generated: '2026-07-18'
method: derived
source: grpc/*.proto
notes: >-
  Entity graph derived from the proto3 message/service definitions of the Clone
  Robot gRPC control plane. Not an OpenAPI $ref graph — this is the protobuf
  service/message surface. Relationships are message composition and service
  ownership.
services:
- name: ControllerGRPC
  proto: grpc/clone-controller.proto
  domain: muscle & pressure control
  rpcs: [SetImpulses, SetPulses, SetPressures, LooseMuscles, LockMuscles, StreamSetPressures,
    SendPinchValveControl, SendManyPinchValveControl, StreamManyPinchValveControl,
    SendPinchValveCommand, SendManyPinchValveCommand, SendHydraControl, SendManyHydraControl,
    StreamManyHydraControl, GetWaterPumpInfo, StartWaterPump, StopWaterPump, SetWaterPumpPressure,
    GetConfig, GetNodes, Ping, GetErrors]
- name: HardwareDriverGRPC
  proto: grpc/clone-hardware_driver.proto
  domain: low-level hardware bus & sensors
  rpcs: [SendDirect, SendManyDirect, SendImpulse, SendManyImpulse, SendPinchValveControl,
    SendManyPinchValveControl, StreamManyPinchValveControl, SendPinchValveCommand,
    SendManyPinchValveCommand, SendManyPressure, StreamManyPressure, GetNodes, PingNode,
    Discovery, GetNodesSettings, GetGaussRiderSpecSettings, GetIMUSpecSettings, SetIMUSpecSettings,
    GetErrors, PauseTelemetry]
- name: StateStoreReceiverGRPC
  proto: grpc/clone-state_store.proto
  domain: telemetry & system state
  rpcs: [SubscribeTelemetry, GetTelemetry, GetSystemInfo, Ping, GetErrors]
- name: CameraDriverService
  proto: grpc/clone-camera_driver.proto
  domain: camera streams & sinks
  rpcs: [GetConfig, ListStreams, ListSinks, AddSink, RemoveSink, RemoveAllSinks]
entities:
- name: Muscle
  domain: controller/hardware
  described_by: [Impulse, Pulse, PressureControl, SetPressuresMessage]
  notes: Actuated musculotendon unit; addressed within batch control messages.
- name: WaterPump
  domain: controller
  described_by: [WaterPumpInfo, WaterPumpInfoResponse, WaterPumpPressure]
  notes: Pressure source; may be absent when an external pressure source is used.
- name: Node
  domain: hardware_driver
  described_by: [BusDevice, NodeList, NodeMap]
  relationships:
  - {type: has_many, target: BusDevice, via: NodeList}
- name: Telemetry
  domain: state_store
  described_by: [TelemetryData, TelemetryDataResponse, IMUData, SensorData, PoseEstimationData]
  relationships:
  - {type: has_many, target: Joint, via: JointModelInfo}
  - {type: has_many, target: MuscleInfo, via: SystemInfo}
- name: Joint
  domain: state_store
  described_by: [Joint, JointExt, JointModelInfo, JointFrames]
- name: CameraStream
  domain: camera_driver
  described_by: [ListStreamsResponse, Sink]
  relationships:
  - {type: has_many, target: Sink, via: ListSinksResponse}