Practice creates new samskaras and habits. And these changes to habits and samskaras make your practice easier, more efficient, accurate and intimate, especially when you incorporate the breath.
You cannot expect to be a great cricketer if you can simply catch and throw it takes time and practice to know the whole game.
For music, I have heard a saying there is no such thing as a wrong note and they are talking about doing, practice your practice.
There is nothing wrong with judging yourself if improvement is what you are looking for. But give yourself something to work with. Your practice can be uncomfortable and enjoyable with some connection to the breath and little embrase of the friction, and connection to the uncomfortable though the breath change happens.
And warm up and awareness of the uncomfortable can be simply overcome with three large breaths with some retentions and a smile.
Allow yourself to have the beginners mind. Then do it naturally.
