diff --git a/src/jaxsim/api/data.py b/src/jaxsim/api/data.py
index cbc537aa..55b7d3eb 100644
--- a/src/jaxsim/api/data.py
+++ b/src/jaxsim/api/data.py
@@ -216,7 +216,11 @@ def build(
 
         if contacts_params is None:
 
-            if isinstance(model.contact_model, jaxsim.rbda.contacts.SoftContacts):
+            if isinstance(
+                model.contact_model,
+                jaxsim.rbda.contacts.SoftContacts
+                | jaxsim.rbda.contacts.ViscoElasticContacts,
+            ):
                 contacts_params = js.contact.estimate_good_soft_contacts_parameters(
                     model=model, standard_gravity=standard_gravity
                 )