If it's a commandment, then surely we sin when we don't do it, we disobey God? If we come into the presence of God and we don't dance, and we don't play musical instruments, and we haven't made an offering for sin, for an atonement, then we're disobeying God. I include that last example, because that was also a requirement under the old covenant for a worshipper to come near. Clearly, the statement I've just made, highlighted in bold, is entirely wrong, from start to finish, isn't it? Perhaps we would argue that the Lord Jesus has died for sins, therefore there is no more offering for sin. Quite right. That leaves us with musical instruments and dancing, which are no less types than the sin-offering. I believe the Lord Jesus has filled out and become the reality of those types as well. Why do we practically occupy ourselves with types when we have the reality?
If Holy Spirit moves us to dance in His presence and we suppress it, then yes, we disobey Him, and the blessing we could have given the Father and also received in both joy and edification from Him is forfeited.
We aren't making sin offerings (or as you seem to enjoy speaking about wave and heave offerings---also Old Covenant, right?), but God is pleased when we make sacrifices of praise. Are we willing to do that? We need to check our hearts about this.
Hebrews 13:15
Therefore, let us offer through Jesus a continual sacrifice of praise to God, proclaiming our allegiance to his name.
Instruments today in worship are used because they are types of what is in heaven and used incessantly. So, tell me---was it OK for the Israelites to use instruments, but now the Church cannot? But then in Heaven it is going on continuously---eternally, and that is OK? I do believe that those who withhold and deny concerning expression of worship with instruments and dance and shouts and the arts will undergo a great awakening and culture shock when they see Heaven. Of course we continue with full musical accompaniment. Why should we let the devil and the world have that pleasure? We are the head, not the tail. There is NOTHING worldly or tainted in using musical instruments or dance before the Lord....that kind of thinking is simply religiosity and needs to be cast out and replaced with the free-flowing oil of the Spirit, and in being continuously filled by Him. Now, THAT'S reality!