Yeah, I would agree with many people on here. I know as someone never learned any 10th planet stuff from an actual school, the half guard techniques are easily to understand, VERY effective, and do not take alot of flexibility. I have a good friend that is a brown belt under Royce and when he comes in town he rarely compliments my rubber guard or twister work, but he is always telling me how hard it is for even him to pass my half guard and how good my sweeps are getting from there.