Remove unnecessary assertion for RigidContactsParams in step func…

…tion
ami-iit · Jan 4, 2025 · 878bbfe · 878bbfe
1 parent bc9802f
commit 878bbfe
Showing 1 changed file with 0 additions and 3 deletions.
diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
@@ -2292,9 +2292,6 @@ 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.