From 9ffe65c1be8e75eb6bb9d461986d6b9a67947bc3 Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <filippo.ferretti@iit.it>
Date: Fri, 14 Feb 2025 09:12:51 +0000
Subject: [PATCH] Inherit model contact params and gravity in `js.model.reduce`

---
 src/jaxsim/api/model.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/jaxsim/api/model.py b/src/jaxsim/api/model.py
index 0c9b2064f..afce17e73 100644
--- a/src/jaxsim/api/model.py
+++ b/src/jaxsim/api/model.py
@@ -447,6 +447,8 @@ def reduce(
         time_step=model.time_step,
         terrain=model.terrain,
         contact_model=model.contact_model,
+        contacts_params=model.contacts_params,
+        gravity=model.gravity,
     )
 
     # Store the origin of the model, in case downstream logic needs it.