How to tell the exact moment a rigidbody bounces?

Is there a code or event of some type that can let me know exactly when my object bounces?

using oncollisionenter wont work since the object might bounce off the walls but still stay connected to the ground (think rolling ball)

thank you for any help!

If your object is “attached” to the floor while rolling isn’t the bounce the moment it leaves the floor? So OnCollissionExit?