diff --git a/docs/guide/configuration.rst b/docs/guide/configuration.rst
index 4061b30ff..6a12773da 100644
--- a/docs/guide/configuration.rst
+++ b/docs/guide/configuration.rst
@@ -17,6 +17,10 @@ Environment variables starting with ``JAXSIM_COLLISION_`` are used to configure
 
   *Default:* ``False``.
 
+- ``JAXSIM_COLLISION_INCLUDE_OVERLAPS``: Enables or disables the inclusion of overlapping collision points.
+
+  *Default:* ``False``.
+
 - ``JAXSIM_COLLISION_USE_BOTTOM_ONLY``: Limits collision detection to only the bottom half of the box or sphere.
 
   *Default:* ``False``.
diff --git a/src/jaxsim/api/kin_dyn_parameters.py b/src/jaxsim/api/kin_dyn_parameters.py
index 8d78d0eff..41764823a 100644
--- a/src/jaxsim/api/kin_dyn_parameters.py
+++ b/src/jaxsim/api/kin_dyn_parameters.py
@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import dataclasses
+import os
 
 import jax.lax
 import jax.numpy as jnp
@@ -797,18 +798,22 @@ def build_from(model_description: ModelDescription) -> ContactParameters:
         collidable_points = model_description.all_enabled_collidable_points()
 
         # Extract the positions L_p_C of the collidable points w.r.t. the link frames
-        # they are rigidly attached to. We exclude overlapping points.
-        points, idxs = jnp.unique(
-            jnp.vstack([cp.position for cp in collidable_points]),
-            axis=0,
-            return_index=True,
-        )
+        # they are rigidly attached to.
+        all_points = jnp.vstack([cp.position for cp in collidable_points])
+
+        if os.environ.get("JAXSIM_COLLISION_INCLUDE_OVERLAPS", "0").lower() in {
+            "false",
+            "0",
+        }:
+            points, idxs = jnp.unique(all_points, axis=0, return_index=True)
+            selected_points = map(collidable_points.__getitem__, idxs)
+        else:
+            points = all_points
+            selected_points = iter(collidable_points)
 
-        # Extract the indices of the links to which the collidable points are rigidly
-        # attached to.
+        # Extract the indices of the links to which the collidable points are rigidly attached.
         link_index_of_points = tuple(
-            links_dict[cp.parent_link.name].index
-            for cp in map(collidable_points.__getitem__, idxs)
+            map(lambda cp: links_dict[cp.parent_link.name].index, selected_points)
         )
 
         # Build the ContactParameters object.