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Do you have the specific code numbers set in the computer causing the check engine light to come on?
Can you detail what exactly you need?
The best and easiest way to do the 0 point Calibration is with a scan tool. The jumper wire method in the DLC3 connector port where the scan tool plugs into use pin 4 CG to pin 12 TS and following the procedure spelled out in this TSB http://www.rav4world.com/tsb/BR001-04.pdf page 7 to 8 will work but is difficult and may take several attempts.