Extensions for supersingular representations of $GL_2(Q_p)$

Let $p>2$ be a prime number. Let $G:=GL_2(Q_p)$ and $\pi$, $\tau$ smooth irreducible representations of $G$ on $\bar{F}_p$-vector spaces with a central character. We show if $\pi$ is supersingular then $Ext^1_G(\tau,\pi)\neq 0$ implies $\tau\cong \pi$. This answers affirmatively for $p>2$ a question of Colmez. We also determine $Ext^1_G(\tau,\pi)$, when $\pi$ is the Steinberg representation. As a consequence of our results combined with those already in the literature one knows $Ext^1_G(\tau,\pi)$ for all irreducible representations of $G$.