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I use hand signals and verbal with Dave. I use 'wait' in the same way as you and the hand signal for that is a kind of quick 'stop' sign with my palm facing him and he mustn't move until I give him another command. 'Stay' does mean don't move until I come back to you.
well we have been practising hard today and i figured out that i was confusing him by repeating the command and talking to him.