This sun salute variation avoids kneeling, cobra and downward facing dog, but includes a lunge back with the leg.

I lead you through the sun salute once on each leg. Instead of stepping/lunging or jumping both legs back and moving down to the floor for cobra or upward facing dog, we take only one leg back and lift up into warrior one instead (as the back extension). The pyramid pose replaces downward facing dog.

This alternative is great if you want to avoid kneeling, or lying on the floor, or putting weight down through the arms.