For example, when simulate in the Omniverse App like create or Isaac-sim, we can see the force inside a joint through the Joint Force Sensor, can I export those force data during the simulation so that I can compare with the date in real world?
yes, you can write python scripts that read these informations from the simulation, and then save it in any type or format you may want.
I would suggest you create it as an extension, so you can run from within Create / Isaac Sim.
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