 gaze direction"
→ vicon_get_eye_tracker(eye_tracker_id=1)

"List all cameras"
→ vicon_get_cameras()

"Get calibration parameters for camera Vantage001"
→ vicon_get_camera_calibration(camera_name="Vantage001")
Returns: Global pose + focal length + distortion coefficients

"Get centroid data for camera 1"
→ vicon_get_centroids(camera_name="Vantage 16 (2105980)")

"Analyze system latency bottleneck"
→ vicon_get_latency_samples()
Returns: {acquisition: 0.001s, processing: 0.005s, network: 0.002s}

"Get current frame timecode"
→ vicon_get_timecode()
Returns: 01:12:24:02

"Enable timing log debugging"
→ vicon_set_timing_log(client_log="timing.log")

{
  "subject": "Colin",
  "segment": "Pelvis",
  "global": {
    "translation": {"x": -522.3, "y": -1.6, "z": 1119.1},
    "rotation_euler_xyz": {"x": 0.1, "y": -0.2, "z": 0.05},
    "rotation_quaternion": {"x": 0.0, "y": 0.1, "z": 0.0, "w": 0.99},
    "rotation_matrix": [[1,0,0], [0,1,0], [0,0,1]],
    "rotation_helical": {"x": 0.0, "y": 0.1, "z": 0.0, "magnitude": 0.1},
    "occluded": false
  },
  "local": { /* Relative to parent segment */ },
  "static": { /* PRE-POSITION/PRE-ORIENTATION */ },
  "hierarchy": {
    "parent": "Hips",
    "children": ["Spine", "LeftUpperLeg", "RightUpperLeg"]
  }
}

{
  "plate_id": 1,
  "global": {
    "force_vectors": [{"x": 0.0, "y": 0.0, "z": 823.5, "unit": "N"}],
    "moment_vectors": [{"x": 12.3, "y": -5.2, "z": 0.0, "unit": "Nm"}],
    "center_of_pressure": [{"x": 125.0, "y": -45.0, "z": 0.0, "unit": "mm"}]
  },
  "local": {
    /* Relative to force plate's own coordinate system */
  }
}

{
  "camera": "Vantage 16 (2105980)",
  "global_pose": {
    "translation": {"x": 1200.5, "y": -800.2, "z": 2400.0, "unit": "mm"},
    "rotation": {
      "euler_xyz": {"x": 0.0, "y": 0.1, "z": 0.0},
      "quaternion": {"x": 0.0, "y": 0.05, "z": 0.0, "w": 0.998}
    }
  },
  "lens": {
    "focal_length_mm": 24.0,
    "principal_point": {"x": 960.0, "y": 540.0},
    "lens_parameters": {"k1": 0.001, "k2": -0.0001, "k3": 0.0}
  }
}

vicon-datastream-mcp/
├── src/
│   ├── __init__.py              # Python package init
│   └── mcp_server.py            # Main MCP Server (81KB, complete implementation)
├── prompts/                     # Prompt templates
│   ├── system.txt               # System prompt
│   └── examples/                # Example prompts
│       └── basic_usage.txt
├── docs/                        # Documentation
│   ├── WINDOWS_SETUP.md         # Windows setup guide
│   ├── CONFIG.md                # Configuration guide
│   ├── ARCHITECTURE.md          # Architecture details
│   └── Vicon DataStream SDK Manual.pdf  # 📚 SDK v1.12.145507h official doc
├── config.json                  # MCP client configuration
├── requirements.txt             # Python dependencies
├── CHECKLIST.md                 # ✅ Feature completeness checklist
├── README.md                    # This document (English)
└── README.zh.md                 # Chinese version

# Method 1: Standard installation
cd "D:\Program Files\Vicon\DataStream SDK\Win64\Python"
pip install -e vicon_dssdk

# Method 2: Set environment variable
$env:VICON_SDK_PATH = "D:\Program Files\Vicon\DataStream SDK\Win64\Python"