In using plant.get_reaction_forces_output_port() and plant.get_contact_results_output_port(), the output have structures SpatialForce and ContactResults. In the c++ implementation, the data structure can be directly specified as vector>. How do I do the same in PyDrake? Particularly when 1) accessing the raw values of &tau and &f, and 2) feeding into a data logger such as LogOutput()
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