Gripping force or torque

Hello, I am a new baby to Issac Sim.

May I know what is the API to control gripping force/torque?
I checked the docs of Dynamic Control, and it does provide such APIS but it does not provide explanations of the argument.

If I may, I would like to have a simple snippet of how to control gripping force/torque (force will be the best).

Thank you so much!

Hi @berternats , please refer the document for APIs, this will have the information you are looking for: Isaac Sim: Extensions API — isaac_sim mr3140 documentation