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My sister n law has a Papillon that does this. He is 6 now and still does it. He'll come to you, jump on your leg like he wants you to pick him up, but when you got to pick him up he jumps back. With him it seems more like a fear than a bad behavior. it's not that he won't come, he just panics when that hand is coming towards him? Is that what your poo is doing?