diff --git a/website/docs/software/setup/2-can-setup.mdx b/website/docs/software/setup/2-can-setup.mdx
index c7e0697..2694fd5 100644
--- a/website/docs/software/setup/2-can-setup.mdx
+++ b/website/docs/software/setup/2-can-setup.mdx
@@ -13,7 +13,14 @@ The [electrical BOM](/hardware/bill-of-materials/electrical) contains the device
 Before proceeding, ensure you have the required tools installed:
 
 ```bash
-sudo apt install can-utils iproute2
+sudo apt install -y software-properties-common
+sudo add-apt-repository -y ppa:openarm/main
+sudo apt update
+sudo apt install -y \
+  can-utils \
+  iproute2 \
+  libopenarm-can-dev \
+  openarm-can-utils
 ```
 
 ## Find Your CAN Interface
@@ -28,7 +35,19 @@ ip link show
 
 Replace `can0` with your actual CAN interface name and use a baudrate supported by you interfaces for the steps.
 
-### Option 1: setup manually
+### Option 1: use OpenArm CAN library
+
+The OpenArm CAN library includes convenient setup commands, example usage:
+
+```bash
+# For CAN 2.0
+openarm-can-configure-socketcan can0
+
+# For CAN FD at 5mbps (recommended)
+openarm-can-configure-socketcan can0 -fd -b 1000000 -d 5000000
+```
+
+### Option 2: setup manually
 
 **CAN 2.0 Mode**
 
@@ -47,23 +66,6 @@ sudo ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on
 sudo ip link set can0 up
 ```
 
-### Option 2: use setup scripts
-
-The OpenArm CAN library includes convenient setup scripts, example usage:
-
-```bash
-# Navigate to openarm_can directory
-wget https://github.com/enactic/openarm_can/releases/download/{{OPENARM_CAN_VERSION}}/openarm-can-{{OPENARM_CAN_VERSION}}.tar.gz
-tar xf openarm-can-{{OPENARM_CAN_VERSION}}.tar.gz
-cd openarm-can-{{OPENARM_CAN_VERSION}}/setup
-
-# For CAN 2.0
-./configure_socketcan.sh can0
-
-# For CAN FD at 5mbps (recommended)
-./configure_socketcan.sh can0 -fd -b 1000000 -d 5000000
-```
-
 ## Verify Configuration
 
 Check that your CAN interface is properly configured:
diff --git a/website/docs/software/setup/5-motor-config.mdx b/website/docs/software/setup/4-motor-config.mdx
similarity index 77%
rename from website/docs/software/setup/5-motor-config.mdx
rename to website/docs/software/setup/4-motor-config.mdx
index 485ce5a..1ad34ae 100644
--- a/website/docs/software/setup/5-motor-config.mdx
+++ b/website/docs/software/setup/4-motor-config.mdx
@@ -1,17 +1,16 @@
 ---
-title: '5. Motor Configuration'
-sidebar_position: 6
+title: '4. Motor Configuration'
+sidebar_position: 5
 ---
 import BlockImage from '@site/src/components/BlockImage';
 
-# Step 5: Motor Configuration
+# Step 4: Motor Configuration
 
 :::info
 **Prerequisites:** Before proceeding, ensure you have:
 - ✅ Motor IDs configured (Step 1)
 - ✅ CAN interface configured (Step 2)
 - ✅ Basic communication tested (Step 3)
-- ✅ OpenArm CAN library built (Step 4)
 :::
 
 ## Overview
@@ -33,13 +32,13 @@ Set the baudrate for each motor (replace `1` with your motor CAN ID and `5000000
 
 Set temporarily:
 ```bash
-python3 change_baudrate.py --baudrate 5000000 --canid 1 --socketcan can0
+openarm-can-change-baudrate --baudrate 5000000 --canid 1 --socketcan can0
 ```
 
 Save permanently:
 
