I think I am right that Dan Inosanto's original training in MA was as a Judoka before he met up with BL, so i guess Gi work and grappling is familiar territory to him. To be that nimble, and that full of willingness to learn and improve after nearly 3/4 of a century on earth is phenomenal. I wont open up the 'what if' hornets nest, but I will say that if BL was still with us, he would be doing very well to be keeping up with his top pupil in 2007.
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