Piper Integration

Optional SLCAN setup

Use this separate path only with a serial-CAN adapter, such as /dev/ttyACM0;

sudo slcand -o -c -s8 /dev/ttyACM0 can0
sudo ip link set can0 up

This is a separate prerequisite for serial-CAN adapters. It is not needed when the Piper adapter already exposes a native SocketCAN interface.

Piper uses SocketCAN at 1,000,000 bit/s. For the default vendor setup, use the DimOS CLI to configure an existing CAN interface and bring it up:

dimos piper can-activate can0

For a non-default bitrate, pass --bitrate explicitly:

dimos piper can-activate can0 --bitrate 500000

The command asks for confirmation before requesting sudo. Verify the interface before starting a blueprint:

ip link show can0

Use the coordinator for the basic manipulation composition:

dimos --can-port can0 run coordinator-piper

For keyboard Cartesian teleoperation, use:

dimos --can-port can0 run keyboard-teleop-piper

The Quest teleoperation composition is available as:

dimos --can-port can0 run teleop-quest-piper

Note that ommitting the --can-port argument will fallback the control coordinator to use fake hardware adapter. This is good for testing.