All martial arts (by definition) have physical contact between practice partners at some point in their training (ie increasing levels determined by skill/rank). There are hundreds of different arts eg Judo, Karate, Kung-Fu Wu-Shu, Tae Kwan Do, Tai Chi Ch'uan, Aikido, Ba Gwa Cheng, Hwrang Do, Kenjutsu, Hsing-Yi, AikiJujitsu, etc., etc.
Each has a particular technical base, certain "tools" fundam…