Dear Vidushi,
From Siesta 4 on, it is indeed possible to use i-PI with it out of the box (sorry for the late reply here!).
"See Util/Sockets for examples of the f90 socket interface,
Util/SiestaSubroutine for examples of the server operation (includingvia sockets) and Tests/i-pi-test for a simple test of interoperabilitywith i-PI."
If you need examples, we are using it at the moment and it works except for a "hanging" of Siesta upon termination of i-PI that is happening in some cases (Siesta fails to die). This does not have any effect on the simulation results though. We are working on that. If you need more examples please let me know.
All the best,
Mariana