How can I Group the force depending on place of contact?

[TNZK-0103]

Dear Sofa community

I am currently trying to measure contact forces using the PneuNet gripper example from the SOFA soft-robotics tutorials. My SOFA version is v25.06 using python3.

Specifically, I am following the approach described here:
https://github.com/sofa-framework/SofaPython3/blob/master/examples/access_contact_forces.py

As suggested in the example, I enabled computeForces = True in the BlockGaussSeidelConstraintSolver in order to access contact forces.
While I can retrieve constraintForces, I obtain a large list of force values, and it is unclear which finger each force corresponds to, and what type of force it represents.

My questions are:

1. How can I determine which contact force corresponds to which finger or collision model?

2. Is it possible to separate or group the forces by contact type, for example normal force vs. friction force?

3. Are there recommended ways (e.g., using collision groups, listeners) to measure constraintForces?

Any guidance or examples would be greatly appreciated.

Thank you very much for your help. Thank you for your time.