# CartesianImpedanceControlCommand

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

Cartesian impedance control with pose targets and joint limit settings.


## Subtypes

- [CartesianImpedanceControlCommand.Feedback](cartesianimpedancecontrolcommand-feedback.md#rb-api-cartesianimpedancecontrolcommand-feedback)
- [CartesianImpedanceControlCommand.Request](cartesianimpedancecontrolcommand-request.md#rb-api-cartesianimpedancecontrolcommand-request)