# ImpedanceControlCommand

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

Cartesian impedance control around a reference pose/trajectory.


## Subtypes

- [ImpedanceControlCommand.Feedback](impedancecontrolcommand-feedback.md#rb-api-impedancecontrolcommand-feedback)
- [ImpedanceControlCommand.Request](impedancecontrolcommand-request.md#rb-api-impedancecontrolcommand-request)