The Character Shop's own account of trademarking "Waldo" traces the name to Heinlein's story and a NASA nickname, not to Raymond Goertz or Argonne National Laboratory by name

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The Character Shop's own site states that "the term was first used in a Robert Heinlein short story, which was about a disabled scientist named Waldo who managed to build devices that would amplify his strength... NASA scientists nicknamed some of their early telemetry systems 'waldo', and when the rare telemetry device popped up, sometimes that caught the nickname," and that "when we started pioneering the use of telemetric input devices for puppetry, we researched the name 'Waldo' with the trademark registry. It had never been officially appropriated; no one had ever gone to market with telemetry devices, called them waldoes, and trademarked it. So, The Character Shop applied for and received the trademark for its line of input devices." Neither Raymond Goertz nor Argonne National Laboratory is named anywhere on the page.

This means the "waldo lineage" — Goertz's 1949 Argonne manipulator and The Character Shop's 1990/91 trademark — is documented and real at both ends, but the explicit textual link between them is not: the chain the company itself tells runs Heinlein (1942, fiction) → an informal, unsourced NASA-telemetry nickname → a 1990 trademark search, never through Goertz's device by name. Goertz's report is the earliest Tier-1-documented instance of the technology class the "waldo" nickname attached to, but no primary source located this session shows his device, by name, in The Character Shop's own reasoning. The lineage is confirmed at both endpoints and unconfirmed in the connecting middle.