I the tourney i participated in i fought some one that did Judo. He was very good at sweeping me and unbalancing. Although, when i kept changing stances and sides it was harder for him to unbalance me. Regardless, he beat me. I asked my teacher what could I have dont better to counter his sweeps. He says I should pratice the Heian katas. I reply which ones and he says all of them. Do yall know what key things I should be looking for. All i got is wieght shifting ,but I know there is more than that. My teacher wants me to show him what I have come up with.