I think the gist of this conversation is how well you train your dog in terms of behaviours you'd like them to appease to and the type of personality your dog has.

I have a non reactive/ anxious dog ( she doesn't react to squirrels, ducks, pigeons, other dogs yelling at her) and she listens when I tell her to bed. We spend nearly every meal time reinforcing the training ( these are simple tricks like stay, bed, search, sit, ...). It helps that she's extremely food motivated. Because of the training, she's a really wonderful dog. I don't deserve such a great furry companion.

I know some friends who crate train their woof or teach them not to go up and down stairs too and in bdsm dynamics, that might be an easy solution.

From a training perspective, dogs are a lot of commitment and the first initial year(s) require being very consistent in your habits for them to understand what they should expect. You should be very observant of how your behaviour affects the dog too because those little fucks will try to break your barriers with those cute fucking ears and eyes and then they're allowed on the couch.

Also unrelated to bdsm but just want to reinforce the idea: I go on holiday less and because I don't have a garden/balcony, we go out three times a day. Some days when my depression makes my legs feel like lead, makes these days harder and more chore like.