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aj-dev-smith

duck-mcp

by aj-dev-smith

Shove the duck

duck_push

Push the simulated duck by setting its trunk velocity to a specified magnitude (up to 2.0 m/s) and optional angle, to test recovery from external disturbances.

Instructions

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.

Input Schema

TableJSON Schema
NameRequiredDescriptionDefault
angle_degNo
magnitudeNo

Output Schema

TableJSON Schema
NameRequiredDescriptionDefault
okYes
rpy_degYesTrunk orientation [roll, pitch, yaw], degrees
sittingYes
uprightYesFalse once tilted past ~45 deg. There is no self-recovery policy: if the duck falls, use duck_reset.
vel_cmdYesCurrent sticky velocity intent [vx, vy, wz]
behaviorYesEpisodic trick currently running, else null
position_mYesTrunk world position [x, y, z], meters
sim_time_sYesSim clock, seconds. The sim runs in real time; this snapshot is stale on arrival.
ground_pickYes
vel_body_mpsYes
yaw_rate_rpsYesYaw rate, rad/s, counterclockwise positive
active_policyYesWhich ONNX policy is driving: standing, walking, sit, ground_pick, kick_left/right, roulade
ball_position_mNoBall world position [x, y, z], meters (ball scene only)
trunk_height_mmYesTrunk height above floor, mm (~116 standing)
Behavior4/5

Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?

Annotations already indicate a non-readonly, non-idempotent mutation. The description adds meaningful behavioral detail: velocity is in m/s with a max of 2.0, direction is world-frame, and angle_deg is randomly chosen when omitted. There is no contradiction with annotations.

Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.

Conciseness5/5

Is the description appropriately sized, front-loaded, and free of redundancy?

The description is a single compact sentence that front-loads the action, then covers the mechanism, constraints, and purpose. Every clause adds useful information with no repetition or filler.

Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.

Completeness4/5

Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?

Given the low parameter count and existing annotations, the description covers the core behavior, bounds, and purpose. The output schema exists, so return value explanation is unnecessary. It could be slightly more complete with angle convention details, but it is sufficient for calling correctly.

Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.

Parameters4/5

Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?

Schema description coverage is 0%, so the description must carry parameter meaning. It does: magnitude is velocity in m/s capped at 2.0, and angle_deg defines a world-frame direction that becomes random when omitted. Minor ambiguity remains about the reference axis for angle_deg, so it is not a perfect 5.

Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.

Purpose4/5

Does the description clearly state what the tool does and how it differs from similar tools?

The description clearly states the operation: 'Shove the duck' sets trunk velocity, naming the resource (duck/trunk), the action (set velocity), and the parameterized behavior. It does not explicitly distinguish itself from siblings such as duck_drive or duck_trick, so it falls short of a 5.

Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.

Usage Guidelines3/5

Does the description explain when to use this tool, when not to, or what alternatives exist?

The use case is implied by 'Tests push recovery,' which tells the agent this is for simulating a push and checking recovery. However, there is no explicit when-to-use versus alternatives like duck_drive or duck_trick, and no exclusions are given.

Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.

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