Restructure reference section

website/docs/api-reference/can/_category_.json

@@ -0,0 +1,4 @@
+{
+  "label": "CAN",
+  "position": 4,
+}

website/docs/api-reference/can.mdx → website/docs/api-reference/can/can.mdx

@@ -1,6 +1,6 @@
 ---
 title: CAN Library
-sidebar_position: 4
+sidebar_position: 1
 ---
 
 import TOCInline from '@theme/TOCInline';
@@ -13,7 +13,7 @@ The [OpenArm CAN](https://github.com/enactic/openarm_can/) Library serves as the
 It abstracts CAN bus communication via utilizing Linux's SocketCAN interface, providing an API for motor control and state monitoring. The library allows extensibility for various CAN devices beyond motors.
 
 SocketCAN is Linux's implementation of the CAN (Controller Area Network) protocol stack, providing a socket-based interface for CAN communication.
-For detailed setup instructions including CAN interface configuration, library build, and verification steps, see [Setup Guide](./setup/index.md).
+For detailed setup instructions including CAN interface configuration, library build, and verification steps, see [Setup Guide](../setup/index.md).
 
 ## Table of Contents
 
@@ -87,7 +87,8 @@ The demo (`openarm_can/examples/demo.cpp`) demonstrates the complete OpenArm API
 
 The first step involves creating the OpenArm instance and registering all motor devices with their corresponding CAN IDs and types.
 
-:::warning Vector Length Consistency
+:::warning
+Vector Length Consistency
 Ensure that `motor_types`, `send_can_ids`, and `recv_can_ids` vectors have the same length. Each motor requires exactly one entry in each vector at the corresponding index. Mismatched vector lengths can result in initialization errors or undefined behavior.
 :::
 
@@ -113,7 +114,8 @@ This section demonstrates how to enable motors and query their internal paramete
 Switch callback mode properly to parse the received frames.
 
 
-:::warning Timeout Values
+:::warning
+Timeout Values
 Use longer timeout values (1000-2000 microseconds) for slow operations like motor enabling and parameter queries. Fast control operations may use shorter timeouts (300-500 microseconds). Insufficient timeout values can result in missed responses and communication failures.
 :::
 

website/docs/api-reference/cli.mdx → website/docs/api-reference/can/cli.mdx

@@ -1,6 +1,6 @@
 ---
 title: OpenArm CAN CLI
-sidebar_position: 4
+sidebar_position: 2
 ---
 
 # OpenArm CAN CLI Tool

website/docs/api-reference/index.mdx

@@ -50,7 +50,7 @@ A C++ library for communicating with OpenArm motors through Linux's SocketCAN in
   </TabItem>
   <TabItem value="cli" label="CLI">
 
-**[Learn more under CAN CLI →](cli)**
+**[Learn more under CAN CLI →](can/cli)**
 
 A command-line tool for configuring and monitoring DaMiao motors over CAN/CAN-FD interfaces. Supports motor discovery, parameter read/write, enable/disable, live telemetry, baudrate changes, and ID assignment.
 

