Real-time display of force waveforms in simulation

Omniverse Isaac Sim
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I am using version 2023.1.1 to do a simulation scenario on assembly, using standalone python api for robotic arm control.I am able to read the six dimensional force information for each joint, but the project I am working on needs to be able to observe the force changes in real time, which is helpful for my research, so is there any way to display the force changes in real time along with the simulation?Similar to what an oscilloscope does, I understand that it is possible to do this in another simulation software, Coppeliasim. But rendering is done much better in Isaac sim, so I’d like to be able to implement a similar operation, which would be better!

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Please check if Articulation Joint Sensors — Omniverse IsaacSim is useful.