In Judo, normally, when two persons practice, each of them grasps the collar and sleeve of the other, and tries to score with throws and pins. Through intensive practice, one can develop muscular strength and use it to control an opponent if victory is strongly desired. We can see this competitive process, for example in the style of competitive judo which is now an Olympic sport, and as judo is practiced in many places in the world.
People that only know this type of judo may not understand the concerns voiced in the following remarks by Jigoro Kano - the founder of modern Judo in 1918:
Now this is Mastery. And the lightness of Mifune Sensei is a perfect illustration of the first verses of Zen Master Seng Can's Shin Jin Mei:
The Great Way is not difficult
For those who have no preferences.
When love and hate are both absent
Everything becomes clear and undisguised.