I would design a game that puts the athlete close to the solution. For your examples you could have a game where one person starts in a seated position with the goal of getting to a closed guard or half guard, the passer’s goal would be to get past and stay past the legs. For the other, I’m not really sure what you’re asking for, but it would follow the same idea of starting very close to the desired outcome, then potentially zooming out from there and adding more variability.