Place it at the end of a short setup, right after the mistake lands, then follow it with a fail sting to underline the joke and clapping when the dog gets away with it.
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This is a very short chuckle from Butch, the gruff bulldog from Pluto's world, lasting less than a third of a second and delivered as a low, snorting dog laugh. It feels cheeky and amused, like a tough character caught enjoying a joke at someone else's expense. It comes from the 1946 Pluto cartoon The Purloined Pup.