Is it possible to simulate 6-DoF Grasp in Isaac Sim?

Isaac Sim’s tutorial shows how to design a PickAndPlace Controller, a part of the code is shown as below:

actions = self._controller.forward(
            picking_position=cube_position,
            placing_position=goal_position,
            current_joint_positions=current_joint_positions,
        )
        self._franka.apply_action(actions)

Does this mean that I can only change the picking and placing position? If I want to change the grasp orientation or I want to select grasp point on the object’s surface randomly, how should I modify the code? Is it possible to achieve these in Isaac Sim?
I’m a new learner of Isaac Sim and I’m quite confused now, I searched the Isaac Sim API Documentation, Omniverse API Documentation, topics in this forum and examples in omni.isaac.examples, but I still don’t get my answer. I really need your help! Thank you for anybody who can answer this! :-)