How to export motion of Humanoid Env to animation file

I would like to export motion of the humanoid actor from the simulation to an animation file format like FBX to have a nice visualization using other 3d animation software like Blender or Unreal.

I didn’t find any tutorial explaining how to do it and I know it is possible since as shown by this work:

Another option would be to change the mesh of the humanoid and use the meshed model to have the visualization inside the simulation, but it is not clear to me how to do it.

It would be great if someone could point me to where to start from.