I am training my female Doberman "Camelia" (now about six years old). Commands used are in parentheses. At first I rewarded her with treats, now she runs the gamut without offering her anything to eat. Her preferred games are still fetch (a thrown toy, especially into the water at the beach) or keep away in the back yard (won't let me catch her with the toy in her mouth).
She can make a u-turn on command (either clockwise "Right" or counterclockwise "Left").
Then she can transverse back and forth thru a line of a dozen 5 gallon buckets spaced a foot apart ("Weave"). I still need to swap out the buckets for the poles, but she gets the idea.
Then she can hop over a handheld hula-hoop or over a raised sewer pipe ("Jump").
Then she can climb and descend a couple of ramps, one is made of stacked bricks and the other a wooden ramp half ellipse-shaped ("Bridge").
Still need to construct a few more obstacles (steep ramp climb/descend, teeter-totter, tunnel, etc.) First photo is from 2016, the rest are more recent.
I also experimented with her as a search/rescue or drug sniffing dog. I hid either a pack of cigarettes or an old sock and gave her the command "Find It". I haven't pursued that avenue as much, but she enjoys the game.