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.

Bring up a native Piper CAN 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 hardware can setup can0

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

dimos hardware can setup can0 --bitrate 500000

The command prints each privileged operation before requesting sudo. Verify the interface before starting a blueprint:

dimos hardware can status can0

Run a Piper blueprint¶

Give the coordinator the CAN interface of the arm:

dimos run coordinator-piper --controlcoordinator.addresses '{"arm": "can0"}'

For keyboard Cartesian teleoperation, use:

dimos run keyboard-teleop-piper --controlcoordinator.addresses '{"arm": "can0"}'

The WebXR teleoperation composition is available as:

dimos run teleop-webxr-piper --controlcoordinator.addresses '{"arm": "can0"}'

Without an address these blueprints run the mock adapter, which is good for testing. The map can also live in a config file; see Hardware configuration.