Full hardware+software health report: battery (volts and percent), control-loop rate, servo/board temperatures, loaded policy, and whether the robot considers itself healthy. Read-only and always safe to call. Call this FIRST in any session, and again before any sequence of motion commands.

The robot's name, serial and uptime (configd system.info). Read-only.

Installed daemon releases and which one is active/golden. Read-only. (Installing/rolling back is deliberately NOT exposed as a tool yet — see CLAUDE.md 'Deliberately excluded'.)

One robot.state frame: which policy is driving, the velocity requested vs applied (and what limited it), joints, gravity in the body frame (≈[0,0,-1] when upright — a large X or Y component means it has fallen), odometry, and the safety flags (fallen, limp, busy). Read-only and always safe to call. Use it to confirm a walk actually moved the robot, or to check posture before/after a behavior. For battery and temps use duck_health.

A still frame of what the duck sees or looks like right now, returned as a PNG image. view='head' is the robot's own head camera; 'follow' (default), 'front', 'side' and 'top' are third-person views around the robot. Read-only, never moves the robot. Available on the sim transport today; on hardware it will come from mediad's WebRTC stream (not wired yet) and the mock transport returns a placeholder.

Send a velocity intent: vx forward m/s, vy sideways m/s, wz yaw rad/s. Values are clamped to ±0.25 m/s linear and ±1 rad/s yaw. Walks for duration_s (default 2 s, max 10 s) then stops; the call returns when the walk is over. duck_stop interrupts it at any time, and robotd's own deadman stops the duck if this server dies mid-walk — it does not run away. Call duck_monitor afterwards to see how far it got. Refused below 15% battery or when fallen.

Trigger a named built-in behavior: sit, stand, getup (power the joints and rise to the home pose after a fall — on hardware a human rights the duck first; in sim it is set upright in place), pickup (beak to floor, grab), kick, roulade (forward roll), quack. sit/stand are no-ops if already in that posture. Scripted moves take 0.5–3 s; call duck_monitor to see when 'busy' clears. Battery- and health-gated like walking (quack is free).

Immediately zero all motion intents. NEVER gated, never rate-limited — always available. Call this if anything looks wrong, if a human asks you to stop, or if you are unsure what the robot is doing.