Does boston Dynamics have a 'centaur-hip' style robot - that can go from Quad to biped? I am surprised they didnt make the dog be able to walk upright as well,

Does boston Dynamics have a 'centaur-hip' style robot - that can go from Quad to biped? I am surprised they didnt make the dog be able to walk upright as well, or even just to stand to open a door, as opposed to the Little-Shop-oF-Horrors-Hand/Arm thing. seems like the Big Dog, which was made as a cargo pet, would be good for certain loads? and it seems that reverse pendulum engineering is a solved thing? But how well/smoothly a transition a thing could make seems that if it sits on its hind legs then lifts like a dog-begging position, it should be able the calculation from transitioning the load? Or were you taking the piss WRT a "hip"?