# ArmCommand

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

Arm-level command wrapper selecting one arm control mode (joint, cartesian, impedance, or gravity compensation).


## Subtypes

- [ArmCommand.Feedback](armcommand-feedback.md#rb-api-armcommand-feedback)
- [ArmCommand.Request](armcommand-request.md#rb-api-armcommand-request)