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Judo randori translates as "Free practice". In the randori session you can test your techniques in practice.
You may develop a sense for the timing while your partner helps you out by creating a suitable opportunity for the attack. This is called "yaku soku geiko" or "agreed-upon practice" which is designed to polish the skills of a contestant. During the yaku soku you will both execute and receive throws as agreed in advance.
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