A lot of people seem to not understand how to do uchikomi as either uke or tori. When you are Tori, each repetition should include breaking ukes balance and entry into the technique all the way up to the point where all it takes to throw is a twitch. As uke you need to keep your body firm (no noodles) but not stiff and let it move with tori’s kuzushi. Do not resist tori’s technique but let your body conform to it. Here is a clip with an excellent example of uchikomi.uchikomi