# OptimalControlCommand.CenterOfMassCost

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

| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| ref_link_name | [string](../scalar-value-types.md#scalar-value-types) |  |  |
| pose | [Vec3](../geometry/vec3.md#rb-api-vec3) |  |  |
| weight | [double](../scalar-value-types.md#scalar-value-types) |  | default = 1 |