Is it possible to record camera data with camera Poses, timestamps and quaternion data?

Hello,
I want to record data from a camera mounted on a Robotic arm. When I started recording, it took screenshots of the view-port (I think) from the camera perspective. But there is no other data. Can you please let me know if there is way of doing it in Isaac Sim?

I could really use some help here.

After this, I have to add IMU sensor to the robotic arm. I need the ground truth from the camera poses.

Looking forward to hearing from you

Could you clarify what you’re recording from? You’re using Isaac SIM Omniverse and want to record data to some file format for playback in some other system, or are you using Isaac SDK and want to record messages being sent over the edges?