# JointVelocityCommand

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

Joint-space velocity targets with optional acceleration limits.


## Subtypes

- [JointVelocityCommand.Feedback](jointvelocitycommand-feedback.md#rb-api-jointvelocitycommand-feedback)
- [JointVelocityCommand.Request](jointvelocitycommand-request.md#rb-api-jointvelocitycommand-request)