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The dressage tests performed at the Olympic Games are those of the highest level: Grand Prix. They are judged under the rules of the FEI. This level of test demands the most skill and concentration from both horse and rider. Gaits and movements performed at this level include: collected and extended walk, trot, and canter; trot and canter half-pass (a movement where the horse travels on a diagonal line keeping its body almost parallel with the arena wall while making both forward and sideways steps in each stride); passage (a slow-motion, suspended trot); piaffe (an approach to "trot in place"); one, two, & three tempi changes (where the horse changes from one lead to the other in the canter); and canter pirouettes (a 360-degree circle that is almost in place).