Combine grapes, almonds, sherry vinegar, lime juice, cilantro, garlic, and salt in batches in the bowl of a food processor; pulse until roughly blended. Add cucumbers and briefly process, leaving some small pieces. Mix in olive oil using a spatula.

Chill in the refrigerator for 1 hour.

Taste soup and season with more salt if necessary. Fill small glasses with soup and drizzle with a bit of olive oil. Place 1 cooked shrimp into each glass.