Poles should start on the ground until the entire set can be completed smoothly without huge rhythm changes. The goal is to lengthen and shorten the stride without sacrificing rhythm.
Poles and eventually jumps should be cantered and the loop between 2 & 3, and 4 & 1 should not be more than 10-14 strides. The goal is to stay collected with the ability to adjust the length of stride within a confined area.
Practice both ways and aim to be able to complete 4 circuits (one circuit include all 4 poles) before changing direction.