South African Judge Thokozile Masipa on Thursday said Oscar Pistorius "took a conscious decision" to arm himself and shoot when he killed Steenkamp on Valentine's Day last year.
"The accused clearly wanted to use the firearm," said Masipa, reading out her lengthy verdict, but said the intention to shoot does not necessarily include the intention to kill.
"The state clearly has not proved beyond reasonable doubt that the accused is guilty of premeditated murder," in dismissing the most serious of charges against Pistorius, the judge said.
She then went on to deal with the lesser charges of murder or culpable homicide.
The "Blade Runner" was an "evasive" witness in his trial, the judge said.
"The accused was a very poor witness," said Judge Thokozile Masipa.
"The accused was, amongst other things, an evasive witness."
Under cross-examination, "when contradictions were pointed out to him ... the witness always blamed his legal team", she said.
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