Our commentary focuses, first, on Glover's proposal that only motor planning is sensitive to cognitive aspects of the target object, whereas the on-line control is completely immune to them. We present behavioural data showing that movement phases traditionally (and by Glover) thought to be under on-line control, are also modulated by object cognitive aspects. Next, we present data showing that some aspects of cognition can be coded by means of movement planning. We propose a reformulation of Glover's theory to include both an influence of cognition on on-line movement control, and a mutual influence between motor planning and some aspects of cognition.