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getting collisions in gazebo plugin

Hi all,

I'm writing a world plug-in and I would like some event to happen when two specific models collide.

My problem is that I don't see the appropriate methods to do this in the gazebosim.org documentation. I can get the world pose and write my own collision detection, but shouldn't this already be happening? How do I get access to the collisions of a model (if any)?

Thanks