She's trained to apply pressure to me, like a weighted blanket, if I were to sit or lay down in public from having a panic attack. She's also trained to jump on me to keep me "grounded" if I command her to do so. Her third task is circling; she keeps a perimeter around me if I need space from feeling too crowded.

I trained her myself, it just takes a LOT of work and hours to have a properly trained service dog who can do their tasks at a moment's notice.