RollerCrouch — crouching while gliding

Mjlab-RollerCrouch-Flat-MicroDuck

Crouching while still gliding on the wheels. A on the pad in roller mode.

Where the difficulty is

Crouching changes the height of the centre of mass and the travel available in the legs, and on wheels there is no friction helping to hold position. Crouching while stationary and crouching while gliding are two different problems.

The policy has to lower the centre of mass while maintaining the glide, and stay balanced through both the descent and the rise.

The same button, a different policy

In walk mode A is the ground pick; in roller mode it becomes the crouch. One button triggering different policies in different modes is a concrete example of runtime hot-swapping.