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I need the signatures of the validators who have signed on the produced and finalized blocks. For example, In cosmos-SDK based blockchains blocks contains the signatures(and validators addresses) of the validators who have voted on that block. Is there some way to get this data from existing RPCs.

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As for Polkadot these signatures are included in the justification, have a look at this detailed explanation. You can query this information with the RPC call -> grandpa -> proveFinality(blockNumber).

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