Storing/Logging Model Joint Position/Velocity

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Hello All,

I am working with the simple_arm model and need a way to store the joint velocity and position variables into a log file of some kind. I suppose in theory I could do this via a model plugin in OnUpdate() but it feels as though there must be a cleaner way. The built-in gazebo logger seems very robust but only appears to log world information and model link poses with no joint states (angular velocity and position). Is there a way to log these joint states into a file?

I've also taken a look at using gz topic to print out this information but there don't appear to be any topics that publish the states of the model joints.

Any help in the right direction is greatly appreciated!