I've done randori in both judo and aikido. Our sensei has a judo background so he has done both. He's gotten all of his rankings through Yoshimitsu Yamada Shihan and is associated with the USAF. From the time I've spent with them, he doesn't buy into the mystical mumbo-jumbo. For him, it's all about technique and physics. He likes to have fun in class and whenever someone is having a hard time with a certain technique or why have a question about it, he shows us the history behind it. Usually it involves katana and the tanto. He has no delusions about it. He does it because he enjoys it and its fun. He's located in Virginia Beach, VA even though the name is Aikido of Norfolk. Here's the website: http://aikidonorfolk.com/