We have an 8 foot plank set at about 7-8 inches high currently that we are training contacts on. I have a jump set after it and Zap is running straight through the contact every time! We are doing contact sessions about once a week tops and he seems to be grasping the concept very well.
We are also working on our "waits", recalls, and heeling. His stays are getting better and we are working on sends to the table and lead outs from the table with lots of distractions. I am using the table as a variation of a crate in crate games. His recall is very solid and he is a very good retriever, haha. He is learning the heel position and he would have solid heeling right now if I wasn't so lazy/poorly motivated to train it. We also work on left and right spins and jumps wraps, though not often.