In Isaac sim What exactly is Max Force, Damping and Stiffness when it comes to a custom 7 DOF arm. How can i equate it my motor's torque?

Omniverse Isaac Sim
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I have successfully created the USD for my custom 7DOF arm. From CAD->URDF->USD.
I am also aware of the Gain Tuner and have set the damping and stiffness such that i get the best output for Velocity and Position for all the joints.
But I was wondering how can I justify the simulation if i cannot equate the joint’s properties in torque of the motor I’m using for the joints.?
Also Can anyone explain how i can use the get_measured_joint_forces() to get the forces/torque on a joint?

I’m using Isaac 4.2.0

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Please refer to Articulation Joint Sensors — Omniverse IsaacSim and get_measured_joint_forces().

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