def sendRegrasp(self, position, force, velocity, mode):

        channel = 'ROBOTIQ_%s_STATUS' % self.side.upper()
        statusMsg = lcmUtils.captureMessage(channel, lcmrobotiq.status_t)

        avgPosition = (statusMsg.positionA +
                       statusMsg.positionB +
                       statusMsg.positionC)/3.0
        print avgPosition

        newPosition = avgPosition/254.0  * 100.0
        print newPosition
        if newPosition > 5.0:
            self.sendCustom(newPosition-5.0, force, velocity, mode)
        else:
            self.sendCustom(newPosition, force, velocity, mode)

        time.sleep(0.3)
        self.sendCustom(position, force, velocity, mode)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/handdriver.py/RobotiqHandDriver.sendRegrasp/original