Is your feature request related to a problem? Please describe.

I am using the c++ API and I am calling at some point:

            lscene->checkCollision(collision_request, collision_result, *state, acm);

Unfortunately I couldn't figure out in which frame the contact information is given afterwards.

It is neither documented in the example:

https://moveit.picknik.ai/humble/doc/examples/visualizing_collisions/visualizing_collisions_tutorial.html

Nor could I find it in the code:

https://github.com/ros-planning/moveit/blob/master/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h

Describe the solution you'd like

Please improve the documentation and include information about the frame_id of the contacts.

Additional context

Do I guess right that the contacts are always specified in the root frame of the model?