# BodyCommand

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

Whole-body command wrapper selecting a body control mode (joint, cartesian, impedance, optimal, or component-based).


## Subtypes

- [BodyCommand.Feedback](bodycommand-feedback.md#rb-api-bodycommand-feedback)
- [BodyCommand.Request](bodycommand-request.md#rb-api-bodycommand-request)