[RSDK-10924] Add IsHoldingSomething to Gripper API (#935)

Co-authored-by: viambot <[email protected]>

Author: gvaradarajan

examples/server/v1/components.py

@@ -513,17 +513,28 @@ class ExampleGripper(Gripper):
     def __init__(self, name: str):
         self.opened = False
         self.is_stopped = True
+        self.holding_something = False
         self.kinematics = (KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA, b"\x00\x01\x02")
         super().__init__(name)
 
     async def open(self, extra: Optional[Dict[str, Any]] = None, **kwargs):
         self.opened = True
         self.is_stopped = False
+        self.holding_something = False
 
     async def grab(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> bool:
         self.opened = False
         self.is_stopped = False
-        return random.choice([True, False])
+        self.holding_something = random.choice([True, False])
+        return self.holding_something
+
+    async def is_holding_something(
+        self,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        **kwargs
+    ) -> Gripper.HoldingStatus:
+        return Gripper.HoldingStatus(self.holding_something)
 
     async def stop(self, extra: Optional[Dict[str, Any]] = None, **kwargs):
         self.is_stopped = True

src/viam/components/gripper/client.py

@@ -11,6 +11,8 @@
     IsMovingResponse,
     OpenRequest,
     StopRequest,
+    IsHoldingSomethingRequest,
+    IsHoldingSomethingResponse
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
@@ -63,6 +65,18 @@ async def stop(
         request = StopRequest(name=self.name, extra=dict_to_struct(extra))
         await self.client.Stop(request, timeout=timeout, metadata=md)
 
+    async def is_holding_something(
+        self,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs
+    ) -> Gripper.HoldingStatus:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = IsHoldingSomethingRequest(name=self.name, extra=dict_to_struct(extra))
+        response: IsHoldingSomethingResponse = await self.client.IsHoldingSomething(request, timeout=timeout, metadata=md)
+        return Gripper.HoldingStatus(response.is_holding_something, meta=struct_to_dict(response.meta))
+
     async def is_moving(self, *, timeout: Optional[float] = None, **kwargs) -> bool:
         md = kwargs.get("metadata", self.Metadata()).proto
         request = IsMovingRequest(name=self.name)

src/viam/components/gripper/gripper.py

@@ -1,12 +1,12 @@
 import abc
+from dataclasses import dataclass
 from typing import Any, Dict, Final, Optional, Tuple
 
 from viam.components.component_base import ComponentBase
 from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
 
 from . import KinematicsFileFormat
 
-
 class Gripper(ComponentBase):
     """
     Gripper represents a physical robotic gripper.
@@ -26,6 +26,16 @@ class Gripper(ComponentBase):
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "gripper"
     )
 
+    @dataclass
+    class HoldingStatus:
+        """
+        HoldingStatus represents whether the gripper is currently holding onto an object. The
+        additional ``meta`` attribute contains other optional contextual information (i.e. confidence
+        interval, pressure, etc.)
+        """
+        is_holding_something: bool
+        meta: Optional[Dict[str, Any]] = None
+
     @abc.abstractmethod
     async def open(
         self,
@@ -73,6 +83,33 @@ async def grab(
         """
         ...
 
+    @abc.abstractmethod
+    async def is_holding_something(
+        self,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> HoldingStatus:
+        """
+        Get information about whether the gripper is currently holding onto an object.
+
+        ::
+
+            my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")
+
+            # Grab with the gripper.
+            holding_status = await my_gripper.is_holding_something()
+            # get the boolean result
+            is_holding_something = holding_status.is_holding_something
+
+        Returns:
+            HoldingStatus: see documentation on `HoldingStatus` for more information
+
+        For more information, see `Gripper component <https://docs.viam.com/dev/reference/apis/components/gripper/#grab>`_.
+
+        """
+
     @abc.abstractmethod
     async def stop(
         self,

src/viam/components/gripper/service.py

@@ -18,6 +18,8 @@
     OpenResponse,
     StopRequest,
     StopResponse,
+    IsHoldingSomethingRequest,
+    IsHoldingSomethingResponse
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, struct_to_dict
@@ -69,6 +71,16 @@ async def IsMoving(self, stream: Stream[IsMovingRequest, IsMovingResponse]) -> N
         response = IsMovingResponse(is_moving=is_moving)
         await stream.send_message(response)
 
+    async def IsHoldingSomething(self, stream: Stream[IsHoldingSomethingRequest, IsHoldingSomethingResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        gripper = self.get_resource(name)
+        holding_status = await gripper.is_holding_something()
+        response = IsHoldingSomethingResponse(
+            is_holding_something=holding_status.is_holding_something, meta=dict_to_struct(holding_status.meta))
+        await stream.send_message(response)
+
     async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None

src/viam/gen/component/gripper/v1/gripper_grpc.py

@@ -28,6 +28,10 @@ async def Stop(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper
     async def IsMoving(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.IsMovingRequest, component.gripper.v1.gripper_pb2.IsMovingResponse]') -> None:
         pass
 
+    @abc.abstractmethod
+    async def IsHoldingSomething(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.IsHoldingSomethingRequest, component.gripper.v1.gripper_pb2.IsHoldingSomethingResponse]') -> None:
+        pass
+
     @abc.abstractmethod
     async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
         pass
@@ -41,7 +45,7 @@ async def GetKinematics(self, stream: 'grpclib.server.Stream[common.v1.common_pb
         pass
 
     def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
-        return {'/viam.component.gripper.v1.GripperService/Open': grpclib.const.Handler(self.Open, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.OpenRequest, component.gripper.v1.gripper_pb2.OpenResponse), '/viam.component.gripper.v1.GripperService/Grab': grpclib.const.Handler(self.Grab, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.GrabRequest, component.gripper.v1.gripper_pb2.GrabResponse), '/viam.component.gripper.v1.GripperService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.StopRequest, component.gripper.v1.gripper_pb2.StopResponse), '/viam.component.gripper.v1.GripperService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.IsMovingRequest, component.gripper.v1.gripper_pb2.IsMovingResponse), '/viam.component.gripper.v1.GripperService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.gripper.v1.GripperService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse), '/viam.component.gripper.v1.GripperService/GetKinematics': grpclib.const.Handler(self.GetKinematics, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse)}
+        return {'/viam.component.gripper.v1.GripperService/Open': grpclib.const.Handler(self.Open, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.OpenRequest, component.gripper.v1.gripper_pb2.OpenResponse), '/viam.component.gripper.v1.GripperService/Grab': grpclib.const.Handler(self.Grab, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.GrabRequest, component.gripper.v1.gripper_pb2.GrabResponse), '/viam.component.gripper.v1.GripperService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.StopRequest, component.gripper.v1.gripper_pb2.StopResponse), '/viam.component.gripper.v1.GripperService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.IsMovingRequest, component.gripper.v1.gripper_pb2.IsMovingResponse), '/viam.component.gripper.v1.GripperService/IsHoldingSomething': grpclib.const.Handler(self.IsHoldingSomething, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.IsHoldingSomethingRequest, component.gripper.v1.gripper_pb2.IsHoldingSomethingResponse), '/viam.component.gripper.v1.GripperService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.gripper.v1.GripperService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse), '/viam.component.gripper.v1.GripperService/GetKinematics': grpclib.const.Handler(self.GetKinematics, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse)}
 
 class UnimplementedGripperServiceBase(GripperServiceBase):
 
@@ -57,6 +61,9 @@ async def Stop(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper
     async def IsMoving(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.IsMovingRequest, component.gripper.v1.gripper_pb2.IsMovingResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
+    async def IsHoldingSomething(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.IsHoldingSomethingRequest, component.gripper.v1.gripper_pb2.IsHoldingSomethingResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
     async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
@@ -73,6 +80,7 @@ def __init__(self, channel: grpclib.client.Channel) -> None:
         self.Grab = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/Grab', component.gripper.v1.gripper_pb2.GrabRequest, component.gripper.v1.gripper_pb2.GrabResponse)
         self.Stop = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/Stop', component.gripper.v1.gripper_pb2.StopRequest, component.gripper.v1.gripper_pb2.StopResponse)
         self.IsMoving = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/IsMoving', component.gripper.v1.gripper_pb2.IsMovingRequest, component.gripper.v1.gripper_pb2.IsMovingResponse)
+        self.IsHoldingSomething = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/IsHoldingSomething', component.gripper.v1.gripper_pb2.IsHoldingSomethingRequest, component.gripper.v1.gripper_pb2.IsHoldingSomethingResponse)
         self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
         self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)
         self.GetKinematics = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/GetKinematics', common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse)

