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MCP access must be enabled on your account. See Access control.
Add to the mcpServers object in settings.json. See the Gemini CLI documentation. 
{
  "mcpServers": {
    "seamless": {
      "httpUrl": "https://mcp.seamless.ai/mcp"
    }
  }
}
Gemini CLI supports OAuth discovery and opens a browser to complete login. See Authentication.