diff --git a/src/jaxsim/api/contact.py b/src/jaxsim/api/contact.py
index 72d27d23f..74d31cd38 100644
--- a/src/jaxsim/api/contact.py
+++ b/src/jaxsim/api/contact.py
@@ -171,7 +171,7 @@ def estimate_model_height(model: Model.JaxSimModel) -> jtp.Float:
 
         if model.physics_model.is_floating_base:
             W_pz_C = collidable_point_positions(model=model, data=zero_data)[:, -1]
-            return 2 * (W_p_CoM - W_pz_C.min())
+            return 2 * (W_pz_CoM - W_pz_C.min())
 
         return 2 * W_p_CoM