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Hysson also regards "come" as an optional command, but fortunately he responds to "heel" just fine. He comes and sits or walks by my side, ready to be grabbed should he decide to lunge happily at an approaching hiker in an excess of friendliness that makes a lot of people nervous!

Sounds like my Rosie. She views "come" as a suggestion and can spend hours enjoying the subtle aroma of a decomposing kangaroo mouse. She is good with "heel" and excellent with "leave it". If we don't vacuum at least once a week there are windrows of golden fur gathered in corners and under tables. She sheds constantly; our Malamutes, on the other hand, shed badly but seasonally.
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May I walk in beauty.