i have succeeded in training my cat to come to heel

still a bit more reinforcement left but using specific words and special treats and lots of luvs and not being mean or holding him down from doing what he wants

lured him into the bathroom first with "come here", then with help of treats made him jump up to a surface with "up"

cats are easy to train actually, they just don't respond to negative reinforcment, they turn into schizo monsters... it's eth rules, i didn't make them