How to get all physics.named.data objects

Hello,
I am trying to test if two geoms are in contact.
I was thinking of something like physics.named.data."contact" but that is not available.
Is there maybe any method of checking that.

The overarching question is:
What physics.named.data.(...) objects are available. This would hopefully help for my current problem and for all future ones too.
Is there any way to print all (...) if they are dynamic based on the model loaded?