The output you get is mostly defined in the mdp file you use to compile the binary tpr file. You probably have set to zero these quantities: nstxout, nstvout, and nstfout.
Change those quantities in the mdp file (i.e. set them > 0) depending on if you want positions (nstxout), velocities (nstvout), and/or forces (nstfout). Be aware that the output is going to be very bulky, as this is a lossless format. Take also a look at this link under the output definitions here: https://manual.gromacs.org/documentation/current/user-guide/mdp-options.html#output-control