Get an inch pound torque wrench. It'll have instructions with it. I have one somewhere around here.
There are 12in/lbs in 1ft/lb.
On a range of 16-20 in/lbs, I would set to 18in/lbs or 1.5ft/lbs.
That's a really low torque. I don't recall seeing anything but specialty torque wrenches for that small an amount.
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