Mcap

turkenberg4stars

Query your robot's MCAP recordings with SQL — straight from your LLM.

1# Mcap

README.mdMCP server

Transport: stdio
Status: Local

Power your agent

Add this server

Install from the publisher. Not a PlugMCP endpoint.

Run on PlugMCP

Host a copy with our keys and logs.

No packaged release in the registry yet. Follow the repository README.

RepositoryPublisher installStep-by-step: add this in Claude

Remote URL or a command on your machine? How the two installs differ

Run on PlugMCP

Host a copy with our keys and logs.

A new server you create. It is not this listing's official endpoint. Use the publisher install when you want their URL and their credentials.

Launch

Server facts

Local

Transport: stdio
License: GPL-3.0
Last checked: 2026-10-28

Stars: 4
Tools: —
Uptime: —

Tools

No tool list yet. Remote servers get one after the first health check.

FAQ

Questions

How do I install Mcap?

Copy the stdio config for Cursor, Claude Desktop, Claude Code, or VS Code on this page. It uses the publisher's install, not a PlugMCP proxy.

Does Mcap need an API key?

No required environment variable is listed on this record.

What transport does Mcap use?

Mcap runs locally over stdio.

When was Mcap last checked?

Last checked 2026-10-28. Query your robot's MCAP recordings with SQL — straight from your LLM.

From the publisher

Documentation

MCAP MCP Server

Query your robot's MCAP recordings with SQL — straight from your LLM.

Setup

{
  "mcpServers": {
    "mcap-query": {
      "command": "uvx",
      "args": ["mcap-mcp-server[all]"]
    }
  }
}

No install, no database, no API keys. Requires uv.

Usage

Just talk to your LLM:

"Tell me what topics are in session_003.mcap"
"In session_017.mcap find all moments where voltage dropped below 22V"
"Correlate IMU acceleration with motor current."
"Compare average battery voltage across my last 5 runs"
"What version of mcap-mcp-server am I running? Update it"

Tools

Tool	Needs loading	What it does
`list_recordings`	no	Find MCAP files in your project (or any path)
`get_recording_info`	no	Metadata, channels, attachments for a file
`get_schema`	no	SQL table names & column types — for query planning
`load_recording`	—	Decode MCAP into DuckDB (the LLM calls this automatically)
`query`	yes	Run SQL (full DuckDB — including ASOF JOIN)
`get_version`	no	Server version, available decoders, upgrade command

Project documentation — configuration, Docker, development setup, and architecture.

Example SQL (under the hood)

-- Time-windowed stats
SELECT (timestamp_us / 1000000) as second,
       AVG(voltage) as avg_v, MIN(voltage) as min_v
FROM battery GROUP BY second ORDER BY second

-- Cross-sensor correlation via ASOF JOIN
SELECT b.timestamp_us, b.voltage, i.linear_acceleration_x
FROM battery b ASOF JOIN imu i ON b.timestamp_us >= i.timestamp_us

-- Multi-recording comparison
SELECT 'run1' as run, AVG(voltage) FROM r1_battery
UNION ALL
SELECT 'run2', AVG(voltage) FROM r2_battery

Performance

Metadata tools (list_recordings, get_recording_info, get_schema) return in < 1 ms regardless of file size. SQL queries execute in 1–20 ms once data is loaded. The one-time load_recording cost scales with file size:

Messages	File size	Load time	Memory	Query time
1K	23 KB	8 ms	< 1 MB	1 ms
10K	220 KB	90 ms	0.5 MB	1–3 ms
100K	2.2 MB	0.7 s	5 MB	1–5 ms
500K	11 MB	3.9 s	23 MB	2–9 ms
1M	23 MB	8 s	46 MB	2–13 ms
2M	48 MB	18 s	92 MB	2–22 ms

Measured on Apple M4 with JSON-encoded messages, 5 fields per message. Query times are median across aggregation, filter, and window function queries. Memory is the DuckDB in-memory footprint (default budget: 2 GB).

Tip: use topics and start_time/end_time filters on load_recording to load only what you need.

