From 30026d40bae96df4e97f3b9f33267f9a611c902d Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
Date: Sat, 4 Jan 2025 09:50:06 +0100
Subject: [PATCH] Remove unnecessary assertion for `RigidContactsParams` in
 `step` function

---
 src/jaxsim/api/model.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
index ad26cc16b..8c26becb6 100644
--- a/src/jaxsim/api/model.py
+++ b/src/jaxsim/api/model.py
@@ -2295,9 +2295,6 @@ def step(
         # Hence, here we need to reset the velocity after each impact to guarantee that
         # the linear velocity of the active collidable points is zero.
         case jaxsim.rbda.contacts.RigidContacts():
-            assert isinstance(
-                data_tf.contacts_params, jaxsim.rbda.contacts.RigidContactsParams
-            )
 
             # Raise runtime error for not supported case in which Rigid contacts and
             # Baumgarte stabilization are enabled and used with ForwardEuler integrator.