The incident took place yesterday, when the four, arrested in a murder case, were being taken for court hearing from the Thane jail, they said.
Enroute the court, the undertrials told the members of police escort party they wanted to talk to their relatives and have lunch with them. However, the police personnel rejected their request.
Annoyed over this, the four roughed up the policemen and also tried to injure themselves, they said.
Police later filed a case against the four - Pummy Rashid Sayyed, Abdul samad Rashid Sayyed, Sameer Ahmed Badshah Shaikh and Ajgar Ahmed Bashah Sheikh.
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