LIFT-mini-SDK-V2

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Environment Setup

Same as the single-arm environment setup — refer to the A5 SDK.

Hardware Connection

CAN hub and PC power connections

Battery Installation & Charging

The device uses a dual-battery pack and supports hot swapping for quick battery replacement.

Battery removal / installation — do not swap batteries while the power is on

  

Left: battery installed (charge indicator)  |  Right: charging dock

Warning

• Before powering on, make sure the emergency stop switch is released (twisted open) in advance.
• In an emergency, press the emergency stop switch with your foot or a tool. Be aware that the lift column will drop when power is cut.

Emergency stop switch

CAN Configuration

Same as the single-arm setup. When configuring, connect the target device individually.

Device	CAN Port
Head	CAN0
Left arm	CAN1
Right arm	CAN3
Chassis	CAN5
Remote controller	CAN6

CAN5 → chassis  |  CAN6 → remote controller

Demo

Remote Controller

Start the CAN devices as described in the A5 SDK (chassis on can5, remote controller on can6), then run from the LIFT-mini/ directory:

python3 demo_joy.py

Remote controller axis mapping

SDK

Get Height

robot.get_height()

Set Height

Range: 0 – 0.38, unit: m

robot.set_height(set_lift_height)

Chassis Velocity Control

Unit: m/s

# Set chassis velocity x, y, z; mode = 1 for overall velocity control (m/s)
robot.set_chassis_cmd(0, 0, 0, 1)

Wheel Velocity Control & Feedback

Unit: rad/s

Wheel numbering

# Wheel velocity control: set mode to 3
robot.set_chassis_cmd(0, 0, 0, 3)
robot.set_wheel_vel(1, 0, 0, 0)

get_wheel_vel = robot.get_wheel_vel()