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.