Contact

Any technique is theory until it's been tried in real life.

Many basic moves, timing and possiblities can be tried in your training facilities. But the amount of visusl, psychological and physical inputs , and variation of these are too far from the quite and mental balance you have when training.

By using more role based training as a natural expansion from your fundamental techniques, you can get direct feedback on which areas you wish to work with, were one of the major understandings is how a technique works when going "full force", and not holding back.

By holding back you are inadverbably changing the possiblities and timing in a technique for both of you (your opponent and yourself), thus missing out on how you and your opponent really reacts to the techniques.

The feel and flow of attacks is greatly varible when you have to move "full force". A punch that isn't  held back, isn't as fast to retract, so maybe this attack isn't as good as it looks when doing it on the mat.

Let reality be your guideline!