One recipe on several bodies: learn the machine, write each task as costs and events, and plan live with MPPI. Every module from every robot is on this map, laid out by layer from body to interface. The top band is worldpilot, the shared core every body imports; then the modules two bodies share; below them, each robot's own. The letters on a module say which robots use it: filled = built there, faded = copied there, ring = planned. Hover a module to trace its chain, click it for the detail.
Ranked by how much of the main line each one unlocks, across robots.
Each one tells its module's subtleties. The code stays private.