 ```bash
-python3 change_baudrate.py --baudrate 5000000 --canid 1 --socketcan can0 --flash
+openarm-can-change-baudrate --baudrate 5000000 --canid 1 --socketcan can0 --flash
 ```
 
 **Important:** After completing the baudrate configuration, reconfigure your CAN interface to match the motor's new baudrate setting for proper communication if necessary.
@@ -70,25 +69,23 @@ For grippers, the closed position is used as zero by default.
 Safety First! The robot will move automatically when calibration starts. Wear safety gear, clear the workspace, and be ready to emergency stop.
 :::
 
-**Prerequisites:** Ensure you have completed the [Python binding](https://github.com/enactic/openarm_can#4-python--experimental---temporary-) installation before proceeding with calibration.
-
 The zero position calibration runs **one arm at a time**.  
 Run the zero position calibration (this defaults to can 0, right arm):
 ```bash
-python3 setup/zero_position_calibration.py
+openarm-can-zero-position-calibration
 ```
 For specific arms, run:
 ```bash
 # Leader-side Left
-python3 setup/zero_position_calibration.py --canport can1 --arm_side left_arm
+openarm-can-zero-position-calibration --canport can1 --arm_side left_arm
 ```
 ```bash
 # Follower-side Right
-python3 setup/zero_position_calibration.py --canport can2 --arm_side right_arm
+openarm-can-zero-position-calibration --canport can2 --arm_side right_arm
 ```
 ```bash
 # Follower-side Left
-python3 setup/zero_position_calibration.py --canport can3 --arm_side left_arm
+openarm-can-zero-position-calibration --canport can3 --arm_side left_arm
 ```
 <div style={{display: 'flex', justifyContent: 'center'}}>
   <iframe 
@@ -108,18 +105,16 @@ python3 setup/zero_position_calibration.py --canport can3 --arm_side left_arm
 ## Step 3: Verify Motor Communication
 
 Run the motor check executable, replace `1` and `17` with your motor's send and receive CAN IDs.
-The `motor-check` executable should be available in the build directory from the library compilation.
-If it's missing, rebuild the project. Note: CAN ID 17 is the decimal representation of 0x11
+Note: CAN ID 17 is the decimal representation of 0x11
 
 For CAN 2.0
 ```bash
-cd openarm_can/build
-./motor-check 1 17 can0
+openarm-can-motor-check 1 17 can0
 ```
 
 For CAN FD mode:
 ```bash
-./motor-check 1 17 can0 -fd
+openarm-can-motor-check 1 17 can0 -fd
 ```
 
 The output should display the motor's receiver ID, baudrate, and status information.
@@ -130,7 +125,7 @@ The output should display the motor's receiver ID, baudrate, and status informat
 3. **Troubleshoot**: If the baudrate doesn't match, switch your CAN interface to 2.0 and re-run the baudrate change script
 
 :::warning
-It is important to get the motor-check working before running the demo.
+It is important to get the openarm-can-motor-check working before running the demo.
 :::
 
 ## Troubleshooting
diff --git a/website/docs/software/setup/4-software-setup.mdx b/website/docs/software/setup/4-software-setup.mdx
deleted file mode 100644
index d613fb9..0000000
--- a/website/docs/software/setup/4-software-setup.mdx
+++ /dev/null
@@ -1,40 +0,0 @@
----
-title: '4. Setup Software'
-sidebar_position: 5
----
-
-# Step 4: Setup Software
-
-Now that your motor ids are configured, you can proceed to installing the OpenArm CAN library that provides the communication interface between your computer and the robotic arm motors.
-
-## Prerequisites
-
-Before proceeding, ensure you have the required system:
-- Linux with SocketCAN support ([Install Ubuntu →](../ubuntu/))
-- CMake 3.22+
-- C++17 compiler
-
-## Download the CAN Library
-
-```bash
-wget https://github.com/enactic/openarm_can/releases/download/{{OPENARM_CAN_VERSION}}/openarm-can-{{OPENARM_CAN_VERSION}}.tar.gz
-tar xf openarm-can-{{OPENARM_CAN_VERSION}}.tar.gz
-cd openarm-can-{{OPENARM_CAN_VERSION}}
-```
-
-## Build the Library
-
-Build:
-
-```bash
-cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
-cmake --build build
-```
-
-If you want to use the library system-wide:
-
-```
-sudo cmake --install build
-```
-
-The library is now ready to communicate with your motors once the CAN interface is properly configured.
diff --git a/website/docs/software/setup/6-run-demo.mdx b/website/docs/software/setup/5-run-demo.mdx
similarity index 81%
rename from website/docs/software/setup/6-run-demo.mdx
rename to website/docs/software/setup/5-run-demo.mdx
index c54f07a..8073fd1 100644
--- a/website/docs/software/setup/6-run-demo.mdx
+++ b/website/docs/software/setup/5-run-demo.mdx
@@ -1,16 +1,15 @@
 ---
-title: '6. Hands-On: Demo Run'
-sidebar_position: 7
+title: '5. Hands-On: Demo Run'
+sidebar_position: 6
 ---
 
-# Step 6: Hands-On: Demo Run
+# Step 5: Hands-On: Demo Run
 
 :::info
 **Prerequisites:** Before running the demo, verify these prerequisites are complete:
 - ✅ Motor IDs configured and tested (Steps 1, 3)
 - ✅ CAN interface configured (Step 2)
-- ✅ OpenArm CAN library built (Step 4)
-- ✅ Motor zero position set to safe values, baudrate matches CAN interface configuration (Step 5)
+- ✅ Motor zero position set to safe values, baudrate matches CAN interface configuration (Step 4)
 :::
 
 Now that your basic communication is working, let's run the full OpenArm demo program to test complete system functionality.
@@ -34,12 +33,71 @@ Connect the motors in a daisy-chain using XT30 2+2 cables. [See detailed wiring
 The default demo uses motors 0x01, 0x02, 0x07 (DM4310) on CAN0 with CANFD. If your setup matches, run directly:
 
