Current robot state: pose, body-frame velocity, active policy, whether it is upright/sitting/mid-trick, and the ball position. Cheap — poll freely.

Set the walking velocity intent. vx: forward m/s (max ±0.3; the policy tracks ~half the commanded speed, so command 0.25+ for a brisk walk), vy: leftward m/s (max ±0.2), wz: counterclockwise yaw rate rad/s (max ±1.5). Nonzero engages the walking policy; all-zero hands back to standing.

With duration_s (max 10): drive for that long, then stop and return the resulting state — one call instead of drive/poll/stop. Without it the intent persists until changed: the robot keeps walking between your tool calls, and the sim runs in real time, so returned state is already slightly stale when you read it.

Zero all velocity intents — the duck stops walking and stands.

Trigger a trick: 'sit', 'stand', 'ground_pick' (touch beak to floor), 'kick_left'/'kick_right' (stages the ball at that foot, then kicks), or 'roulade' (forward roll — NOTE: usually ends with the duck down, since no stand-up policy ships yet; follow with duck_reset). Episodic tricks hand control back to standing automatically after a few seconds.

Point the head (radians; caps ~±1.4 yaw, ±1.1 pitch, ±0.31 roll). This is a command to the balance policy, not a servo write — the body compensates. All zeros returns the head to neutral. The gaze intent is sticky — it holds between tool calls until changed.

Render a camera frame of the sim. Views: 'follow' (behind the duck), 'front' (facing it), 'side', 'top'. distance in meters (0.4 close-up to ~1.5 wide). Pair with duck_state for pose numbers.

Shove the duck: sets trunk velocity to magnitude m/s (max 2.0) in a world-frame direction (random if angle_deg omitted). Tests push recovery.

Reset the sim: duck back to the origin in its default standing pose, ball back to its spawn. Discards the current episode — the escape hatch after a fall (there is no stand-up policy yet).