text: //MANIPULATOR OPTIONS FOR YALE MODEL-T GRIPPER:
  //for each combination of gripper/object, need a function like this:
  
  void yale_gripper_model_t_grasp_query(int object_id, int query_code, int grasp_option,
          object_manipulation_properties::objectManipulationQueryResponse&response) {
      switch (object_id) {
          //case TOY_BLOCK_ID:
          //    rethink_grasp_TOY_BLOCK_ID(query_code, grasp_option, response);
          //    break;
              //case OBJECT_ID: add more cases here, for each object to be grasped by rethink gripper
              //need a separate function to fill response for each object/gripper combo
          default:
              response.valid_reply = false;
              break;
      }
  }
  
  
  