Logging loss, reward and other data per epoch in isaac gym

Is there a proper way to log data such as loss and reward per epoch in omniisaacgymenvs? Thanks in advance.

You can visualize data in the browser with:

tensorboard --logdir=/home/{YOUR_USER}/OmniIsaacGymEnvs/omniisaacgymenvs/runs/{YOUR_TASK_NAME}
/summaries