The more variations you can throw in the better - make them think. I bought some bright orange cones from Home Depot and use them to 'bend' around. I also make a 'square' with ground poles and ask for a halt inside and then turn around at different degrees each time and walk back out in another direction or walk just the two front legs over ground pole and either back up over it or sidepass along it
Anything I can think of really to make them use their brains even if it seems a bit stupid
My first attempt at walking her over a pole resulted in a vertical take off which my husband said was pretty impressive!!!