Can characters add rigidbody and collisions?

I tried to add rigidbody and collisions to the character, but I found that it didn’t work. Is there a way to add collisions to the character? I hope to detect whether the person has collided. Thank you very much for any help!

Please check out Adding colliders to omni.anim.people animated characters.

Thank you very much for your reply. I tried to follow your method, but it still doesn’t work. I have attached screenshots and videos.
Can you help me find the problem?
I add rigidbody component to a character joint:


Add collider for the bounding cube:

Save and reopen the scene:


The character just passed through the ground and disappeared.

After more attempts, I finally found the right way:
1、Add rigidbody component to a character joint. Make sure RigidBodyEnabled and KinematicEnabled True!:


2、Add collider for the bounding cube (SDF Mesh doesn’t seem to be getting any better):

3、Save and reopen the scene:


If you have any better suggestions, please let me know. Thank you very much.