diff --git a/include/can/core/message_handlers/motion.hpp b/include/can/core/message_handlers/motion.hpp
index d4d367999..d8575df3c 100644
--- a/include/can/core/message_handlers/motion.hpp
+++ b/include/can/core/message_handlers/motion.hpp
@@ -48,7 +48,8 @@ class BrushedMotionHandler {
     using MessageType =
         std::variant<std::monostate, DisableMotorRequest, EnableMotorRequest,
                      ReadLimitSwitchRequest, MotorPositionRequest,
-                     SetGripperErrorToleranceRequest, GetMotorUsageRequest>;
+                     SetGripperErrorToleranceRequest, GetMotorUsageRequest,
+                     GripperJawStateRequest>;
 
     BrushedMotionHandler(BrushedMotionTaskClient &motion_client)
         : motion_client{motion_client} {}
diff --git a/include/gripper/core/can_task.hpp b/include/gripper/core/can_task.hpp
index f76f0c960..0b560acfe 100644
--- a/include/gripper/core/can_task.hpp
+++ b/include/gripper/core/can_task.hpp
@@ -48,7 +48,7 @@ using BrushedMotionDispatchTarget = can::dispatch::DispatchParseTarget<
     can::messages::DisableMotorRequest, can::messages::EnableMotorRequest,
     can::messages::ReadLimitSwitchRequest, can::messages::MotorPositionRequest,
     can::messages::SetGripperErrorToleranceRequest,
-    can::messages::GetMotorUsageRequest>;
+    can::messages::GetMotorUsageRequest, can::messages::GripperJawStateRequest>;
 using BrushedMoveGroupDispatchTarget = can::dispatch::DispatchParseTarget<
     can::message_handlers::move_group::BrushedMoveGroupHandler<
         g_tasks::QueueClient>,