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You were lucky to get the peices first and only lost a frame in the lesson. Many other people have lost entire suits, lol. Frames are easy to replace in Diamond City from Arturo, Rowdy at Atom Cats garage, or on the BOS airship.
it's the "go over there command" thing. When you hover over power armor the option to "enter power armor" command appears
thats what this game needs , nudie momma murphy
If you ask them to come along, your companion is a companion - otherwise, they are just an npc.
If you initiate dialogue with a companion while standing near to them, you get four options for things to say. Take a step back (while in dialogue mode) and you will find that you get options for where (or how) to direct them - "Go there", "Pick lock", "Inspect Raider", etc.
"Get out of your Power Armour" is a dialogue option; "Get into your Power Armour" is a direction.
One of the dialogue options is "Trade". This gives you access to their personal inventory. You can give or take items as you wish and there are options (like "T" on a keyboard) to have them equip specific items or clothing, etc. Trading with a companion who is not in Power Armour will not allow you to access their default outfit. While your companion is in PA, it will replace their default outfit, which then becomes accessible in their inventory.
So to get Piper into her underwear, you talk to her, direct her to get into her PA, then initiate "Trade" and take her Red Leather Outfit (or whatever). Finally, you tell her to get out of the PA and she will be undressed.
The next morning, you talk to her again (in her underwear), "Trade", put her outfit back in her inventory and tell her to equip it (press "T").
Doing this with Cait is an easy way to build up affinity with her.
The only way Piper could get naked or change outfits is if the player makes her do it. In the case of her wearing Kellog's outfit, that could only happen if you get her into her underwear while she has other clothing options in her inventory - if she didn't want to be exposed, she would put on whatever she had access to. So give her the outfit you want her to wear and equip that instead (then take Kellog's outfit back so it never happens again).
These are the basics for vanilla. If you added mods or use console commands indiscriminately, you are on your own. Even a small alteration to the physics can have a huge effect on the game...generally in unexpected ways. Monkey with the mechanics at your own risk.