def sendCustom(self, position, force, velocity, mode):
        assert 0.0 <= position <= 100.0
        assert 0.0 <= force <= 100.0
        assert 0.0 <= velocity <= 100.0
        assert 0 <= int(mode) <= 4

        msg = lcmrobotiq.command_t()
        msg.utime = getUtime()
        msg.activate = 1
        msg.emergency_release = 0
        msg.do_move = 1
        msg.position = int(254 * (position/100.0))
        msg.force = int(254 * (force/100.0))
        msg.velocity = int(254 * (velocity/100.0))
        msg.mode = int(mode)
        channel = 'ROBOTIQ_%s_COMMAND' % self.side.upper()
        lcmUtils.publish(channel, msg)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/handdriver.py/RobotiqHandDriver.sendCustom/original