> ## Documentation Index
> Fetch the complete documentation index at: https://dimensional-feat-ivan-pure-modules.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# Piper Integration

> Connect and run a Piper arm with DimOS manipulation and teleoperation blueprints.

## Optional SLCAN setup

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

```bash theme={null}
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:

```bash theme={null}
dimos piper can-activate can0
```

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

```bash theme={null}
dimos piper can-activate can0 --bitrate 500000
```

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

```bash theme={null}
ip link show can0
```

## Run a Piper blueprint

Use the coordinator for the basic manipulation composition:

```bash theme={null}
dimos --can-port can0 run coordinator-piper
```

For keyboard Cartesian teleoperation, use:

```bash theme={null}
dimos --can-port can0 run keyboard-teleop-piper
```

The Quest teleoperation composition is available as:

```bash theme={null}
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.