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While pole vaulting may be one definition, I recently attended Equine Affaire in Springfield, MA where a rider performed a "garrocha" on horseback---- a performance of movements involving horse/rider/and a very long pole-- perhaps a type of dressage. There is also a YouTube clip showing this type of horsemanship event. I would offer that the origin of the word comes from Spanish cowboys herding cattle, rather than gymnastics.