How Is Equestrian Vaulting Judged?

How Is Equestrian Vaulting Judged? Judging is based on technique, performance, form, difficulty, balance, security, and consideration of the horse; the horse is also scored, taking up 25% of the total score. Vaulting horses are not saddled but wear a surcingle (or a roller) and a thick back pad. How do you do equestrian vaulting?