# JointPositionCommand

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

Joint-space position targets with optional velocity/acceleration limits.


## Subtypes

- [JointPositionCommand.Feedback](jointpositioncommand-feedback.md#rb-api-jointpositioncommand-feedback)
- [JointPositionCommand.Request](jointpositioncommand-request.md#rb-api-jointpositioncommand-request)