> ## Documentation Index
> Fetch the complete documentation index at: https://docs.phospho.ai/llms.txt
> Use this file to discover all available pages before exploring further.

# Use the leader arm to control the follower arm

> Use the leader arm to control the follower arm.



## OpenAPI

````yaml post /move/leader/start
openapi: 3.1.0
info:
  title: FastAPI
  version: 0.1.0
servers: []
security: []
paths:
  /move/leader/start:
    post:
      tags:
        - control
      summary: Use the leader arm to control the follower arm
      description: Use the leader arm to control the follower arm.
      operationId: start_leader_follower_move_leader_start_post
      requestBody:
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/StartLeaderArmControlRequest'
        required: true
      responses:
        '200':
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/StatusResponse'
          description: Successful Response
        '422':
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/HTTPValidationError'
          description: Validation Error
components:
  schemas:
    StartLeaderArmControlRequest:
      description: >-
        Request to set up leader-follower control. The leader robot will be
        controlled by the user,

        and the follower robot will mirror the leader's movements.


        You need two robots connected to the same computer to use this feature.
      properties:
        enable_gravity_compensation:
          default: false
          description: Enable gravity compensation for the leader robots
          title: Enable Gravity Compensation
          type: boolean
        gravity_compensation_values:
          anyOf:
            - additionalProperties:
                type: integer
              type: object
            - type: 'null'
          default:
            elbow: 50
            shoulder: 100
            wrist: 10
          description: >-
            Gravity compensation pourcentage values for shoulder, elbow, and
            wrist joints (0-100%)
          title: Gravity Compensation Values
        invert_controls:
          default: false
          description: Mirror controls for the follower robots
          title: Invert Controls
          type: boolean
        robot_pairs:
          description: >-
            List of robot pairs to control. Each pair contains the robot id of
            the leader and the corresponding follower.
          items:
            $ref: '#/components/schemas/RobotPairRequest'
          title: Robot Pairs
          type: array
      required:
        - robot_pairs
      title: StartLeaderArmControlRequest
      type: object
    StatusResponse:
      additionalProperties: true
      description: Default response. May contain other fields.
      properties:
        message:
          anyOf:
            - type: string
            - type: 'null'
          title: Message
        status:
          default: ok
          enum:
            - ok
            - error
          title: Status
          type: string
      title: StatusResponse
      type: object
    HTTPValidationError:
      properties:
        detail:
          items:
            $ref: '#/components/schemas/ValidationError'
          title: Detail
          type: array
      title: HTTPValidationError
      type: object
    RobotPairRequest:
      description: Represents a pair of robots for leader-follower control.
      properties:
        follower_id:
          anyOf:
            - type: integer
            - type: 'null'
          description: Serial number of the follower robot
          title: Follower Id
        leader_id:
          anyOf:
            - type: integer
            - type: 'null'
          description: Serial number of the leader robot
          title: Leader Id
      required:
        - leader_id
        - follower_id
      title: RobotPairRequest
      type: object
    ValidationError:
      properties:
        loc:
          items:
            anyOf:
              - type: string
              - type: integer
          title: Location
          type: array
        msg:
          title: Message
          type: string
        type:
          title: Error Type
          type: string
      required:
        - loc
        - msg
        - type
      title: ValidationError
      type: object

````