I think I figured out the key to teaching him to only go forward one step. What I decided to try was to work on this when there was a wall or a barrel in front of us. Then I used the same cues to get him to go forward just one step, and that's all he did because he couldn't really go forward anymore because there was a barrel in his way. I don't know if this is the most effective way to do it, but it makes sense to me...
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