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¶

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.