A lot of people have trouble getting Trico to do what they want, and the game does a somewhat poor job of explaining its command system. You're supposed to kind of feel it out, but these two tips will solve the vast majority of your problems when interacting with your big floofy pal. Above all: be patient.
1) Don't spam! Give him one command and wait to see what he does. Spamming will only confuse him. It can take a few seconds for him to start doing what you told him to do. Be patient.
2) R1+direction is all you need for 90% of cases. If you want him to jump across a gap, you'll want to use R1+direction rather than R1+triangle, which is really only useful when you want him to jump in place (not really necessary, but fun) or put his front talons against a wall so you can climb up. I'm pretty sure you can beat the entire game without ever using commands other than directions and jump.
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