# WholeBodyCommand.Request

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

Request payload for WholeBodyCommand.

| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| command_header | [CommandHeader.Request](../command_header/commandheader-request.md#rb-api-commandheader-request) |  |  |
| stop_command | [StopCommand.Request](../basic_command/stopcommand-request.md#rb-api-stopcommand-request) |  |  |
| real_time_control_command | [RealTimeControlCommand.Request](../basic_command/realtimecontrolcommand-request.md#rb-api-realtimecontrolcommand-request) |  |  |