How to make two objects exert forces on each other in Isaac Gym?

Is there a way to make two objects exert forces on each other in Isaac Gym, to simulate for instance a magnet?
Please let me know if there is a better way.

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I have the same problem with “swarm”. I have implemented electromagnets in the end-effector to realize magnetic picking by the robot. I hope that ISSAC GYM will implement a function to solve this problem.

or, I would like to know how to fix and unfix an object to the end-effector without simulating magnetic force.