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A reminder that in that last diagram, above, the dog's shoulders and hips are on the corners of the larger rectangle which was the dog's standing position.
So even though by the foot prints in this diagram it looks as though the dog is 'moving parallel' it is not, the leg is moving in a straight line, but at an angle, to allow the feet to fall closer to the centre line.
So even though by the foot prints in this diagram it looks as though the dog is 'moving parallel' it is not, the leg is moving in a straight line, but at an angle, to allow the feet to fall closer to the centre line.