# JointImpedanceControlCommand

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

Joint-space impedance control with stiffness/damping settings.


## Subtypes

- [JointImpedanceControlCommand.Feedback](jointimpedancecontrolcommand-feedback.md#rb-api-jointimpedancecontrolcommand-feedback)
- [JointImpedanceControlCommand.Request](jointimpedancecontrolcommand-request.md#rb-api-jointimpedancecontrolcommand-request)