Soap API loop over sub query result

Question

I'm trying to get the values from sub query result using java code and partner connection, but I'm not able to get the inner records.

I tried using XmlObject. I'm able to use below code in parse the XmlObject and retrieve the relevant data. Still want to know if there is more simple way.

QueryResult queryResult = connection.query("SELECT Id, Name, (SELECT Id, Name FROM Contacts) FROM Account LIMIT 10");

for(SObject acc : queryResult.getRecords()){

    Sytem.out.println("account name: " + acc.getField("Name"));

    XmlObject childsRecords = (XmlObject) acc.getChild("Contacts");

    //Need loop over Contact records
    Iterator<XmlObject> innerChild = childsRecords.getChildren();

    while(innerChild.hasNext()){
        XmlObject contactXml = innerChild.next();

        System.out.println("Contact Id: " + contactXml.getField("Id"));
    }
}