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Good Class worked on Irimi Nage and making a good base in all techniques. This is harder than it seems. Sensei worked with all of us on our base. As he put it, you can do all of the upper part of the technique, but if you don't have a good base you are not in control. You and your partner can both get hurt, and in a marshal situation you are not in control of the situation if you don't have a good base.
I realized that my base suffers from going to fast in my technique, I need to slow down a lot!