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It's a mix of intuitive felt sense and known history of how they would react in different circumstances. Sortof like learning to ride a bike - there's explicit knowledge there but most of it is tacit knowledge acquired in the course of action and observations
Generally doesn't allow me to predict what they do so much as what they won't do. Tends to be particularly focused on what's likely to be safe (for either of us) and what's likely to produce a pleasing interaction
I guess it's more than "what they won't do" but it's a sort of broad envelope of behaviour rather than chessmaster style trying to predict in detail
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hrmm