website: Use openarm-can-calibration-in-cell for OpenArm Cell

website/docs/faq/index.md

@@ -105,10 +105,9 @@ Check the following in order.
 
 ## 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.
+We recommend the [zero-position calibration with the mechanical limits in OpenArm Cell](../setup/openarm-setup/4-motor-config.mdx#zero-position-calibration-in-openarm-cell) 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.
 

website/docs/setup/openarm-setup/4-motor-config.mdx

@@ -98,6 +98,23 @@ openarm-can-zero-position-calibration --canport can3 --arm-side left_arm
   />
 </div>
 
+### Zero Position Calibration in OpenArm Cell
+
+If the arm is mounted in [OpenArm Cell](../../hardware/openarm-cell/general.mdx), use `openarm-can-calibration-in-cell` instead.
+The arm can run the calibration only when the lifter of OpenArm Cell is at the top.
+This command raises the lifter to its top mechanical limit, asks you to confirm it, and then runs the same calibration as `openarm-can-zero-position-calibration`.
+
+```bash
+# Right arm (can0)
+openarm-can-calibration-in-cell --arm-side right_arm
+
+# Left arm (can1)
+openarm-can-calibration-in-cell --arm-side left_arm
+```
+
+The lifter is connected to `can2` by default. Use `--lifter-canport` to change it.
+If OpenArm Cell shuts off during the calibration, see [the FAQ](../../faq/index.md#openarm-cell-shuts-off-during-zero-position-calibration).
+
 ## Step 3: Verify Motor Communication
 
 Run the monitor command to check motor status. Replace `1,2,3...` with your motor IDs.

website/docs/tutorial/setup.mdx

@@ -126,20 +126,32 @@ ip link show
 ```
 
 `can0` and `can1` should appear in the UP state.
+If you use OpenArm Cell, `can2` for the lifter should also 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:
+Then run the following commands to set the zero position for each arm.
+
+If you use OpenArm Cell, run `openarm-can-calibration-in-cell`.
+It raises the lifter on `can2` to the top before the calibration.
+
+```bash
+openarm-can-calibration-in-cell --arm-side right_arm
+openarm-can-calibration-in-cell --arm-side left_arm
+```
+
+If OpenArm Cell shuts off during the calibration, see [the FAQ](../faq/index.md#openarm-cell-shuts-off-during-zero-position-calibration).
+
+If you use OpenArm 2.0 without the Cell, run `openarm-can-zero-position-calibration`:
 
 ```bash
 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
 

website/docusaurus.config.ts

@@ -137,7 +137,7 @@ const config: Config = {
           { from: '/api-reference/setup/motor-firmware-update', to: '/setup/openarm-setup/motor-firmware-update' },
           { 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' }
+          { from: '/hardware/openarm-cell/calibration-workflow', to: '/setup/openarm-setup/motor-config#zero-position-calibration-in-openarm-cell' }
         ],
         createRedirects(existingPath: string) {
           const removedInV2 = [