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How to get information between entities in contact with disabled physical collisions?

Good morning, everyone, I am trying to get some information between two links in contact.

These two links need to be able to interpenetrate into each other, so to do this I set the <collide_bitmask> to get a bitwise AND equal to 0x00 and physically see the bodies inside each other. Good.

Now I'd like to get the names of the entities in contact, and I've tried using a contact_sensor, but not getting any info.

How can I get information about the contact between two entities, and thus trace the name and model_entity, while still being able to physically see the two bodies interpenetrate each other?

Thanks!