Jiu Jitsu training typically involves live sparring, referred to as rolling

https://www.storeboard.com/blogs/apps-and-software/gracie-barra-vs-typical-brazilian-jiu-jitsu-schools-which-is-right-for-you/6367635

Jiu Jitsu training typically includes real-time sparring, referred to as rolling, where students apply techniques in real-time against immune partners