 ```bash
-./build/openarm-demo
+openarm-can-demo
+```
+
+## What the Demo Does
+
+The demo program performs these operations:
+
+1. **Initialization**: Sets up CAN interface and motor communication
+2. **Motor Query**: Reads and displays motor IDs to verify configuration
+3. **Motor Control**:
+   - Enables all motors
+   - Performs position control tests
+   - Performs torque control tests
+4. **Gripper Control**: Opens and closes the gripper (if configured)
+5. **Status Monitoring**: Displays motor positions for 10 cycles
+6. **Cleanup**: Safely disables all motors
+
+Modify the configuration as needed for your setup.
+
+## Expected Output
+
+You should see output similar to:
+
+```
+=== OpenArm CAN Example ===
+This example demonstrates the OpenArm API functionality
+Initializing OpenArm CAN...
+Initializing gripper...
+
+=== Enabling Motors ===
+
+=== Querying Motor Recv IDs ===
+Arm Motor: 1 ID: 17
+Arm Motor: 2 ID: 18
+Gripper Motor: 8 ID: 24
+
+=== Controlling Motors ===
+Closing gripper...
+Arm Motor: 1 position: 0.123
+Arm Motor: 2 position: 0.456
+Gripper Motor: 8 position: 0.789
+...
 ```
 
 ## Configure the Demo
 
-Configured with your specific motor setup by editing `openarm_can/examples` and rebuild if needed.
+### Prerequisites
+
+Before proceeding, ensure you have the required system:
+
+- Linux with SocketCAN support ([Install Ubuntu →](../ubuntu/))
+- CMake 3.22+
+- C++17 compiler
+
+### Download the CAN Library
+
+```bash
+wget https://github.com/enactic/openarm_can/releases/download/{{OPENARM_CAN_VERSION}}/openarm-can-{{OPENARM_CAN_VERSION}}.tar.gz
+tar xf openarm-can-{{OPENARM_CAN_VERSION}}.tar.gz
+cd openarm-can-{{OPENARM_CAN_VERSION}}
+```
+
+### Configure the Demo
+
+Configured with your specific motor setup by editing `examples/demo.cpp` and build if needed.
 Find and update these sections to match your motor setup:
 
