This one is borrowed from horse trainers. Making right-angle inside turns forces your dog to watch your legs and make sure he’s in position to avoid getting stepped on. It’s kind of like a dance step. Practice often and your pup is bound to become a good partner.

Heeling with an inside turn
Мне очень жаль, ничем не могу помочь, но уверен, что Вам помогут найти правильное решение. Не отчаивайтесь….
It’s kind of like a dance step. Practice often and your pup is bound to become a good partner…..