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For many dogs may not be interested in or have no idea of how to interact with people at start, there is a method of training them to pick balls.

Step 1: Prepare some dog food and a tennis ball.

Step 2: hold dog food at one hand and tennis ball at the other.

Touch the dog's mouth by ball and give the dog a treat.

Repeat doing so.

Then the dog realizes that food will be attainable if it touches the ball.

Step 3: When the dog wants to touch the ball, you shake the ball on purpose.

Then the dog will move with or bite the ball with effort.

As soon as the dog bites the ball, give it a treat.

Repeat doing so for several times (shake from side to side or top down/bottom up).

Step 4: Put the ball on the ground and say 'Pick up'.

If the dog bites and picks up the ball, give it a treat.

Step 5: Put the ball increasingly farther step by step and say 'Pick up'.

Then the dog will take the initiative to pick up the ball back.

Repeat and develop a habit for the dog.