# OptimalControlCommand

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

Whole-body optimal control with weighted task objectives.


## Subtypes

- [OptimalControlCommand.Feedback](optimalcontrolcommand-feedback.md#rb-api-optimalcontrolcommand-feedback)
- [OptimalControlCommand.Request](optimalcontrolcommand-request.md#rb-api-optimalcontrolcommand-request)