Copy vdc from util/vdc to your present directory and then it will run. Similarly As you have copied vampire-serial to present directory.
There is a solution for this also. First see if vdc works
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Answer to your second question.
sudo cp vampire-serial /usr/bin
sudo cp vdc /usr/bin
Now you don't need to copy vdc and vampire-serial to every working directory
You can use the command:
util/vdc/vdc --xyz
and
util/vdc/vdc --povray
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