Terming the incident as painful and a "serious violation" of human rights, the commission asserted that "self-proclaimed" volunteers, creating an "atmosphere of fear" in the society, are required to be dealt with strictly as per law.
"The State has a responsibility to remain vigilant to prevent such activities," it said, adding that the incident was not the first-of-its-kind and recounted last year's case in Gujarat's Gir Somnath district where four Dalit boys, possessing beef, were severely thrashed.
In the notice issued to the Rajasthan Chief Secretary, the commission has called for a detailed report in the matter along with action taken against the culprits, describing them as "so-called gau rakshaks".
A notice has also been issued to the Union Home Secretary, calling for a response as to what steps have been taken or proposed to be taken by the Centre to deal with such incidents in the country.
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The Commission observed that the victims were dairy farmers, carrying cows, legally purchased under a receipt and stamp of Jaipur Municipal Corporation.
"However, reportedly, the Rajasthan police have registered an FIR against the victims of assault for illegally transporting cattle for slaughter.
"Reportedly, the family members of the deceased, a dairy farmer, stated that the victims showed the attackers the receipt of legally purchased cows but they continued to thrash them. They snatched their wallets and cash of about Rs 1 lakh as well as cell phones," it said.