 ```cpp
@@ -83,61 +141,19 @@ If you have a gripper, update the gripper configuration. Otherwise, remove all c
 openarm.init_gripper_motor(openarm::damiao_motor::MotorType::DM4310, 0x08, 0x18);
 ```
 
+### Build the Demo
 
-## What the Demo Does
-
-The demo program performs these operations:
-
-1. **Initialization**: Sets up CAN interface and motor communication
-2. **Motor Query**: Reads and displays motor IDs to verify configuration
-3. **Motor Control**:
-   - Enables all motors
-   - Performs position control tests
-   - Performs torque control tests
-4. **Gripper Control**: Opens and closes the gripper (if configured)
-5. **Status Monitoring**: Displays motor positions for 10 cycles
-6. **Cleanup**: Safely disables all motors
-
-Modify the configuration as needed for your setup.
-
-## Rebuild the Demo
-
-After modifying the configuration, rebuild the demo:
+After modifying the configuration, build the demo:
 
 ```bash
-cmake --build build --target openarm-demo
+cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
+cmake --build build --target openarm-can-demo
 ```
 
-## Run the Demo
+### Run the Demo
 
 ```bash
-cd build
-./openarm-demo
-```
-
-## Expected Output
-
-You should see output similar to:
-
-```
-=== OpenArm CAN Example ===
-This example demonstrates the OpenArm API functionality
-Initializing OpenArm CAN...
-Initializing gripper...
-
-=== Enabling Motors ===
-
-=== Querying Motor Recv IDs ===
-Arm Motor: 1 ID: 17
-Arm Motor: 2 ID: 18
-Gripper Motor: 8 ID: 24
-
-=== Controlling Motors ===
-Closing gripper...
-Arm Motor: 1 position: 0.123
-Arm Motor: 2 position: 0.456
-Gripper Motor: 8 position: 0.789
-...
+build/openarm-can-demo
 ```
 
 ## Troubleshooting
diff --git a/website/docs/teleop/leader-follower/setup-guide.md b/website/docs/teleop/leader-follower/setup-guide.md
index 3712098..4447720 100644
--- a/website/docs/teleop/leader-follower/setup-guide.md
+++ b/website/docs/teleop/leader-follower/setup-guide.md
@@ -9,7 +9,6 @@ This guide walks you through the steps to set up and build the `openarm_teleop`
 
 Before proceeding, please ensure the following dependencies are satisfied:
 
-- ✅ `openarm_can` library (see [OpenArm CAN library](/software/can))
 - ✅ `openarm_description` library (see [OpenArm Description](/software/description))
 
 ---
@@ -26,12 +25,17 @@ cd openarm_teleop
 ### 2. Install Dependancy
 
 ```bash
-sudo apt update && sudo apt install -y \
-  liborocos-kdl-dev \
+sudo apt install -y software-properties-common
+sudo add-apt-repository -y ppa:openarm/main
+sudo apt update
+sudo apt install -y \
   libeigen3-dev \
+  libopenarm-can-dev \
+  liborocos-kdl-dev \
   liburdfdom-dev \
   liburdfdom-headers-dev \
-  libyaml-cpp-dev
+  libyaml-cpp-dev \
+  openarm-can-utils
 ```
 
 ### 3. Build the teleop library
@@ -47,12 +51,11 @@ Each arm requires a dedicated CAN interface (1 arm = 1 CAN port).
 To initialize a CAN interface (e.g., `can0`) in CAN FD mode, run:
 
 ```bash
-cd openarm_can
-./setup/configure_socketcan.sh can0 -fd
+openarm-can-configure-socketcan can0 -fd
 ```
 
-If you have all CAN interfaces (can0 to can3) connected, you can use the following command
+If you have all CAN interfaces (can0 to can3) connected, you can use the following command:
+
 ```bash
-cd openarm_can
-./setup/configure_socketcan_4_arms.sh -fd
-```
\ No newline at end of file
+openarm-can-configure-socketcan-4-arms -fd
+```
diff --git a/website/docusaurus.config.ts b/website/docusaurus.config.ts
index f0fe575..ecd43e2 100644
--- a/website/docusaurus.config.ts
+++ b/website/docusaurus.config.ts
@@ -81,7 +81,7 @@ const config: Config = {
 
   markdown: {
     preprocessor: ({filePath: _filePath, fileContent}) => {
-      return fileContent.replaceAll('{{OPENARM_CAN_VERSION}}', '1.1.0');
+      return fileContent.replaceAll('{{OPENARM_CAN_VERSION}}', '1.2.2');
     },
   },