[type.googleapis.com/intrinsic_proto.gripper_service.PinchGripperRealtimeControlServiceConfig]: {
  signals: {
    grasp: {
      bool_values: {
        key: "standard_out.3"
        value: false
      }
    }
    release: {
      bool_values: {
        key: "standard_out.3"
        value: true
      }
    }
    gripping_indicated: {
      bool_values: {
        key: "standard_in.3"
        value: true
      }
    }
  }
  service_instance_name: "robot_controller"
  is_default_closed: true
}