Maki Roll: A simple drill to improve transition efficiency. Start slow with underhand to overhand matador transitions and build up speed. Make sure you're opening and closing those hips, fully turning north and south as you transition.
Building up speed (but always maintaining good technique) will make your body figure out more and more efficient ways of transitioning from one move.
At some point, you should feel like you're constantly in transition. Or that your underhand matador is a beginning of the overhand matador, and vice versa.
To get started, I recommend mastering UH/OH matadors first. Then add basic maki rolls, and then drill speed buildup.
For a more detailed breakdown, and how to add footwork, see this tutorial:
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