When running the robot in gazebo or under real conditions, I discovered through rqt that a topic named "/joint_states" was publishing the status of the robotic arm. I want to save the position information in a document through Python!. How should I do it?

Following shows the information displayed by this topic in rqt

Topic                      Type                                                          Bandwidth    Hz              Value
/joint_states           sensor_msgs/JointStates             33.91KB/s    60.08         
  effort                    float64[]                                                                                                (0,0,0......)
  header                  std_msgs/Header                                 
  name                     string[]                                                                                                 ['a','b','c'......]
  position                 float64[]                                                                                             (0,0,0......)
  velocity                 float64[]                                                                                              (0,0,0......)