One of the greatest attributes of champions like Roger Gracie and Rodolfo Vieira, in becoming the current best, is to put on the pressure the whole time, in all positions, to keep your opponent in constant discomfort. In the video below, the detail of shoulder and arm positioning, picked up on by Roger Gracie fans, makes a big difference in how much discomfort you case your opponent when passing from half-guard to side-control. Watch, and comment below!
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