In my opinion I think it takes a blend of factors.
I come across a lot of beginners who think that if they just learn the "what", i.e. the technique, then that’s self-defence. I believe its more about the why, where, how, who, when. I'm not a massive fan of endless scenario training i.e. putting on little plays at every class with people always shouting abuse at each other etc - a little of that goes a long way. I think its more about a teacher who can offer real life experience of how you are going to feel, the emotions, how best to control situations etc. This is of course in addition to good, solid, physical training. Purely cerebral martial artists tend to be the first ones to hit the deck.
But to answer your question (sorry Ghost) I do believe that full contact training is certainly an advantage. Physically, you aren't pretending to fight - you are fighting. Boxing is a great example, your key goal is to knock the other guy out, that’s what you train for. It translates well to the street where hands tend to be king, and distance and intent are crucial before the fight hits the ground. Mentally, full contact sparring of whatever nature can accustom the student to fear, adrenaline, confrontation, aggression etc. I have personally found it to be an advantage, however it has to be taught in a progression.
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