|photo from here|
Four players take regular doubles position on court. Fifth/sixth players stand behind baseline. These baseline players' only job is to play any lobs or feed lobs to start point. If you only have five, coach is sixth player behind baseline, starting each point with a lob. If six, one of the two lob/baseline players starts the point with a lob.
Scoring strategy of your choice. First to X, best two out of three works well for most court drills.