diff --git a/src/jaxsim/rbda/collidable_points.py b/src/jaxsim/rbda/collidable_points.py
index 4e6800782..791b07cb3 100644
--- a/src/jaxsim/rbda/collidable_points.py
+++ b/src/jaxsim/rbda/collidable_points.py
@@ -118,7 +118,7 @@ def propagate_kinematics(
     # ==================================================
 
     def process_point_kinematics(
-        Li_p_C: jtp.Vector, parent_body: jtp.Int
+        Li_p_C: jtp.Vector, parent_body: jtp.Int, W_X_i: jtp.Matrix, W_v_Wi: jtp.Matrix
     ) -> tuple[jtp.Vector, jtp.Vector]:
 
         # Compute the position of the collidable point.
@@ -135,9 +135,11 @@ def process_point_kinematics(
         return W_p_Ci, CW_vl_WCi
 
     # Process all the collidable points in parallel.
-    W_p_Ci, CW_vl_WC = jax.vmap(process_point_kinematics)(
+    W_p_Ci, CW_vl_WC = jax.vmap(process_point_kinematics, in_axes=(0, 0, None, None))(
         model.kin_dyn_parameters.contact_parameters.point,
         jnp.array(model.kin_dyn_parameters.contact_parameters.body),
+        W_X_i,
+        W_v_Wi,
     )
 
     return W_p_Ci, CW_vl_WC