API or built-in functions to extracting data during training

[PenglinCai]

In IsaacLab, how can I export the robot’s joint data (e.g., positions, velocities, torques) at every simulation step during training, as well as the prim data from the scene? I would like to know whether there is a recommended way to: Log or save these values continuously during training (e.g., alongside rewards in TensorBoard or to a separate file), or Export all the data after the training run finishes for further analysis. What would be the best practice to achieve this? Thank you