# CartesianCommand

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

Cartesian pose targets with optional joint position targets.


## Subtypes

- [CartesianCommand.Feedback](cartesiancommand-feedback.md#rb-api-cartesiancommand-feedback)
- [CartesianCommand.Request](cartesiancommand-request.md#rb-api-cartesiancommand-request)