---
title: "Use the leader arm to control the follower arm"
method: POST
path: "/move/leader/start"
tags: ["control"]
---

# Use the leader arm to control the follower arm

`POST /move/leader/start`

Use the leader arm to control the follower arm.

## Request body

- StartLeaderArmControlRequest — 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.
  - `enable_gravity_compensation` boolean — Enable gravity compensation for the leader robots
  - `gravity_compensation_values` object, nullable — Gravity compensation pourcentage values for shoulder, elbow, and wrist joints (0-100%)
  - `invert_controls` boolean — Mirror controls for the follower robots
  - `robot_pairs` RobotPairRequest[], required — List of robot pairs to control. Each pair contains the robot id of the leader and the corresponding follower.
    - `follower_id` integer, nullable, required — Serial number of the follower robot
    - `leader_id` integer, nullable, required — Serial number of the leader robot

## Response `200`

Successful Response

- StatusResponse — Default response. May contain other fields.
  - `message` string, nullable
  - `status` 'ok' | 'error'

## Other responses

- `422` — Validation Error

---

[API](https://skmtc.net/phospho/apis/fastapi.md) · [All operations](https://skmtc.net/phospho/apis/fastapi/llms.txt) · [OpenAPI document](https://skmtc-service-staging.skmtc.workers.dev/v1/apis/phospho/fastapi/versions/93e83588fc02/schema)