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In order to better assist you, here are some of the factors that can usually help with determining whether there are grandparent's rights, and how you would go about exercising them:
Also, have you considered filing for a guardianship/conservatorship, or an adoption of your grandchildren?
In California, "Grandparent Rights" are defined as "visitation" rights.
This means that you can petition the court that issued the visitation order and petition for a right to visit the grandchildren (or have them visit you).
Is this what you are asking about, or are you asking about keeping custody of the children? (In which case I would recommend petitioning for a guardianship).