# TorsoCommand

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

Torso subsystem command (posture, cartesian, impedance, or optimal control).


## Subtypes

- [TorsoCommand.Feedback](torsocommand-feedback.md#rb-api-torsocommand-feedback)
- [TorsoCommand.Request](torsocommand-request.md#rb-api-torsocommand-request)