diff --git a/addons/vrpn/docs/Notes.md b/addons/vrpn/docs/Notes.md
index 9854ae2..8f3ae7f 100644
--- a/addons/vrpn/docs/Notes.md
+++ b/addons/vrpn/docs/Notes.md
@@ -12,12 +12,14 @@ and immediatly made available. Minimal or no internal state keeping!
 - first collect names and ids of message_types and senders (stored in session)
 - register listeners in session
 - listeners inject captured data with signals
-
 - keep naming "classic" ??? ... above session is a tracker with a sender with sensors
 
 # Todo
 - [x] Testset for Quaternion rotations
 - [x] Axis as subscene 
+- [ ] make global/local a choice
+- [ ] add velocity and acceleration
+- [ ] add buttons
 
 # Internal Notes
 
diff --git a/addons/vrpn/scripts/VRPN.gd b/addons/vrpn/scripts/VRPN.gd
index eecd554..ec49769 100644
--- a/addons/vrpn/scripts/VRPN.gd
+++ b/addons/vrpn/scripts/VRPN.gd
@@ -2,7 +2,7 @@ extends Node
 class_name VRPN
 
 # tracking associated data
-enum TrackingData { POS_QUAT, VELOCITY, ACCELERATION }
+enum TrackingDataType { POS_QUAT, VELOCITY, ACCELERATION }
 
 # magic cookie
 const magic_cookie_start : String = "vrpn: ver."
@@ -176,18 +176,53 @@ static func marshall_body(data : PackedByteArray,message_type : int, sender_id:
 			var quat = Quaternion(body.get_double(),body.get_double(),body.get_double(),body.get_double()).normalized()
 			# submit to listener
 			for r in session.tracker_receivers:
-				r._on_pos_quat({
+				r._on_tracker({
+					"type" : TrackingDataType.POS_QUAT,
 					"tracker" : session.sensors[sender_id],
 					"sensor" : sensor_id,
 					"position" : pos,
 					"rotation" : quat
 				})
 		'vrpn_Tracker Velocity':
-			pass
+			# get id
+			var sensor_id = body.get_32()
+			var padding = body.get_32() # padding 
+			# position
+			var vel = Vector3(body.get_double(),body.get_double(),body.get_double())
+			# VRPN quat layout and Godot Quaternion c'tor identical with x,y,z,w
+			var vel_rot = Quaternion(body.get_double(),body.get_double(),body.get_double(),body.get_double()).normalized()
+			# submit to listener
+			for r in session.tracker_receivers:
+				r._on_tracker({
+					"type" : TrackingDataType.VELOCITY,
+					"tracker" : session.sensors[sender_id],
+					"sensor" : sensor_id,
+					"velocity_linear" : vel,
+					"velocity_rotation" : vel_rot
+				})
+		'vrpn_Tracker Acceleration':
+			# get id
+			var sensor_id = body.get_32()
+			var padding = body.get_32() # padding 
+			# position
+			var acc = Vector3(body.get_double(),body.get_double(),body.get_double())
+			# VRPN quat layout and Godot Quaternion c'tor identical with x,y,z,w
+			var acc_rot = Quaternion(body.get_double(),body.get_double(),body.get_double(),body.get_double()).normalized()
+
+			var acc_dt = body.get_double() # padding 
+			# submit to listener
+			for r in session.tracker_receivers:
+				r._on_tracker({
+					"type" : TrackingDataType.ACCELERATION,
+					"tracker" : session.sensors[sender_id],
+					"sensor" : sensor_id,
+					"acceleration_linear" : acc,
+					"acceleration_rotation" : acc_rot,
+					"acceleration_dt" : acc_dt
+				})
 		_:
 			pass
-			#print("unhandled message type {0}".format([message_type]))
-
+			
 
 static func aligned_size(actual_size : int, alignment : int = 8) -> int:
 	return (actual_size + alignment - 1) & ~(alignment - 1)
diff --git a/addons/vrpn/scripts/VRPN_Receiver.gd b/addons/vrpn/scripts/VRPN_Receiver.gd
index a9654e3..c7894b4 100644
--- a/addons/vrpn/scripts/VRPN_Receiver.gd
+++ b/addons/vrpn/scripts/VRPN_Receiver.gd
@@ -7,12 +7,14 @@ class_name VRPN_Receiver
 @export var tracker_use_position : bool = true
 @export var tracker_use_rotation : bool = true
 
-
-func _on_pos_quat(tracker_data : Dictionary):
-	
-	if tracker_data['tracker'] == tracker_name and tracker_data['sensor'] == tracker_sensor:
-		if tracker_use_position:
-			self.global_position = tracker_data['position']
-		if tracker_use_rotation:
-			var rotation := tracker_data['rotation'] as Quaternion
-			self.global_basis =  Basis(rotation)
+func _on_tracker(tracker_data : Dictionary):
+	match tracker_data['type'] as VRPN.TrackingDataType:
+		VRPN.TrackingDataType.POS_QUAT:
+			if tracker_data['tracker'] == tracker_name and tracker_data['sensor'] == tracker_sensor:
+				if tracker_use_position:
+					self.global_position = tracker_data['position']
+				if tracker_use_rotation:
+					var rotation := tracker_data['rotation'] as Quaternion
+					self.global_basis =  Basis(rotation)
+		_:
+			push_warning("unknown tracker datatype")