def find_contacts(self, geoms_1, geoms_2):
        """
        Finds contact between two geom groups.

        Args:
            geoms_1: a list of geom names (string)
            geoms_2: another list of geom names (string)

        Returns:
            iterator of all contacts between @geoms_1 and @geoms_2
        """
        for contact in self.sim.data.contact[0 : self.sim.data.ncon]:
            # check contact geom in geoms
            c1_in_g1 = self.sim.model.geom_id2name(contact.geom1) in geoms_1
            c2_in_g2 = self.sim.model.geom_id2name(contact.geom2) in geoms_2
            # check contact geom in geoms (flipped)
            c2_in_g1 = self.sim.model.geom_id2name(contact.geom2) in geoms_1
            c1_in_g2 = self.sim.model.geom_id2name(contact.geom1) in geoms_2
            if (c1_in_g1 and c2_in_g2) or (c1_in_g2 and c2_in_g1):
                yield contact
Finds contact between two geom groups.

        Args:
            geoms_1: a list of geom names (string)
            geoms_2: another list of geom names (string)

        Returns:
            iterator of all contacts between @geoms_1 and @geoms_2