How to get the center of mass in Isaac Gym (edited)

Is there any way to directly get CoM in Isaac Gym like the function get_body_coms in class RigidPrimView in Core [omni.isaac.core]??

+ edit)
I’ve found that the parameter posTensor of the function apply_rigid_body_force_at_pos_tensors from the Python Gym API has the following description:

    • posTensor (isaacgym.gymapi.Tensor) – Buffer containing positions, can be None (if None, forces will be applied at CoM)

So I want to look at the code inside but I don’t know how… (I couldn’t find where the class isaacgym.gymapi.Gym is)

Can someone please help me?