OK, I will give a couple of examples of a contact drills that I have come
Take a Jo stand it up vertically one end on the floor and then let in lean against your forearm, move around the Jo keeping contact against your forearm, swap arms keeping the contact so the Jo is always leaning into yourself learn to change directions but keeping the contact.
Second one. You will need a golf ball, (not the new ones with different cores, they are to light to begin with, use an older heavier type). Place the golf ball on your arm and feel your skin underneath the golf ball. Now try to move the ball without it falling of your arm, you will start to feel a sticking energy to keep the ball attached.
Anybody else got some drills.