Follow the colored pipes was a mission in The Precursor Legacy that Jak and Daxter completed to receive a power cell. During this mission, Jak collects another power cell, after Daxter told him to follow the colored pipe that transported it from its chamber when he activated a Precursor artifact device.
Eventually, as you move deeper into lost Precursor city, you will enter the third large room with two rotating platforms you used in the previous smaller one. Use these to make your way to the ledge with the three tubes in the far-left corner. Hit the left button so the power cell is sucked up into the pipe and transported to the location some ways up to your left.
Use the sliding blocks that move in and out of the wall to work your way up before the timer runs out to reach the power cell. The trick is to figure out the timing as to when the block you are standing on will move back into the wall; you will want to jump right before this happens. If done correctly, you will land on the next block that presently moved out of the wall.