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Given that printers have been commanded by escape codes throughout their history, of course CUPS supports this. To switch your printer to condensed font when sending a raw print job, you have to insert the escape codes into the print stream in the right place. How you do this is up to you; what is best would depend on the source of the document being printed. You might just try doing a cat right to the printer device immediately before sending your raw stream, but if the raw stream sets fonts, this won't work.
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