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On the left side of the overhang, there is a obvious slanting rail. Start on the ground, and find the best foothold. Work your hands up the slanting rail until you reach the top of it. Make a big reach up to one of the holds at the top of the boulder. Match and mantle.
The sloth boulder is the large boulder next to Swan Slab, just south of the footpath.
A crashpad is not required.