src/viam/gen/component/gripper/v1/gripper_pb2.py

@@ -9,7 +9,7 @@
 from ....common.v1 import common_pb2 as common_dot_v1_dot_common__pb2
 from google.api import annotations_pb2 as google_dot_api_dot_annotations__pb2
 from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n"component/gripper/v1/gripper.proto\x12\x19viam.component.gripper.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"P\n\x0bOpenRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cOpenResponse"P\n\x0bGrabRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"W\n\x0cGrabResponse\x12\x18\n\x07success\x18\x01 \x01(\x08R\x07success\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"P\n\x0bStopRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cStopResponse"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving2\xa0\x08\n\x0eGripperService\x12\x8f\x01\n\x04Open\x12&.viam.component.gripper.v1.OpenRequest\x1a\'.viam.component.gripper.v1.OpenResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/open\x12\x8f\x01\n\x04Grab\x12&.viam.component.gripper.v1.GrabRequest\x1a\'.viam.component.gripper.v1.GrabResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/grab\x12\x8b\x01\n\x04Stop\x12&.viam.component.gripper.v1.StopRequest\x1a\'.viam.component.gripper.v1.StopResponse"2\x82\xd3\xe4\x93\x02,"*/viam/api/v1/component/gripper/{name}/stop\x12\x9c\x01\n\x08IsMoving\x12*.viam.component.gripper.v1.IsMovingRequest\x1a+.viam.component.gripper.v1.IsMovingResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gripper/{name}/is_moving\x12\x8a\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"8\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/gripper/{name}/do_command\x12\x96\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/gripper/{name}/geometries\x12\x96\x01\n\rGetKinematics\x12$.viam.common.v1.GetKinematicsRequest\x1a%.viam.common.v1.GetKinematicsResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/gripper/{name}/kinematicsBE\n\x1dcom.viam.component.gripper.v1Z$go.viam.com/api/component/gripper/v1b\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n"component/gripper/v1/gripper.proto\x12\x19viam.component.gripper.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"P\n\x0bOpenRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cOpenResponse"P\n\x0bGrabRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"W\n\x0cGrabResponse\x12\x18\n\x07success\x18\x01 \x01(\x08R\x07success\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"P\n\x0bStopRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cStopResponse"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving"^\n\x19IsHoldingSomethingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"{\n\x1aIsHoldingSomethingResponse\x120\n\x14is_holding_something\x18\x01 \x01(\x08R\x12isHoldingSomething\x12+\n\x04meta\x18c \x01(\x0b2\x17.google.protobuf.StructR\x04meta2\xe8\t\n\x0eGripperService\x12\x8f\x01\n\x04Open\x12&.viam.component.gripper.v1.OpenRequest\x1a\'.viam.component.gripper.v1.OpenResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/open\x12\x8f\x01\n\x04Grab\x12&.viam.component.gripper.v1.GrabRequest\x1a\'.viam.component.gripper.v1.GrabResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/grab\x12\x8b\x01\n\x04Stop\x12&.viam.component.gripper.v1.StopRequest\x1a\'.viam.component.gripper.v1.StopResponse"2\x82\xd3\xe4\x93\x02,"*/viam/api/v1/component/gripper/{name}/stop\x12\x9c\x01\n\x08IsMoving\x12*.viam.component.gripper.v1.IsMovingRequest\x1a+.viam.component.gripper.v1.IsMovingResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gripper/{name}/is_moving\x12\xc5\x01\n\x12IsHoldingSomething\x124.viam.component.gripper.v1.IsHoldingSomethingRequest\x1a5.viam.component.gripper.v1.IsHoldingSomethingResponse"B\x82\xd3\xe4\x93\x02<\x12:/viam/api/v1/component/gripper/{name}/is_holding_something\x12\x8a\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"8\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/gripper/{name}/do_command\x12\x96\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/gripper/{name}/geometries\x12\x96\x01\n\rGetKinematics\x12$.viam.common.v1.GetKinematicsRequest\x1a%.viam.common.v1.GetKinematicsResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/gripper/{name}/kinematicsBE\n\x1dcom.viam.component.gripper.v1Z$go.viam.com/api/component/gripper/v1b\x06proto3')
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.gripper.v1.gripper_pb2', _globals)
@@ -24,6 +24,8 @@
     _globals['_GRIPPERSERVICE'].methods_by_name['Stop']._serialized_options = b'\x82\xd3\xe4\x93\x02,"*/viam/api/v1/component/gripper/{name}/stop'
     _globals['_GRIPPERSERVICE'].methods_by_name['IsMoving']._loaded_options = None
     _globals['_GRIPPERSERVICE'].methods_by_name['IsMoving']._serialized_options = b'\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gripper/{name}/is_moving'
+    _globals['_GRIPPERSERVICE'].methods_by_name['IsHoldingSomething']._loaded_options = None
+    _globals['_GRIPPERSERVICE'].methods_by_name['IsHoldingSomething']._serialized_options = b'\x82\xd3\xe4\x93\x02<\x12:/viam/api/v1/component/gripper/{name}/is_holding_something'
     _globals['_GRIPPERSERVICE'].methods_by_name['DoCommand']._loaded_options = None
     _globals['_GRIPPERSERVICE'].methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/gripper/{name}/do_command'
     _globals['_GRIPPERSERVICE'].methods_by_name['GetGeometries']._loaded_options = None
@@ -46,5 +48,9 @@
     _globals['_ISMOVINGREQUEST']._serialized_end = 553
     _globals['_ISMOVINGRESPONSE']._serialized_start = 555
     _globals['_ISMOVINGRESPONSE']._serialized_end = 602
-    _globals['_GRIPPERSERVICE']._serialized_start = 605
-    _globals['_GRIPPERSERVICE']._serialized_end = 1661
+    _globals['_ISHOLDINGSOMETHINGREQUEST']._serialized_start = 604
+    _globals['_ISHOLDINGSOMETHINGREQUEST']._serialized_end = 698
+    _globals['_ISHOLDINGSOMETHINGRESPONSE']._serialized_start = 700
+    _globals['_ISHOLDINGSOMETHINGRESPONSE']._serialized_end = 823
+    _globals['_GRIPPERSERVICE']._serialized_start = 826
+    _globals['_GRIPPERSERVICE']._serialized_end = 2082