We have done the Good Citizens awards so have practiced these at home - down, leave, stay (which is different to wait), settle by feet, relaxed isolation, send to bed, stop at a distance, whistle recall.
Fun things too - roll over, twist, hide their toys then send them to find them, hide and seek with me, getting them to tidy away their toys in a box. I have to say though, having two makes some of these more difficult!