ctor while pushing on a surface. This mode is useful for drawing, wiping, and other similar behaviors where high accuracy position moves are required while pushing down with some force. This service is similar to the <code class="docutils literal notranslate"><span class="pre">ArmCartesianCommand</span></code> message available in the <code class="docutils literal notranslate"><span class="pre">RobotCommand</span></code> service, but is specialized for this type of task and has higher position accuracy.</p>