Update

uvx mcap-mcp-server[all] --upgrade

Or ask your LLM — the get_version tool returns the running version and the upgrade command.

License

GNU General Public License v3.0 — see LICENSE.

Mcap

turkenberg4stars

Query your robot's MCAP recordings with SQL — straight from your LLM.

Databases

Install Run on PlugMCP

GitHub

Run on PlugMCP

1# Mcap

README.mdMCP server

Transport: stdio
Status: Local

Power your agent

Add this server

Install from the publisher. Not a PlugMCP endpoint.

Run on PlugMCP

Host a copy with our keys and logs.

No packaged release in the registry yet. Follow the repository README.

RepositoryPublisher installStep-by-step: add this in Claude

Remote URL or a command on your machine? How the two installs differ

Run on PlugMCP

Host a copy with our keys and logs.

A new server you create. It is not this listing's official endpoint. Use the publisher install when you want their URL and their credentials.

Launch

Server facts

Local

Transport: stdio
License: GPL-3.0
Last checked: 2026-10-28

Stars: 4
Tools: —
Uptime: —

Tools

No tool list yet. Remote servers get one after the first health check.

FAQ

Questions

How do I install Mcap?

Copy the stdio config for Cursor, Claude Desktop, Claude Code, or VS Code on this page. It uses the publisher's install, not a PlugMCP proxy.

Does Mcap need an API key?

No required environment variable is listed on this record.

What transport does Mcap use?

Mcap runs locally over stdio.

When was Mcap last checked?

Last checked 2026-10-28. Query your robot's MCAP recordings with SQL — straight from your LLM.

From the publisher

Documentation

MCAP MCP Server

Query your robot's MCAP recordings with SQL — straight from your LLM.

Setup

{
  "mcpServers": {
    "mcap-query": {
      "command": "uvx",
      "args": ["mcap-mcp-server[all]"]
    }
  }
}

No install, no database, no API keys. Requires uv.

Usage

Just talk to your LLM:

"Tell me what topics are in session_003.mcap"
"In session_017.mcap find all moments where voltage dropped below 22V"
"Correlate IMU acceleration with motor current."
"Compare average battery voltage across my last 5 runs"
"What version of mcap-mcp-server am I running? Update it"

Tools

Tool	Needs loading	What it does
`list_recordings`	no	Find MCAP files in your project (or any path)
`get_recording_info`	no	Metadata, channels, attachments for a file
`get_schema`	no	SQL table names & column types — for query planning
`load_recording`	—	Decode MCAP into DuckDB (the LLM calls this automatically)
`query`	yes	Run SQL (full DuckDB — including ASOF JOIN)
`get_version`	no	Server version, available decoders, upgrade command

Project documentation — configuration, Docker, development setup, and architecture.

Example SQL (under the hood)

-- Time-windowed stats
SELECT (timestamp_us / 1000000) as second,
       AVG(voltage) as avg_v, MIN(voltage) as min_v
FROM battery GROUP BY second ORDER BY second

-- Cross-sensor correlation via ASOF JOIN
SELECT b.timestamp_us, b.voltage, i.linear_acceleration_x
FROM battery b ASOF JOIN imu i ON b.timestamp_us >= i.timestamp_us

-- Multi-recording comparison
SELECT 'run1' as run, AVG(voltage) FROM r1_battery
UNION ALL
SELECT 'run2', AVG(voltage) FROM r2_battery

Performance

Messages	File size	Load time	Memory	Query time
1K	23 KB	8 ms	< 1 MB	1 ms
10K	220 KB	90 ms	0.5 MB	1–3 ms
100K	2.2 MB	0.7 s	5 MB	1–5 ms
500K	11 MB	3.9 s	23 MB	2–9 ms
1M	23 MB	8 s	46 MB	2–13 ms
2M	48 MB	18 s	92 MB	2–22 ms

Tip: use topics and start_time/end_time filters on load_recording to load only what you need.

Update

uvx mcap-mcp-server[all] --upgrade

Or ask your LLM — the get_version tool returns the running version and the upgrade command.

License

GNU General Public License v3.0 — see LICENSE.