Yeah, you often send commands several beats in advance. And then there's some lag too, because muscles are fairly viscous and take a bit of time to start up. Yo

Yeah, you often send commands several beats in advance. And then there's some lag too, because muscles are fairly viscous and take a bit of time to start up. You're basically dancing in the future, because you are behind. I think we just run pre-baked programs (from a lot of practice) and adjust their timings on the fly every few beats or a bar.