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Exercises Jelly’s telescoping lift with the robot mounted. Before the lift moves, the command enables the seven arm joints on each selected side and smoothly moves their S1 joints to the mirrored 90° clearance pose. It then runs the requested number of complete down, then up cycles. After a successful run verifies the lift is fully up and stopped, it smoothly returns S1 to 0° rest while holding every other arm joint at its current measured position, verifies both the arm pose and lift state, then disables those arm joints and confirms none still reports holding. This is not a full-arm rest-pose replay, and it never enables, calibrates, commands, or disables either gripper. The arms are driven through the Rust realtime core (the teleop control path), which holds the clearance pose with live damping for the whole time the lift is cycling.
In a terminal, omit --cycles and the command prompts for a positive number of cycles. Pass --cycles directly for unattended use; the diagnostics dashboard exposes it as a required field. --speed sets the lift controller’s maximum speed in encoder counts/s; use 0 for full configured speed or a value from 250 to 65535. Lower caps are rejected to preserve margin across calibrated lift ranges before the firmware’s 60-second safety timeout. --lift-channel selects the lift controller’s SocketCAN interface. By default it follows the wiring can.setup pinned: the chest bus can_alm_axol_c when that interface exists, otherwise the wheel bus can_alm_axol_b the lift shares with the Damiao motors. Pass another interface only for a custom mapping. The wheel motors do not need to be powered. With the defaults, this command opens only the selected arm buses and the lift’s interface (can_alm_axol_c, or can_alm_axol_b on a shared bus); it never commands the wheels. --left-channel and --right-channel select the arm buses. Use --no-left or --no-right when only one arm is installed or connected; at least one arm is required so the mounted robot can be moved to the clearance pose. Grippers are excluded unconditionally, on both gripper-equipped and gripperless robots.
The lift must already be homed. Run axol lift.home first; both commands resolve the lift interface the same way (can_alm_axol_c when present, otherwise can_alm_axol_b).
Flash the current Jelly Legs v0.8 firmware before cycling. The command checks v0.8’s position-save state as soon as the first move begins and stops if an older image is running. It continuously verifies S1 clearance and the other held arm joints while the lift moves. During the final S1 return, it also requires fresh status showing the lift remains homed, idle, and fully up. Any failed check stops the sequence.
Clear people and objects from the arms, lift columns, and Jelly before starting. The diagnostic drives both the selected arm motors and the lift through their physical range. Ctrl-C (or Stop in the diagnostics dashboard) attempts an immediate lift STOP. On any failure, the arms remain enabled at their last commanded pose; inspect the lift and arm state before moving them again.
The command is also available from the control panel’s diagnostics dashboard under Diagnostics → Lift cycle.