Purpose – Working on the muscles that pull the legs upwards. Also works on proprioception.  
 
Criteria – Dog steps one foot at a time over the poles and not tripping on them. 
 
Placement of reward – Food is in front of the dog with their head in a neutral walking position. 
 
Training tips – To train this, you can just walk in front of the dog backwards slowly over the poles with food in front of their face in your hand. If the dog is trying to get the food too much you can hold food in a fist in way that the dog's can't get to the food then flip it over when you want to reward them. 

Increasing difficulty – more reps and slightly increasing height.