# CartesianImpedanceControlCommand.JointPositionTarget

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

| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| joint_name | [string](../scalar-value-types.md#scalar-value-types) |  |  |
| target_position | [double](../scalar-value-types.md#scalar-value-types) |  |  |
| velocity_limit | [google.protobuf.DoubleValue](https://protobuf.dev/reference/protobuf/google.protobuf/#doublevalue) |  |  |
| acceleration_limit | [google.protobuf.DoubleValue](https://protobuf.dev/reference/protobuf/google.protobuf/#doublevalue) |  |  |