website/docs/api-reference/ros2/control.mdx

@@ -40,7 +40,8 @@ colcon build
 source ~/ros2_ws/install/setup.bash
 ```
 
-:::danger ⚠️ SAFETY REQUIREMENTS FOR HARDWARE OPERATION
+:::danger
+⚠️ SAFETY REQUIREMENTS FOR HARDWARE OPERATION
 
 Before operating with real hardware, you MUST:
 
@@ -59,7 +60,8 @@ The [openarm_bringup](https://github.com/enactic/openarm_ros2/tree/main/openarm_
 
 The bringup package supports both mock hardware (for simulation/testing) and real hardware through a hardware plugin. When using real hardware, you'll need to first install the `openarm_can` library by following the [CAN setup guide](../can).
 
-:::warning Hardware Bridge Status
+:::warning
+Hardware Bridge Status
 The hardware bridging components are currently being updated and may be unstable. The gripper bridging logic is particularly under active development.
 :::
 
@@ -204,6 +206,7 @@ The default gain is set to a relatively low value for safety. As a result, the a
 - Edit `assets/robot/openarm_v1.0/config/arm/control_gains.yaml`
 - Rebuild by `colcon build`
 
-:::danger ⚠️ GAIN TUNING SAFETY
+:::danger
+⚠️ GAIN TUNING SAFETY
 Please adjust the gain with great care. **Start with a lower gain and verify the behavior first, then increase it gradually.** If you execute an action with a large position difference while using a high gain, some controllers may generate dangerously high velocities.
 :::

website/docs/api-reference/ros2/install.mdx

@@ -15,7 +15,7 @@ ROS 2 (Robot Operating System 2) is a modern, open-source framework for building
 
 ### Prerequisites
 
-- Ubuntu ([Install Ubuntu →](../ubuntu/))
+- Ubuntu
 
 ### Choose your ROS 2
 

website/docs/api-reference/setup/2-can-setup.mdx

@@ -46,7 +46,7 @@ openarm-can-configure-socketcan-4-arms
 openarm-can-configure-socketcan-4-arms -fd -b 1000000 -d 5000000
 ```
 
-Alternatively, use `openarm-can-cli` to configure individual interfaces. For detailed usage, see [CAN CLI Reference ](../cli#can_configure--configure-can-interface).
+Alternatively, use `openarm-can-cli` to configure individual interfaces. For detailed usage, see [CAN CLI Reference ](../can/cli#can_configure--configure-can-interface).
 
 ```bash
 # CAN FD at 5Mbps (recommended)

website/docs/api-reference/setup/4-motor-config.mdx

@@ -31,7 +31,7 @@ Before changing the baudrate, make sure the CAN interface is configured to match
 :::
 
 
-For detailed usage, see [CAN CLI Reference change_baud](../cli#change_baud--change-motor-baudrate).
+For detailed usage, see [CAN CLI Reference change_baud](../can/cli#change_baud--change-motor-baudrate).
 
 ```bash
 # Set temporarily
@@ -112,7 +112,7 @@ openarm-can-cli -i can0 monitor --id 1,2,3
 
 The output should display the motor's position, velocity, torque, and temperature in real-time.
 
-For detailed usage, see [CAN CLI Reference monitor](../cli#monitor--live-telemetry-dashboard).
+For detailed usage, see [CAN CLI Reference monitor](../can/cli#monitor--live-telemetry-dashboard).
 
 :::warning
 It is important to get the motor communication working before running the demo.

website/docs/api-reference/setup/5-run-demo.mdx

@@ -16,7 +16,8 @@ Now that your basic communication is working, let's run the full OpenArm demo pr
 More details for control can be found [here](../can).
 
 
-:::danger ⚠️ READ BEFORE RUNNING DEMO ⚠️
+:::danger
+⚠️ READ BEFORE RUNNING DEMO ⚠️
 
 - **ZERO POSITION**: Ensure you have set safe zero positions for all motors
 - **EMERGENCY STOP**: Keep emergency stop button within immediate reach at ALL times
@@ -83,7 +84,7 @@ Gripper Motor: 8 position: 0.789
 
 Before proceeding, ensure you have the required system:
 
-- Linux with SocketCAN support ([Install Ubuntu →](../ubuntu/))
+- Linux with SocketCAN support
 - CMake 3.22+
 - C++17 compiler
 

website/docs/api-reference/setup/index.md

@@ -22,4 +22,4 @@ Make sure you have motors and communication devices at your hands.
 
 - For motor control and further setup
   - SocketCAN-compatible interface device
-  - Computer running Ubuntu 22.04/24.04 or other linux with SocketCAN support ([Install Ubuntu →](../ubuntu/))
+  - Computer running Ubuntu 22.04/24.04 or other linux with SocketCAN support