From 908ca8ba6fb9893dc5432a99e8c67220e7d7cab6 Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippo.luca.ferretti@campus.tu-berlin.de>
Date: Mon, 17 Jun 2024 18:35:10 +0200
Subject: [PATCH] Fix contact state pattern matching in `ode_data`

---
 src/jaxsim/api/ode_data.py | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/src/jaxsim/api/ode_data.py b/src/jaxsim/api/ode_data.py
index 2baaf9809..c34af9ebe 100644
--- a/src/jaxsim/api/ode_data.py
+++ b/src/jaxsim/api/ode_data.py
@@ -213,15 +213,11 @@ def build(
         )
 
         # Get the contact model from the `JaxSimModel`
-        match model.contact_model:
-            case SoftContacts():
+        match contact:
+            case SoftContactsState():
                 pass
             case None:
-                contact = (
-                    contact
-                    if contact is not None
-                    else SoftContactsState.zero(model=model)
-                )
+                contact = SoftContactsState.zero(model=model)
             case _:
                 raise ValueError("Unable to determine contact state class prefix.")