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.

3.2.5 Force Control & Compliance Tuning

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