website: Recommend the mechanical limit calibration for OpenArm Cell

website/docs/faq/index.md

@@ -102,6 +102,13 @@ Check the following in order.
 - If the cameras still disconnect, connect the head stereo camera directly to the PC instead of the USB hub.
   Some PCs share an internal hub among several ports, so run `lsusb -t` to make sure that it is not under the same hub as the wrist cameras.
 
+## Should I use the zero-position calibration jig with OpenArm Cell?
+
+We recommend the [zero-position calibration with the mechanical limits](../setup/openarm-setup/4-motor-config.mdx#step-2-zero-position-calibration) instead of the jig.
+The jig aligns the arm to OpenArm Cell, so assembly errors of the Cell shift the zero position.
+The calibration with the mechanical limits uses the mechanical limit of each joint, so the assembly errors of the Cell don't affect it.
+You can run it with the arm mounted in OpenArm Cell.
+
 ## OpenArm Cell shuts off during zero-position calibration.
 
 The wiring around the elbow or other joints may enter the detection area of the area sensors and trigger the [Reach-In Stop](../hardware/openarm-cell/general.mdx#reach-in-stop).

website/docs/hardware/openarm-cell/general.mdx

@@ -66,10 +66,3 @@ OpenArm Cell is equipped with an intrusion detection system based on area sensor
 It detects unexpected entry into the workspace during operation and automatically shuts off power, helping to ensure the safe and reliable management of the experimental environment.
 
 <BlockImage src="hardware/openarm-cell/general/reach-in-stop.gif" alt="OpenArm Cell Reach-In Stop" width="90%" />
-
-### Zero-Position Calibration Jig
-
-OpenArm Cell also includes a high-precision dedicated calibration jig that secures the gripper in a fixed position and physically constrains all degrees of freedom to their ideal CAD-defined angles.
-By eliminating unavoidable assembly errors and component tolerances through calibration, it ensures a consistent data foundation that is essential for operation in diverse environments around the world.
-
-<BlockImage src="hardware/openarm-cell/general/zero-position.gif" alt="OpenArm Cell Zero-Position Calibration Jig" width="90%" />

website/docs/overview/whats-new-in-2.0.mdx

@@ -37,7 +37,6 @@ Highlights:
 - Off-the-shelf MISUMI-based enclosure and power system for maintainability and global availability of parts.
 - Vertically adjustable Z-axis to accommodate different workpiece heights.
 - Area-sensor reach-in stop that cuts power on intrusion into the workspace.
-- Dedicated zero-position calibration jig that mechanically constrains the gripper to its CAD-defined angles, eliminating assembly tolerances from the dataset.
 
 The motivation is simple: "Model A outperforms Model B" only carries meaning when both were evaluated under the same conditions. The Cell is the shared substrate that makes that possible.
 

website/docs/tutorial/setup.mdx

@@ -116,26 +116,31 @@ If you just buy the OpenArm 2.0 only and already zero position calibrated, you c
 
 ## Zero position setup
 
-Set up the arm with the jig as shown below.
+Set the zero position with the mechanical limits of each joint.
 This ensures the arm is in the correct position for data collection and evaluation.
 
-<BlockImage src="hardware/openarm-cell/calibration-workflow/step5.png" alt="OpenArm Cell Calibration Step5" />
-
-(See also: [Calibration Workflow](../hardware/openarm-cell/calibration-workflow.mdx))
-
 Before setting the zero position, make sure the CAN interface is up and running:
 
 ```bash
 ip link show
 ```
 
-`can0` and `can1` should appear in the UP state. Then run the following commands to set the zero position for the CAN motors:
+`can0` and `can1` should appear in the UP state.
+
+:::warning
+The arm moves automatically during the calibration. Clear the workspace and be ready to emergency stop.
+:::
+
+Then run the following commands to set the zero position for each arm:
 
 ```bash
-openarm-can-cli -i can0 set_zero --arm
-openarm-can-cli -i can1 set_zero --arm
+openarm-can-zero-position-calibration --canport can0 --arm-side right_arm
+openarm-can-zero-position-calibration --canport can1 --arm-side left_arm
 ```
 
+See [Zero Position Calibration](../setup/openarm-setup/4-motor-config.mdx#step-2-zero-position-calibration) for details.
+If OpenArm Cell shuts off during the calibration, see [the FAQ](../faq/index.md#openarm-cell-shuts-off-during-zero-position-calibration).
+
 ## Camera setup
 
 Arducam's default serial number is the same for all cameras, so we need to set the serial number for each camera using arducam config tool.

website/docusaurus.config.ts

@@ -135,7 +135,9 @@ const config: Config = {
           { from: '/api-reference/setup/motor-config', to: '/setup/openarm-setup/motor-config' },
           { from: '/api-reference/setup/run-demo', to: '/setup/openarm-setup/run-demo' },
           { from: '/api-reference/setup/motor-firmware-update', to: '/setup/openarm-setup/motor-firmware-update' },
-          { from: '/tutorial/data-collection', to: '/tutorial/data-collection-vr' }
+          { from: '/tutorial/data-collection', to: '/tutorial/data-collection-vr' },
+          // The OpenArm Cell jig is replaced by the calibration with the mechanical limits
+          { from: '/hardware/openarm-cell/calibration-workflow', to: '/setup/openarm-setup/motor-config' }
         ],
         createRedirects(existingPath: string) {
           const removedInV2 = [