Releasing from awkward situations

Last night I was feeling especially tired, so Rob and I started our judo practice off with some light randori-like uchikomi, moved to the ground for some moderately-vigorous newaza randori, and finished up with some standing nagekomi of seoinage and taiotoshi into a crash pad. In aikido class, we warmed up, did some ukemi, worked through all of tegatana emphasizing good stance and posture, worked through hanasu emphasizing same-hand-stuck-foot, and got into some miscellaneous applications of the release movements, including the kata-ude dori release (#7 in yonkata), rear bearhug as in sankata, and frontal hair-pull countered by release #1.