You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

3.1.9 Force/Compliance

• task_compliance_ctrl
• set_stiffnessx
• set_desired_force
• release_compliance_ctrl
• release_force
• check_force_condition
• check_position_condition_abs
• check_position_condition_rel
• check_position_condition
• check_orientation_condition_abs
• check_orientation_condition_rel
• is_done_bolt_tightening
• get_joint_torque
• get_external_torque
• get_tool_force