Vertex Global Positions At Any Frame

I have a mesh that is animated and I want to get the global positions of all vertices in the mesh at a given frame. I then want to store this information into the .gltf file so it can be transportable.

So far, I have mainly been working with the glTF package for MATLAB (I can’t insert the link for some reason but it’s on Google) and I’m able to access the global position of a mesh’s origin and all the transform accessors to manually calculate how the origin changes with time. This process is quite tedious and also isn’t exactly what I’m looking for since it deals with the mesh origin.

I’ve also looked into Blender Python API and that is much simpler to work as it has time “built-in”, so I can set the frame and simply call the global positions of the vertices. My question then is how can I store this information into the .gltf file. In other words, is there a field I can populate with the vertex positions at some frame x?