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I think "Shake" should be proper for shake hands, as most people would use that command, at least around here. How about "Legs" for going between your legs and PONY for standing between your legs?

When we took our Irish Setter to puppy class, he always looked like the class clown. He was so much taller than the rest of the dogs because his legs were so long and was very animated with everything we did. He did the commands right, but as explosively as he could. A heel was a bouncy...