diff --git a/src/jaxsim/api/contact.py b/src/jaxsim/api/contact.py
index d62b45bb7..f5e92e934 100644
--- a/src/jaxsim/api/contact.py
+++ b/src/jaxsim/api/contact.py
@@ -186,7 +186,9 @@ def collidable_point_dynamics(
             # Note that the material deformation rate is always returned in the mixed frame
             # C[W] = (W_p_C, [W]). This is convenient for integration purpose.
             W_f_Ci, (CW_ṁ,) = jax.vmap(soft_contacts.compute_contact_forces)(
-                W_p_Ci, W_ṗ_Ci, data.state.contact.tangential_deformation
+                position=W_p_Ci,
+                velocity=W_ṗ_Ci,
+                tangential_deformation=data.state.contact.tangential_deformation,
             )
             aux_data = dict(m_dot=CW_ṁ)