diff --git a/src/rl_sar/library/rl/rl.cpp b/src/rl_sar/library/rl/rl.cpp
index f93e9d3..7aef355 100644
--- a/src/rl_sar/library/rl/rl.cpp
+++ b/src/rl_sar/library/rl/rl.cpp
@@ -48,6 +48,48 @@ void RL::ReadYaml(std::string robot_name)
                                                   config["default_dof_pos"][9].as<float>(), config["default_dof_pos"][10].as<float>(), config["default_dof_pos"][11].as<float>()}});
 }
 
+void RL::CSVInit(std::string robot_name)
+{
+    csv_filename = std::string(CMAKE_CURRENT_SOURCE_DIR) + "/models/" + robot_name + "/motor";
+
+    // // Uncomment these lines if need timestamp for file name 
+    // auto now = std::chrono::system_clock::now();
+    // std::time_t now_c = std::chrono::system_clock::to_time_t(now);
+    // std::stringstream ss;
+    // ss << std::put_time(std::localtime(&now_c), "%Y%m%d%H%M%S");
+    // std::string timestamp = ss.str();
+    // csv_filename += "_" + timestamp;
+
+    csv_filename += ".csv";
+    std::ofstream file(csv_filename.c_str()); // 创建新文件
+
+    for(int i = 0; i < 12; ++i) {file << "torque_" << i << ",";}
+    for(int i = 0; i < 12; ++i) {file << "tau_est_" << i << ",";}
+    for(int i = 0; i < 12; ++i) {file << "joint_pos_" << i << ",";}
+    for(int i = 0; i < 12; ++i) {file << "joint_pos_target_" << i << ",";}
+    for(int i = 0; i < 12; ++i) {file << "joint_vel_" << i << ",";}
+
+    file << std::endl;
+
+    file.close(); // 关闭文件
+}
+
+void RL::CSVLogger(torch::Tensor torque, torch::Tensor tau_est, torch::Tensor joint_pos, torch::Tensor joint_pos_target, torch::Tensor joint_vel)
+{
+    std::ofstream file(csv_filename.c_str(), std::ios_base::app);   // 打开文件以追加模式写入数据
+
+    // 写入数据
+    for(int i = 0; i < 12; ++i) {file << torque[0][i].item<double>() << ",";}
+    for(int i = 0; i < 12; ++i) {file << tau_est[0][i].item<double>() << ",";}
+    for(int i = 0; i < 12; ++i) {file << joint_pos[0][i].item<double>() << ",";}
+    for(int i = 0; i < 12; ++i) {file << joint_pos_target[0][i].item<double>() << ",";}
+    for(int i = 0; i < 12; ++i) {file << joint_vel[0][i].item<double>() << ",";}
+
+    file << std::endl;
+
+    file.close(); // 关闭文件
+}
+
 torch::Tensor RL::QuatRotateInverse(torch::Tensor q, torch::Tensor v)
 {
     c10::IntArrayRef shape = q.sizes();
diff --git a/src/rl_sar/library/rl/rl.hpp b/src/rl_sar/library/rl/rl.hpp
index f5b3b4b..923bbeb 100644
--- a/src/rl_sar/library/rl/rl.hpp
+++ b/src/rl_sar/library/rl/rl.hpp
@@ -60,6 +60,9 @@ public:
     void InitObservations();
     void InitOutputs();
     void ReadYaml(std::string robot_name);
+    std::string csv_filename;
+    void CSVInit(std::string robot_name);
+    void CSVLogger(torch::Tensor torque, torch::Tensor tau_est, torch::Tensor joint_pos, torch::Tensor joint_pos_target, torch::Tensor joint_vel);
 
 protected:
     // rl module