For Iris she know that one of the buckle collars means that she's going to do agility, the other one means tracking (we're not on a harness yet) and the choke chain/pinch collar means we're going to do obedience.

It's amazing how dogs no which collar is which.

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Becky Weise & Iris - the German Shepherd
http://www.geocities.com/iris_gsd