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All those lovely, completely harmless techniques in the dojo have very different results when the recipient doesn't know how to receive them
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Good point which I agree with. Injuries can happen regards of how carefully you apply your techniques.
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No, the goal isn't to cause harm, but if injury happens, so be it
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I'll rephase that slightly
"The goal is not to cause harm, but if injury happens it will not be intentional (except in situations where there is absolutely no other option)".
However we should strive & train to be good enough that there will always be another option.