Icosa surveys the floor, taking advantage of the vantage point. Though there hasn't been much communication, he surmises the objective is to secure the infant and support its mother in what will presumably become a combat against the orcs and goblins.
The first stage of the plan required the infant to be insulated against retaliation efforts.
The shoulder weapon shivered, and reconfigured. The front end split into 'slices' like an orange, and a lens slide up in front of it from deeper in Icosa's shoulder. The whole array lit up brilliantly then, and instead of projecting blasts of deadly force, it sent forth a gauzy stream of shifting colors that played over the orcs and goblins gathered around the giant infant. Then it began stuttering a rapid series of incredibly bright pulses of light, designed to have a devastating effect on the nervous system.
He then descended from his lofty perch and started moving towards the child, intending to take it and remove it to somewhere safer.
On his way he started to pass a goblin just standing there, and gave it a baleful look with his hollow helmet's visor.
"Stand aside."
(Using Rod of the Pact Lord to recover a spell slot. Casting Hypnotic Pattern; affecting all squares in a box 30' to a side with corners on W22 and AB27. That encompasses all the orcs and goblins anywhere near the baby. They may make Wisdom saves at DC 16. Those who fail become incapacitated until the spell ends, or an adjacent creature spends an action to shake it out of its stupor. Skinning it as a sort of 'seizure' effect.

He then moves to Q27; no stealth.)