diff --git a/lerobot/common/robots/so100/__init__.py b/lerobot/common/robots/so100/__init__.py
index 81b064c4..087fd645 100644
--- a/lerobot/common/robots/so100/__init__.py
+++ b/lerobot/common/robots/so100/__init__.py
@@ -1,4 +1,2 @@
-from .configuration_so100 import SO100RobotConfig
-from .robot_so100 import SO100Robot
-
-__all__ = ["SO100RobotConfig", "SO100Robot"]
+from .config_so100_follower import SO100FollowerConfig
+from .so100_follower import SO100Follower
diff --git a/lerobot/common/robots/so100/configuration_so100.py b/lerobot/common/robots/so100/config_so100_follower.py
similarity index 83%
rename from lerobot/common/robots/so100/configuration_so100.py
rename to lerobot/common/robots/so100/config_so100_follower.py
index e6cb9c75..fc432222 100644
--- a/lerobot/common/robots/so100/configuration_so100.py
+++ b/lerobot/common/robots/so100/config_so100_follower.py
@@ -5,10 +5,10 @@ from lerobot.common.cameras import CameraConfig
 from ..config import RobotConfig
 
 
-@RobotConfig.register_subclass("so100")
+@RobotConfig.register_subclass("so100_follower")
 @dataclass
-class SO100RobotConfig(RobotConfig):
-    # Port to connect to the robot
+class SO100FollowerConfig(RobotConfig):
+    # Port to connect to the arm
     port: str
 
     disable_torque_on_disconnect: bool = True
diff --git a/lerobot/common/robots/so100/robot_so100.py b/lerobot/common/robots/so100/so100_follower.py
similarity index 95%
rename from lerobot/common/robots/so100/robot_so100.py
rename to lerobot/common/robots/so100/so100_follower.py
index e7222a9d..13c5739b 100644
--- a/lerobot/common/robots/so100/robot_so100.py
+++ b/lerobot/common/robots/so100/so100_follower.py
@@ -29,20 +29,20 @@ from lerobot.common.motors.feetech import (
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position
-from .configuration_so100 import SO100RobotConfig
+from .config_so100_follower import SO100FollowerConfig
 
 logger = logging.getLogger(__name__)
 
 
-class SO100Robot(Robot):
+class SO100Follower(Robot):
     """
     [SO-100 Follower Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
     """
 
-    config_class = SO100RobotConfig
-    name = "so100"
+    config_class = SO100FollowerConfig
+    name = "so100_follower"
 
-    def __init__(self, config: SO100RobotConfig):
+    def __init__(self, config: SO100FollowerConfig):
         super().__init__(config)
         self.config = config
         self.arm = FeetechMotorsBus(
@@ -211,9 +211,7 @@ class SO100Robot(Robot):
 
     def disconnect(self):
         if not self.is_connected:
-            raise DeviceNotConnectedError(
-                "ManipulatorRobot is not connected. You need to run `robot.connect()` before disconnecting."
-            )
+            raise DeviceNotConnectedError(f"{self} is not connected.")
 
         self.arm.disconnect(self.config.disable_torque_on_disconnect)
         for cam in self.cameras.values():
diff --git a/lerobot/common/robots/utils.py b/lerobot/common/robots/utils.py
index 7e538376..c8a06b67 100644
--- a/lerobot/common/robots/utils.py
+++ b/lerobot/common/robots/utils.py
@@ -40,10 +40,10 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:
         from .moss.configuration_moss import MossRobotConfig
 
         return MossRobotConfig(**kwargs)
-    elif robot_type == "so100":
-        from .so100.configuration_so100 import SO100RobotConfig
+    elif robot_type == "so100_leader":
+        from .so100.config_so100_follower import SO100FollowerConfig
 
-        return SO100RobotConfig(**kwargs)
+        return SO100FollowerConfig(**kwargs)
     elif robot_type == "stretch":
         from .stretch3.configuration_stretch3 import Stretch3RobotConfig
 
diff --git a/lerobot/common/teleoperators/so100/__init__.py b/lerobot/common/teleoperators/so100/__init__.py
index a319b5bc..63c877e6 100644
--- a/lerobot/common/teleoperators/so100/__init__.py
+++ b/lerobot/common/teleoperators/so100/__init__.py
@@ -1,4 +1,2 @@
-from .configuration_so100 import SO100TeleopConfig
-from .teleop_so100 import SO100Teleop
-
-__all__ = ["SO100TeleopConfig", "SO100Teleop"]
+from .config_so100_leader import SO100LeaderConfig
+from .so100_leader import SO100Leader
diff --git a/lerobot/common/teleoperators/so100/configuration_so100.py b/lerobot/common/teleoperators/so100/config_so100_leader.py
similarity index 84%
rename from lerobot/common/teleoperators/so100/configuration_so100.py
rename to lerobot/common/teleoperators/so100/config_so100_leader.py
index a6a807e4..a97949b7 100644
--- a/lerobot/common/teleoperators/so100/configuration_so100.py
+++ b/lerobot/common/teleoperators/so100/config_so100_leader.py
@@ -19,8 +19,8 @@ from dataclasses import dataclass
 from ..config import TeleoperatorConfig
 
 
-@TeleoperatorConfig.register_subclass("so100")
+@TeleoperatorConfig.register_subclass("so100_leader")
 @dataclass
-class SO100TeleopConfig(TeleoperatorConfig):
-    # Port to connect to the teloperator
+class SO100LeaderConfig(TeleoperatorConfig):
+    # Port to connect to the arm
     port: str
diff --git a/lerobot/common/teleoperators/so100/teleop_so100.py b/lerobot/common/teleoperators/so100/so100_leader.py
similarity index 92%
rename from lerobot/common/teleoperators/so100/teleop_so100.py
rename to lerobot/common/teleoperators/so100/so100_leader.py
index e42c48d3..f8f7239e 100644
--- a/lerobot/common/teleoperators/so100/teleop_so100.py
+++ b/lerobot/common/teleoperators/so100/so100_leader.py
@@ -25,20 +25,20 @@ from lerobot.common.motors.feetech import (
 )
 
 from ..teleoperator import Teleoperator
-from .configuration_so100 import SO100TeleopConfig
+from .config_so100_leader import SO100LeaderConfig
 
 logger = logging.getLogger(__name__)
 
 
-class SO100Teleop(Teleoperator):
+class SO100Leader(Teleoperator):
     """
     [SO-100 Leader Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
     """
 
-    config_class = SO100TeleopConfig
-    name = "so100"
+    config_class = SO100LeaderConfig
+    name = "so100_leader"
 
-    def __init__(self, config: SO100TeleopConfig):
+    def __init__(self, config: SO100LeaderConfig):
         super().__init__(config)
         self.config = config
         self.arm = FeetechMotorsBus(
@@ -136,9 +136,7 @@ class SO100Teleop(Teleoperator):
 
     def disconnect(self) -> None:
         if not self.is_connected:
-            raise DeviceNotConnectedError(
-                "ManipulatorRobot is not connected. You need to run `robot.connect()` before disconnecting."
-            )
+            DeviceNotConnectedError(f"{self} is not connected.")
 
         self.arm.disconnect()
         logger.info(f"{self} disconnected.")