Chuck likes suwari-waza (seated techniques). Because of my inability to do them well, I hate suwari-waza, but I need the practice that and always try to make Chuck's classes.
Yesterday, I'd say we did them for a good 45 minutes, which is far, far beyond my comfort level when walking around on my knees! In fact, he alluded to this when demonstrating. "Last one, I promise." he told us. That one was, in fact, hanmi-handachi, which is halfway between sitting and standing, as uke attacks standing and nage defends seated.
This video is a good example of hanmi-handachi: