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be only knows it when he wants to
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Well, from some of what I have read, that might not be true...I have read that when a dog is barking they litterally shut down certain senses to large degree and become practically def. That's why training to bark, and then hush, in tandem like that, teaches the dog that barking is short term, temporary, and to keep his EARS open for when he's going to get a treat. It kinda helps prevent that barking-blinders effect.
Of course you could test this and see if that's what's going on...I don't know a single Yorkie that doesn't know the word "Walk" or some variation thereof.
When they are deep into a barking fit, mildly say "Wanna go for a walk?" when they are not looking at you. If the dog fails to respond to that then you can see that they aren't hearing you. If the dog does respond, then go for a small walk, but only if they sit quietly while you put on the leash. Either way you learn something.