Surely the idea is for the body to adapt to the process of correct action of thought so long as the process is correct its the incorrect thought that causes trouble as regards correct, level ,, distance, and angles. Sparring is a great way to learn it doesnt need to be Heavy. Doing drills with a partner is a very good way and can be a good learning drill, a pair of senseable lads eventually working at speed is terrific to watch, we do a lot of it reccommended. There is a form of stretch with Plyometric adaptions which I have found to be excellent for bonding Neurons at the same time interesting stuff.