Grapple outside the box

We're always advised from every angle to, "Think outside the box." Try to find different ways of looking at a thing. I've read that is one of the main attribures of genius, is being able to see things from different points of view. I'm no genius, but This is one of my main strategies on how to teach martial arts.
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For instance, grappling, whether you call it judo, jiu-jitsu, ssireum, Greco-Roman, freestyle, or whatever, is still the same thing. It is grappling; contestants mostly in close physical contact with each other, pushing, pulling, bending, twisting, lifting, walking, and rolling. What changes between different styles are the rulesets, or the constraints under which these six-or-so physical feats are done.
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I think it is very beneficial to students for the instructor to change rulesets and conditions often in practice. Instead of spending your entire judo career working under the USJF ruleset, play jui-jitsu, push-hands, sombo, Cornish and other rulesets - not just occasionally - often. Play with jackets and without, play with belts and without. Standing, kneeling, supine, prone. Blindfolded, with an arm tied behind you, etc...
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This helps develop mental flexibility (the prime attribute of judo) and the ability to rapidly figure out how to push, pull, bend, twist, lift, walk, and roll under whatever set of constraints are at hand, while working toward varying goals.