diff --git a/examples/jaxsim_walking.ipynb b/examples/jaxsim_walking.ipynb
index 6c57ab4..aacd67d 100644
--- a/examples/jaxsim_walking.ipynb
+++ b/examples/jaxsim_walking.ipynb
@@ -273,7 +273,6 @@
     "    counter = 0\n",
     "    mpc_success = True\n",
     "    succeded_controller = True\n",
-    "    contact_model_type = js.contact_model_type\n",
     "\n",
     "    t = 0.0\n",
     "\n",
@@ -361,10 +360,9 @@
     "            W_p_rf_sfp_log.append(rf_sfp.transform.translation())\n",
     "            W_p_CoM_tsid_log.append(tsid.COM.toNumPy())\n",
     "            wall_time_step_log.append(toc * 1e3)\n",
-    "            if contact_model_type != JaxsimContactModelEnum.VISCO_ELASTIC:\n",
-    "                f_lf_js, f_rf_js = js.feet_wrench\n",
-    "                f_lf_js_log.append(f_lf_js)\n",
-    "                f_rf_js_log.append(f_rf_js)\n",
+    "            f_lf_js, f_rf_js = js.feet_wrench\n",
+    "            f_lf_js_log.append(f_lf_js)\n",
+    "            f_rf_js_log.append(f_rf_js)\n",
     "\n",
     "        except Exception as e:\n",
     "            print(f\"Exception during simulation at time{t}: {e}\")\n",
@@ -387,9 +385,8 @@
     "        \"W_p_CoM_tsid\": np.array(W_p_CoM_tsid_log),\n",
     "        \"wall_time_step\": np.array(wall_time_step_log),\n",
     "    }\n",
-    "    if contact_model_type != JaxsimContactModelEnum.VISCO_ELASTIC:\n",
-    "        logs[\"f_lf_js\"] = np.array(f_lf_js_log)\n",
-    "        logs[\"f_rf_js\"] = np.array(f_rf_js_log)\n",
+    "    logs[\"f_lf_js\"] = np.array(f_lf_js_log)\n",
+    "    logs[\"f_rf_js\"] = np.array(f_rf_js_log)\n",
     "\n",
     "    return logs"
    ]
@@ -436,9 +433,8 @@
     "W_p_rf_sfp = logs[\"W_p_rf_sfp\"]\n",
     "W_p_CoM_tsid = logs[\"W_p_CoM_tsid\"]\n",
     "wall_time_step = logs[\"wall_time_step\"]\n",
-    "if js.contact_model_type != JaxsimContactModelEnum.VISCO_ELASTIC:\n",
-    "    f_lf_js = logs[\"f_lf_js\"]\n",
-    "    f_rf_js = logs[\"f_rf_js\"]"
+    "f_lf_js = logs[\"f_lf_js\"]\n",
+    "f_rf_js = logs[\"f_rf_js\"]"
    ]
   },
   {
diff --git a/src/comodo/jaxsimSimulator/jaxsimSimulator.py b/src/comodo/jaxsimSimulator/jaxsimSimulator.py
index b78dfe4..7938bde 100644
--- a/src/comodo/jaxsimSimulator/jaxsimSimulator.py
+++ b/src/comodo/jaxsimSimulator/jaxsimSimulator.py
@@ -41,7 +41,6 @@
 class JaxsimContactModelEnum(enum.IntEnum):
     RIGID = enum.auto()
     RELAXED_RIGID = enum.auto()
-    VISCO_ELASTIC = enum.auto()
     SOFT = enum.auto()
 
 
@@ -163,8 +162,6 @@ def load_model(
                 contact_model = jaxsim.rbda.contacts.RigidContacts.build()
             case JaxsimContactModelEnum.RELAXED_RIGID:
                 contact_model = jaxsim.rbda.contacts.RelaxedRigidContacts.build()
-            case JaxsimContactModelEnum.VISCO_ELASTIC:
-                contact_model = jaxsim.rbda.contacts.ViscoElasticContacts.build()
             case JaxsimContactModelEnum.SOFT:
                 contact_model = jaxsim.rbda.contacts.SoftContacts.build()
             case _:
@@ -172,6 +169,15 @@ def load_model(
                     f"Invalid contact model type: {self._contact_model_type}"
                 )
 
+        model = js.model.JaxSimModel.build_from_model_description(
+            model_description=robot_model.urdf_string,
+            model_name=robot_model.robot_name,
+            contact_model=contact_model,
+            contact_params=contact_params,
+            integrator=js.model.IntegratorType.RungeKutta4,
+            time_step=self._dt,
+        )
+
         if contact_params is None:
             match self._contact_model_type:
                 case JaxsimContactModelEnum.RIGID:
@@ -182,9 +188,9 @@ def load_model(
                     contact_params = (
                         jaxsim.rbda.contacts.RelaxedRigidContactsParams.build()
                     )
-                case JaxsimContactModelEnum.VISCO_ELASTIC | JaxsimContactModelEnum.SOFT:
+                case JaxsimContactModelEnum.SOFT:
                     contact_params = js.contact.estimate_good_contact_parameters(
-                        model=self._model,
+                        model=model,
                         number_of_active_collidable_points_steady_state=8,
                         max_penetration=0.002_5,
                         damping_ratio=1.0,
@@ -194,14 +200,8 @@ def load_model(
                     raise ValueError(
                         f"Invalid contact model type: {self._contact_model_type}"
                     )
-
-        model = js.model.JaxSimModel.build_from_model_description(
-            model_description=robot_model.urdf_string,
-            model_name=robot_model.robot_name,
-            contact_model=contact_model,
-            contact_params=contact_params,
-            time_step=self._dt,
-        )
+        with model.editable(validate=False) as model:
+            model.contacts_params = contact_params
 
         self._model = js.model.reduce(
             model=model,
@@ -304,24 +304,13 @@ def step(self, n_step: int = 1, *, dry_run=False) -> None:
 
         for _ in range(n_step):
 
-            if self._contact_model_type is JaxsimContactModelEnum.VISCO_ELASTIC:
-
-                self._data = jaxsim.rbda.contacts.visco_elastic.step(
-                    model=self._model,
-                    data=self._data,
-                    link_forces=None,
-                    joint_force_references=self._tau,
-                )
-
-            else:
-
-                # All other contact models
-                self._data = js.model.step(
-                    model=self._model,
-                    data=self._data,
-                    # link_forces=None,
-                    joint_force_references=self._tau,
-                )
+            # All other contact models
+            self._data = js.model.step(
+                model=self._model,
+                data=self._data,
+                # link_forces=None,
+                joint_force_references=self._tau,
+            )
 
             if not dry_run:
                 # Advance simulation time
@@ -346,7 +335,7 @@ def step(self, n_step: int = 1, *, dry_run=False) -> None:
 
             with self._data.switch_velocity_representation(VelRepr.Mixed):
 
-                self._link_contact_forces = js.contact_model.link_contact_forces(
+                self._link_contact_forces, _ = js.contact.link_contact_forces(
                     model=self._model,
                     data=self._data,
                     joint_torques=self._tau,