# GripperCommandService

- Source proto: `rb/api/gripper_command_service.proto`

gRPC service for gripper command.

| Method Name | Request Type | Response Type | Description |
| ----------- | ------------ | ------------- | ------------|
| GripperInitialization | [GripperInitializationRequest](../gripper_command/gripperinitializationrequest.md#rb-api-gripperinitializationrequest) | [GripperInitializationResponse](../gripper_command/gripperinitializationresponse.md#rb-api-gripperinitializationresponse) |  |
| GripperMove | [GripperMoveRequest](../gripper_command/grippermoverequest.md#rb-api-grippermoverequest) | [GripperMoveResponse](../gripper_command/grippermoveresponse.md#rb-api-grippermoveresponse) | Joint command |