code: def gripper_factory(name):
      
      if name == "TwoFingerGripper":
          return TwoFingerGripper()
      if name == "LeftTwoFingerGripper":
          return LeftTwoFingerGripper()
      if name == "PR2Gripper":
          return PR2Gripper()
      if name == "RobotiqGripper":
          return RobotiqGripper()
      if name == "PushingGripper":
          return PushingGripper()
      if name == "RobotiqThreeFingerGripper":
          return RobotiqThreeFingerGripper()
      raise ValueError("Unkown gripper name {}".format(name))
docs: Genreator for grippers
  
      Creates a Gripper instance with the provided name.
  
      Args:
          name: the name of the gripper class
  
      Returns:
          gripper: Gripper instance
  
      Raises:
          XMLError: [description]