def sendFingerControl(self, positionA, positionB, positionC, force, velocity, scissor, mode):
        assert 0.0 <= positionA <= 254.0
        assert 0.0 <= positionB <= 254.0
        assert 0.0 <= positionC <= 254.0
        assert 0.0 <= force <= 100.0
        assert 0.0 <= velocity <= 100.0
        assert 0 <= int(mode) <= 4

        if not scissor is None:
            assert 0.0 <= scissor <= 254.0

        msg = lcmrobotiq.command_t()
        msg.utime = getUtime()
        msg.activate = 1
        msg.emergency_release = 0
        msg.do_move = 1
        msg.ifc = 1
        msg.positionA = int(positionA)
        msg.positionB = int(positionB)
        msg.positionC = int(positionC)
        msg.force = int(254 * (force/100.0))
        msg.velocity = int(254 * (velocity/100.0))
        msg.mode = int(mode)

        if not scissor is None:
            msg.isc = 1
            msg.positionS = int(scissor)

        channel = 'ROBOTIQ_%s_COMMAND' % self.side.upper()
        lcmUtils.publish(channel, msg)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/handdriver.py/RobotiqHandDriver.sendFingerControl/original