feat: Piper teleop polishing

[TomCC7]

Contribution path

• Linked issue or discussion: closes DIM-1274

Problem

DimOS needs a supported Piper manipulation and teleoperation path that connects over CAN and works with keyboard and Quest control.

Solution

• Updated the Piper hardware adapter, model configuration, CAN activation helper, and integration guide.
• Map normalized gripper intent to each adapter’s native endpoint at the hardware boundary.
• Add Viser manipulation and trajectory-task wiring to the Piper keyboard and Quest compositions.
• Add keyboard gripper control

How to Test

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

Focused control, manipulator, adapter, keyboard, Quest, and blueprint-registry checks were run locally. Manual Piper keyboard verification confirmed that held Q/E motion advances smoothly.

AI assistance

OpenCode with GPT-5.6 Terra; substantial assistance with implementation and tests, reviewed by the author.

Checklist

• I have read and approved the CLA.

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Project	Status	Preview	Updated (UTC)
dimensional	🟢 Ready	View Preview	Jul 20, 2026, 7:31 PM

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[codecov]

Codecov Report

❌ Patch coverage is 80.11928% with 100 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/hardware/manipulators/piper/adapter.py	57.31%	52 Missing and 18 partials ⚠️
dimos/teleop/keyboard/keyboard_teleop_module.py	54.00%	18 Missing and 5 partials ⚠️
dimos/control/hardware_interface.py	60.00%	3 Missing and 3 partials ⚠️
dimos/teleop/quest/quest_teleop_module.py	66.66%	1 Missing ⚠️

@@            Coverage Diff             @@
##             main    #3101      +/-   ##
==========================================
+ Coverage   73.33%   73.43%   +0.09%     
==========================================
  Files        1038     1043       +5     
  Lines       94300    94695     +395     
  Branches     8546     8651     +105     
==========================================
+ Hits        69154    69537     +383     
+ Misses      22799    22780      -19     
- Partials     2347     2378      +31     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	66.31% <80.11%> (+0.14%)	⬆️
OS-ubuntu-latest	68.87% <80.11%> (+0.13%)	⬆️
Py-3.10	68.86% <80.11%> (+0.12%)	⬆️
Py-3.11	68.87% <80.11%> (+0.14%)	⬆️
Py-3.12	68.86% <80.11%> (+0.13%)	⬆️
Py-3.13	68.87% <80.11%> (+0.13%)	⬆️
Py-3.14	68.86% <80.11%> (+0.13%)	⬆️
Py-3.14t	68.87% <80.11%> (+0.13%)	⬆️
SelfHosted-Large	30.07% <25.44%> (+0.02%)	⬆️
SelfHosted-Linux	37.03% <25.44%> (-0.05%)	⬇️
SelfHosted-macOS	35.94% <25.44%> (-0.05%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/control/components.py	92.59% <100.00%> (+0.28%)	⬆️
dimos/control/test_control.py	94.79% <100.00%> (+0.11%)	⬆️
dimos/hardware/manipulators/piper/test_adapter.py	100.00% <100.00%> (ø)
...os/hardware/manipulators/test_adapter_lifecycle.py	98.57% <100.00%> (+1.01%)	⬆️
dimos/robot/cli/dimos.py	68.40% <100.00%> (+0.12%)	⬆️
dimos/robot/cli/piper.py	100.00% <100.00%> (ø)
dimos/robot/cli/test_piper.py	100.00% <100.00%> (ø)
...imos/robot/manipulators/piper/blueprints/teleop.py	100.00% <100.00%> (ø)
dimos/robot/manipulators/piper/config.py	75.75% <100.00%> (+1.56%)	⬆️
.../manipulators/piper/test_teleop_gripper_mapping.py	100.00% <100.00%> (ø)
... and 11 more

... and 4 files with indirect coverage changes

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