How to detect whether there is a collision between two rigid bodies in Isaac gym?

Autonomous Machines Robotics - Isaac Isaac Gym
#1

I hope that when two objects collide, I can get the coordinates of the collision point. Does Isaac gym have a function to implement it?

#3

It seems like I was wrong about the contact points, you can find the contact position using isaacgym.gymapi.RigidContact properties, property local_pos0

Local space position of the body0 contact feature excluding thickness, normal forces applied here

property local_pos1

Local space position of the body1 contact feature excluding thickness, normal forces applied here