# CartesianImpedanceControlCommand.JointLimit

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

| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| joint_name | [string](../scalar-value-types.md#scalar-value-types) |  |  |
| lower | [double](../scalar-value-types.md#scalar-value-types) |  |  |
| upper | [double](../scalar-value-types.md#scalar-value-types) |  |  |